dart

collision-detection computer-animation cpp23 dynamics gazebo inverse-kinematics kinematics lie-group mjcf multibody nanobind physics-engine python-bindings rigidbody robotics sdf simulation urdf

Score: 24.667311443513086

Last synced: about 19 hours ago
JSON representation

Repository metadata:

Research-focused C++23 physics engine for robotics, animation, and machine learning, with Python bindings

Host: GitHub
URL: https://github.com/dartsim/dart
Owner: dartsim
License: bsd-2-clause
Created: 2011-09-19T21:53:51.000Z (almost 15 years ago)
Default Branch: main
Last Pushed: 2026-08-05T07:00:48.000Z (9 days ago)
Last Synced: 2026-08-06T03:37:11.643Z (8 days ago)
Topics: collision-detection, computer-animation, cpp23, dynamics, gazebo, inverse-kinematics, kinematics, lie-group, mjcf, multibody, nanobind, physics-engine, python-bindings, rigidbody, robotics, sdf, simulation, urdf
Language: C++
Homepage: https://dart.readthedocs.io
Size: 871 MB
Stars: 1,191
Watchers: 50
Forks: 303
Open Issues: 7
Metadata Files:
- Readme: README.md
- Changelog: CHANGELOG.md
- Contributing: CONTRIBUTING.md
- License: LICENSE
- Citation: CITATION.bib
- Agents: AGENTS.md
- Claude: CLAUDE.md
- Gemini: GEMINI.md

Owner metadata:

Name: DART: Dynamic Animation and Robotics Toolkit
Login: dartsim
Email:
Kind: organization
Description:
Website: http://dartsim.github.io/
Location:
Twitter: dartsim_org
Company:
Icon url: https://avatars.githubusercontent.com/u/4191609?v=4
Repositories: 16
Last Synced at: 2024-03-26T03:13:44.978Z
Profile URL: https://github.com/dartsim

GitHub Events

Total

Create event: 262
Delete event: 250
Fork event: 7
Issue comment event: 330
Issues event: 72
Pull request event: 371
Pull request review comment event: 99
Pull request review event: 114
Push event: 1400
Release event: 1
Watch event: 87
Total: 2993

Last Year

Create event: 235
Delete event: 227
Fork event: 7
Issue comment event: 325
Issues event: 72
Pull request event: 325
Pull request review comment event: 99
Pull request review event: 109
Push event: 1293
Watch event: 70
Total: 2762

Committers metadata

Last synced: 2 days ago

Total Commits: 6,448
Total Committers: 77
Avg Commits per committer: 83.74
Development Distribution Score (DDS): 0.4

Commits in past year: 1,420
Committers in past year: 12
Avg Commits per committer in past year: 118.333
Development Distribution Score (DDS) in past year: 0.094

Name	Email	Commits
Jeongseok Lee	j**2@g**m	3869
M.X. Grey	m**y@g**u	844
Tobias Kunz	t**s@g**u	239
Sumit Jain	s**t@c**u	170
Ana Huaman	a**3@g**u	121
Karen Liu	c**u@g**m	119
Michael Koval	m**l@c**u	115
github-actions[bot]	4****]	101
dependabot[bot]	4****]	93
Sehoon Han	s**9@g**u	67
chen tang	c**0@g**u	62
Matthew Dutton	M**n@g**m	54
C. Karen Liu	k**u@c**u	53
eric	e**3@g**u	46
Yuting Ye	y**g@c**u	46
Pushkar Kolhe	p**e@g**m	38
pushkar	p**r@c**c	37
Jeongseok (JS) Lee	1****a	31
Saul Reynolds-Haertle	s**e@g**m	31
Steven Peters	s**s@o**g	29
Pushkar Kolhe	p**y@g**m	28
Mike	m**n@c**u	21
Arash Rouhani	r**h@g**u	17
kasiu	k**u@g**u	17
Jie (Jay) Tan	j**4@c**u	13
Can Erdogan	c**9@g**m	13
Konstantinos Chatzilygeroudis	c**z@g**m	13
sehoonha	s**a@g**m	12
Karen Liu	y**u@e**m	10
Michael Koval	m**l@n**v	9
and 47 more...

Issue and Pull Request metadata

Last synced: 2 days ago

Total issues: 93
Total pull requests: 824
Average time to close issues: over 2 years
Average time to close pull requests: 2 days
Total issue authors: 33
Total pull request authors: 17
Average comments per issue: 2.57
Average comments per pull request: 2.34
Merged pull request: 721
Bot issues: 1
Bot pull requests: 359

Past year issues: 3
Past year pull requests: 390
Past year average time to close issues: 1 day
Past year average time to close pull requests: 1 day
Past year issue authors: 2
Past year pull request authors: 8
Past year average comments per issue: 1.67
Past year average comments per pull request: 4.52
Past year merged pull request: 359
Past year bot issues: 0
Past year bot pull requests: 54

More stats: https://issues.ecosyste.ms/repositories/lookup?url=https://github.com/dartsim/dart

Top Issue Authors

jslee02 (31)
mxgrey (12)
costashatz (6)
yurivict (5)
scpeters (3)
azeey (3)
Nickick-ICRS (3)
Cfather (2)
tobiaskunz (2)
traversaro (2)
j-rivero (2)
github-actions[bot] (1)
mkoval (1)
adamconkey (1)
ShilngYu (1)

Top Pull Request Authors

jslee02 (414)
github-actions[bot] (207)
dependabot[bot] (152)
jeongseok-meta (19)
scpeters (7)
nim65s (5)
mxgrey (3)
azeey (3)
ufrhaidar (2)
jcmayoral (2)
henriquealrs (2)
jemand771 (2)
adityapande-1995 (2)
Mubelotix (1)
bperseghetti (1)

Top Issue Labels

type: bug (27)
priority: low (19)
tag: feature request (10)
help wanted (8)
build (3)
tag: question (2)
good first issue (2)
status: blocked (2)
pixi (1)
os: windows (1)
tag: documentation (1)
comp: io (1)
os: FreeBSD (1)
status: in-progress (1)
status: not reproducible (1)

Top Pull Request Labels

pixi (207)
dependencies (145)
github_actions (127)
codex (24)
status: blocked (1)

Package metadata

Total packages: 7
Total downloads:
- pypi: 793 last-month
- conda: 558,864 total
Total dependent packages: 6 (may contain duplicates)
Total dependent repositories: 1 (may contain duplicates)
Total versions: 237
Total maintainers: 3

proxy.golang.org: github.com/dartsim/dart

Homepage:
Documentation: https://pkg.go.dev/github.com/dartsim/dart#section-documentation
Licenses: bsd-2-clause
Latest release: v6.19.4+incompatible (published 26 days ago)
Last Synced: 2026-08-12T04:07:14.740Z (2 days ago)
Versions: 89
Dependent Packages: 0
Dependent Repositories: 0
Rankings:
- Dependent packages count: 5.421%
- Average: 5.603%
- Dependent repos count: 5.785%

pypi.org: dartpy

Python API of Dynamic Animation and Robotics Toolkit.

Homepage: https://github.com/dartsim/dart.git
Documentation: https://dartpy.readthedocs.io/
Licenses: BSD 2-Clause
Latest release: 7.0.0 (published 9 months ago)
Last Synced: 2026-08-12T04:07:11.966Z (2 days ago)
Versions: 133
Dependent Packages: 1
Dependent Repositories: 1
Downloads: 793 Last month
Rankings:
- Stargazers count: 2.159%
- Forks count: 3.154%
- Dependent packages count: 4.744%
- Average: 8.42%
- Downloads: 10.401%
- Dependent repos count: 21.642%
Maintainers (1)
- jslee

conda-forge.org: dartsim

The DART (Dynamic Animation and Robotics Toolkit) library provides data structures and algorithms for kinematic and dynamic applications in robotics and computer animation.

Homepage: http://dartsim.github.io/
Licenses: BSD-2-Clause
Latest release: 6.12.2 (published almost 4 years ago)
Last Synced: 2026-03-27T06:06:27.657Z (5 months ago)
Versions: 8
Dependent Packages: 5
Dependent Repositories: 0
Downloads: 558,864 Total
Rankings:
- Forks count: 9.583%
- Dependent packages count: 10.372%
- Stargazers count: 13.227%
- Average: 16.802%
- Dependent repos count: 34.025%

registry.bazel.build: dartsim

Homepage: https://github.com/dartsim/dart
Documentation: https://registry.bazel.build/docs/dartsim
Licenses: bsd-2-clause
Latest release: 6.13.2 (published 7 months ago)
Last Synced: 2026-08-12T04:07:11.872Z (2 days ago)
Versions: 4
Dependent Packages: 0
Dependent Repositories: 0
Rankings:
- Dependent repos count: 0.0%
- Dependent packages count: 0.0%
- Average: 100%
Maintainers (1)
- iche033

nixpkgs-unstable: python314Packages.dartsim

DART: Dynamic Animation and Robotics Toolkit

Homepage: https://github.com/dartsim/dart
Documentation: https://github.com/NixOS/nixpkgs/blob/nixos-unstable/pkgs/by-name/da/dartsim/package.nix#L157
Licenses: BSD-2-Clause
Latest release: 6.15.0 (published 7 months ago)
Last Synced: 2026-07-29T20:01:44.839Z (15 days ago)
Versions: 1
Dependent Packages: 0
Dependent Repositories: 0
Rankings:
- Dependent repos count: 0.0%
- Dependent packages count: 0.0%
- Average: 100%
Maintainers (1)
- nim65s

nixpkgs-unstable: dartsim

DART: Dynamic Animation and Robotics Toolkit

Homepage: https://github.com/dartsim/dart
Documentation: https://github.com/NixOS/nixpkgs/blob/nixos-unstable/pkgs/by-name/da/dartsim/package.nix#L157
Licenses: BSD-2-Clause
Latest release: 6.15.0 (published 7 months ago)
Last Synced: 2026-03-26T04:15:49.917Z (5 months ago)
Versions: 1
Dependent Packages: 0
Dependent Repositories: 0
Rankings:
- Dependent repos count: 0.0%
- Dependent packages count: 0.0%
- Average: 100%
Maintainers (1)
- nim65s

nixpkgs-unstable: python313Packages.dartsim

DART: Dynamic Animation and Robotics Toolkit

Homepage: https://github.com/dartsim/dart
Documentation: https://github.com/NixOS/nixpkgs/blob/nixos-unstable/pkgs/by-name/da/dartsim/package.nix#L157
Licenses: BSD-2-Clause
Latest release: 6.15.0 (published 7 months ago)
Last Synced: 2026-04-03T10:03:34.616Z (4 months ago)
Versions: 1
Dependent Packages: 0
Dependent Repositories: 0
Rankings:
- Dependent repos count: 0.0%
- Dependent packages count: 0.0%
- Average: 100%
Maintainers (1)
- nim65s

Dependencies

.github/workflows/ci_macos.yml actions

actions/checkout v3 composite

.github/workflows/ci_ubuntu.yml actions

actions/checkout v3 composite
docker/setup-qemu-action v1 composite

.github/workflows/ci_windows.yml actions

actions/checkout v3 composite

.devcontainer/Dockerfile docker

dartsim/dart-dev ubuntu-jammy-v7.0 build

Brewfile homebrew

assimp *
bullet *
cmake *
eigen *
fcl *
flann *
fmt *
ipopt *
libccd *
nlopt *
octomap *
ode *
pagmo *
pkg-config *
pybind11 *
python3 *
spdlog *
tinyxml2 *
urdfdom *

.github/workflows/codeql.yml actions

actions/checkout v3 composite
actions/upload-artifact v3 composite
advanced-security/filter-sarif v1 composite
awalsh128/cache-apt-pkgs-action master composite
github/codeql-action/analyze v2 composite
github/codeql-action/autobuild v2 composite
github/codeql-action/init v2 composite
github/codeql-action/upload-sarif v2 composite

.github/workflows/ci_gz_physics.yml actions

./.github/actions/ci-scope * composite
./.github/actions/configure-compiler-cache * composite
./.github/actions/setup-pixi-ci * composite
actions/checkout v7 composite
awalsh128/cache-apt-pkgs-action v1.6.3 composite
dorny/paths-filter v4 composite

.github/actions/setup-pixi-ci/action.yml actions

mozilla-actions/sccache-action v0.0.10 composite
prefix-dev/setup-pixi v0.9.6 composite

.github/workflows/benchmark_pr_comparison.yml actions

./.github/actions/configure-compiler-cache * composite
./.github/actions/setup-pixi-ci * composite
actions/checkout v7 composite
actions/github-script v9 composite
awalsh128/cache-apt-pkgs-action v1.6.3 composite

.github/workflows/publish_dartpy.yml actions

./.github/actions/configure-compiler-cache * composite
./.github/actions/setup-pixi-ci * composite
actions/checkout v7 composite
actions/download-artifact v8 composite
actions/upload-artifact v7 composite
dorny/paths-filter v4 composite
pypa/gh-action-pypi-publish v1.14.1 composite

.github/actions/ci-scope/action.yml actions

.github/actions/configure-compiler-cache/action.yml actions

.github/workflows/cancel_branch_jobs.yml actions

actions/github-script v9 composite

.github/workflows/pages_deploy.yml actions

actions/checkout v7 composite
actions/deploy-pages v5 composite
actions/upload-pages-artifact v5 composite

.github/workflows/update_lockfiles.yml actions

actions/checkout v7 composite
peter-evans/create-pull-request v8 composite
prefix-dev/setup-pixi v0.10.0 composite

.github/workflows/ci_lint.yml actions

./.github/actions/setup-pixi-ci * composite
actions/checkout v7 composite

.github/workflows/ci_simd.yml actions

./.github/actions/configure-compiler-cache * composite
./.github/actions/setup-pixi-ci * composite
actions/checkout v7 composite
awalsh128/cache-apt-pkgs-action v1.6.3 composite

.github/workflows/ci_cuda.yml actions

./.github/actions/configure-compiler-cache * composite
./.github/actions/setup-pixi-ci * composite
actions/checkout v7 composite

.github/workflows/ci_gz_dart6.yml actions

actions/checkout v7 composite
awalsh128/cache-apt-pkgs-action v1.6.3 composite
prefix-dev/setup-pixi v0.10.0 composite

.github/workflows/community_signals.yml actions

actions/checkout v7 composite

docs/readthedocs/requirements.txt pypi

jinja2 >=3.1.2
myst-parser *
sphinx *
sphinx-copybutton *
sphinx-intl *
sphinx-tabs *
sphinx_rtd_theme *

pyproject.toml pypi

numpy *

.github/workflows/performance_dashboard.yml actions

./.github/actions/configure-compiler-cache * composite
./.github/actions/setup-pixi-ci * composite
actions/checkout v7 composite
awalsh128/cache-apt-pkgs-action v1.6.3 composite
benchmark-action/github-action-benchmark v1 composite

docker/freebsd/Dockerfile docker

ubuntu 24.04 build

.github/workflows/ci_altlinux.yml actions

./.github/actions/setup-pixi-ci * composite
actions/checkout v7 composite

.github/workflows/ci_freebsd.yml actions

./.github/actions/setup-pixi-ci * composite
actions/checkout v7 composite

ecosyste.ms

Data

Tools

Indexes

Applications

Experiments

Summary

JOSS: https://github.com/dartsim/dart

Repository metadata:

Owner metadata:

GitHub Events

Total

Last Year

Committers metadata

Issue and Pull Request metadata

Top Issue Authors

Top Pull Request Authors

Top Issue Labels

Top Pull Request Labels

Package metadata

proxy.golang.org: github.com/dartsim/dart

pypi.org: dartpy

conda-forge.org: dartsim

registry.bazel.build: dartsim

nixpkgs-unstable: python314Packages.dartsim

nixpkgs-unstable: dartsim

nixpkgs-unstable: python313Packages.dartsim

Dependencies