diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7e2ef2722ec21..b0cbe1bee0cbe 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -99,6 +99,7 @@ dart_option(DART_FAST_DEBUG "Add -O1 option for DEBUG mode build" OFF)
 dart_option(DART_FORCE_COLORED_OUTPUT
   "Always produce ANSI-colored output (GNU/Clang only)." OFF)
 dart_option(DART_USE_SYSTEM_IMGUI "Use system ImGui" OFF)
+dart_option(DART_BUILD_RERUN "Build with Rerun SDK" OFF)
 dart_option(DART_IN_CI "Indicate building DART as part of CI" OFF)
 
 #===============================================================================
@@ -199,12 +200,12 @@ endif()
 set_property(CACHE DART_ACTIVE_LOG_LEVEL PROPERTY STRINGS TRACE DEBUG INFO WARN ERROR FATAL OFF)
 
 if(DART_BUILD_MODE_DEBUG)
-  option(DART_TREAT_WARNINGS_AS_ERRORS "Treat warnings as errors" OFF)
+  dart_option(DART_TREAT_WARNINGS_AS_ERRORS "Treat warnings as errors" OFF)
 else()
-  option(DART_TREAT_WARNINGS_AS_ERRORS "Treat warnings as errors" ON)
+  dart_option(DART_TREAT_WARNINGS_AS_ERRORS "Treat warnings as errors" ON)
 endif()
 
-option(DART_BUILD_WHEELS "Indicate building dartpy for wheels" OFF)
+dart_option(DART_BUILD_WHEELS "Indicate building dartpy for wheels" OFF)
 
 #===============================================================================
 # Find dependencies
diff --git a/cmake/DARTFindDependencies.cmake b/cmake/DARTFindDependencies.cmake
index 33af2bb1d0aed..2fd59c7e51bcd 100644
--- a/cmake/DARTFindDependencies.cmake
+++ b/cmake/DARTFindDependencies.cmake
@@ -132,6 +132,14 @@ option(DART_SKIP_spdlog "If ON, do not use spdlog even if it is found." OFF)
 mark_as_advanced(DART_SKIP_spdlog)
 dart_find_package(spdlog)
 
+if(DART_BUILD_RERUN)
+  include(FetchContent)
+  FetchContent_Declare(rerun_sdk
+    URL https://github.com/rerun-io/rerun/releases/download/0.14.1/rerun_cpp_sdk.zip
+  )
+  FetchContent_MakeAvailable(rerun_sdk)
+endif()
+
 #--------------------
 # Misc. dependencies
 #--------------------
@@ -139,4 +147,3 @@ dart_find_package(spdlog)
 # Doxygen
 find_package(Doxygen QUIET)
 dart_check_optional_package(DOXYGEN "generating API documentation" "doxygen")
-
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index fec298b7637e3..80ffc5064c243 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -30,3 +30,5 @@ add_subdirectory(fetch)
 
 # Deprecated examples
 add_subdirectory(deprecated_examples)
+
+add_subdirectory(rerun)
diff --git a/examples/rerun/CMakeLists.txt b/examples/rerun/CMakeLists.txt
index 7d117e0fec73e..e98f2a8104374 100644
--- a/examples/rerun/CMakeLists.txt
+++ b/examples/rerun/CMakeLists.txt
@@ -1,11 +1,17 @@
 cmake_minimum_required(VERSION 3.22.1)
 
 get_filename_component(example_name ${CMAKE_CURRENT_LIST_DIR} NAME)
+set(example_name example-${example_name})
 
 project(${example_name})
 
 set(required_components utils-urdf)
-set(required_libraries dart dart-utils-urdf)
+set(required_libraries dart dart-utils-urdf rerun_sdk)
+
+# TODO: Fix dart_build_example_in_source() to handle this case
+if(NOT TARGET rerun_sdk)
+  return()
+endif()
 
 if(DART_IN_SOURCE_BUILD)
   dart_build_example_in_source(${example_name} LINK_LIBRARIES ${required_libraries})
diff --git a/examples/rerun/README.md b/examples/rerun/README.md
new file mode 100644
index 0000000000000..965b52cdf07b2
--- /dev/null
+++ b/examples/rerun/README.md
@@ -0,0 +1,20 @@
+This project is dependent on DART. Please make sure a proper version of DART is 
+installed before building this project.
+
+## Build Instructions
+
+From this directory:
+
+    $ mkdir build
+    $ cd build
+    $ cmake ..
+    $ make
+
+## Execute Instructions
+
+Launch the executable from the build directory above:
+
+    $ ./{generated_executable}
+
+Follow the instructions detailed in the console.
+
diff --git a/examples/rerun/main.cpp b/examples/rerun/main.cpp
new file mode 100644
index 0000000000000..b27ccb4f7122c
--- /dev/null
+++ b/examples/rerun/main.cpp
@@ -0,0 +1,91 @@
+/*
+ * Copyright (c) 2011-2024, The DART development contributors
+ * All rights reserved.
+ *
+ * The list of contributors can be found at:
+ *   https://github.com/dartsim/dart/blob/main/LICENSE
+ *
+ * This file is provided under the following "BSD-style" License:
+ *   Redistribution and use in source and binary forms, with or
+ *   without modification, are permitted provided that the following
+ *   conditions are met:
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+ *   CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
+ *   INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ *   MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ *   DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ *   CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+ *   SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+ *   LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
+ *   USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ *   AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *   LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *   ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *   POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <dart/utils/urdf/urdf.hpp>
+#include <dart/utils/utils.hpp>
+
+#include <dart/simulation/World.hpp>
+
+#include <dart/dart.hpp>
+
+#include <rerun.hpp>
+#include <rerun/demo_utils.hpp>
+
+using namespace dart;
+using namespace dart::common;
+using namespace dart::dynamics;
+using namespace dart::simulation;
+using namespace dart::utils;
+using namespace dart::math;
+using namespace rerun::demo;
+
+int main()
+{
+  auto shape
+      = std::make_shared<dynamics::BoxShape>(Eigen::Vector3d(0.3, 0.3, 0.3));
+
+  // Create a box-shaped rigid body
+  auto skeleton = dynamics::Skeleton::create();
+  auto jointAndBody
+      = skeleton->createJointAndBodyNodePair<dynamics::FreeJoint>();
+  auto body = jointAndBody.second;
+  body->createShapeNodeWith<
+      dynamics::VisualAspect,
+      dynamics::CollisionAspect,
+      dynamics::DynamicsAspect>(shape);
+
+  // Create a world and add the rigid body
+  auto world = simulation::World::create();
+  world->addSkeleton(skeleton);
+
+  // Spawn Rerun viewer
+  const auto rec = rerun::RecordingStream("rerun_example_cpp");
+  rec.spawn().exit_on_failure();
+
+  for (auto i = 0; i < 1000; ++i) {
+    world->step();
+
+    for (auto j = 0u; j < world->getNumSkeletons(); ++j) {
+      auto skel = world->getSkeleton(j);
+
+      for (auto k = 0u; k < skel->getNumBodyNodes(); ++k) {
+        auto body = skel->getBodyNode(k);
+        body->eachShapeNodeWith<dynamics::VisualAspect>(
+            [&](const dynamics::ShapeNode* shapeNode) {
+              const auto& visualAspect = shapeNode->getVisualAspect();
+              shapeNode->getTransform();
+              const auto& shape = shapeNode->getShape();
+            });
+      }
+    }
+  }
+}
diff --git a/pixi.lock b/pixi.lock
index 261a97c73e894..0d7af450bb033 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -12,6 +12,20 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/noarch/argcomplete-3.2.3-pyhd8ed1ab_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/assimp-5.3.1-hfb0e8fe_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/attr-2.5.1-h166bdaf_1.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/noarch/attrs-23.2.0-pyh71513ae_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-auth-0.7.16-haed3651_8.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-cal-0.6.10-ha9bf9b1_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-common-0.9.14-hd590300_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-compression-0.2.18-h4466546_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-event-stream-0.4.2-he635cd5_6.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-http-0.8.1-hbfc29b2_7.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-io-0.14.6-h6b388c4_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-mqtt-0.10.3-hffff1cc_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-s3-0.5.2-h4893938_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-c-sdkutils-0.1.15-h4466546_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-checksums-0.1.18-h4466546_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-crt-cpp-0.26.3-h137ae52_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/aws-sdk-cpp-1.11.267-he0cb598_3.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/black-24.2.0-py312h7900ff3_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/bullet-cpp-3.25-hfb8ada1_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/bzip2-1.0.8-hd590300_5.conda
@@ -42,7 +56,9 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/freeglut-3.2.2-hac7e632_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/freetype-2.12.1-h267a509_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/gettext-0.21.1-h27087fc_0.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/gflags-2.2.2-he1b5a44_1004.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-64/glfw-3.4-hd590300_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/glog-0.7.0-hed5481d_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/gmp-6.3.0-h59595ed_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/gnutls-3.7.9-hb077bed_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/hdf5-1.14.3-nompi_h4f84152_100.conda
@@ -54,20 +70,34 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/keyutils-1.6.1-h166bdaf_0.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-64/krb5-1.21.2-h659d440_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/lame-3.100-h166bdaf_1003.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/lcms2-2.16-hb7c19ff_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/ld_impl_linux-64-2.40-h41732ed_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/lerc-4.0.0-h27087fc_0.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libabseil-20240116.1-cxx17_h59595ed_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libaec-1.1.2-h59595ed_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libarrow-15.0.2-h6bfc85a_0_cpu.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libarrow-acero-15.0.2-h59595ed_0_cpu.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libarrow-dataset-15.0.2-h59595ed_0_cpu.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libarrow-flight-15.0.2-hc6145d9_0_cpu.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libarrow-flight-sql-15.0.2-h757c851_0_cpu.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libarrow-gandiva-15.0.2-hb016d2e_0_cpu.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libarrow-substrait-15.0.2-h757c851_0_cpu.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libblas-3.9.0-21_linux64_openblas.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libboost-1.82.0-h6fcfa73_6.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libbrotlicommon-1.1.0-hd590300_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libbrotlidec-1.1.0-hd590300_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libbrotlienc-1.1.0-hd590300_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libcap-2.69-h0f662aa_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libcblas-3.9.0-21_linux64_openblas.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libccd-double-2.1-h59595ed_3.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libclang-cpp14-14.0.6-default_h7634d5b_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libcrc32c-1.1.2-h9c3ff4c_0.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libcurl-8.6.0-hca28451_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libdeflate-1.19-hd590300_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libdrm-2.4.120-hd590300_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libedit-3.1.20191231-he28a2e2_2.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libev-4.33-hd590300_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libevent-2.1.12-hf998b51_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libexpat-2.6.2-h59595ed_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libffi-3.4.2-h7f98852_5.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libflac-1.4.3-h59595ed_0.conda
@@ -77,21 +107,29 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libgfortran5-13.2.0-ha4646dd_5.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libglib-2.80.0-hf2295e7_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libgomp-13.2.0-h807b86a_5.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libgoogle-cloud-2.22.0-h9be4e54_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libgoogle-cloud-storage-2.22.0-hc7a4891_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libgpg-error-1.48-h71f35ed_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libgrpc-1.62.1-h15f2491_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libhwloc-2.9.3-default_h554bfaf_1009.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libiconv-1.17-hd590300_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libidn2-2.3.7-hd590300_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libjpeg-turbo-3.0.0-hd590300_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/liblapack-3.9.0-21_linux64_openblas.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libllvm14-14.0.6-hcd5def8_4.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libllvm16-16.0.6-hb3ce162_3.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libnghttp2-1.58.0-h47da74e_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libnl-3.9.0-hd590300_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libnsl-2.0.1-hd590300_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libode-0.16.2-h30efb56_14.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libogg-1.3.4-h7f98852_1.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libopenblas-0.3.26-pthreads_h413a1c8_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libopus-1.3.1-h7f98852_1.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libparquet-15.0.2-h352af49_0_cpu.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libpciaccess-0.18-hd590300_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libpng-1.6.43-h2797004_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libprotobuf-4.25.3-h08a7969_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libre2-11-2023.09.01-h5a48ba9_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libscotch-7.0.4-h91e35bf_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libsndfile-1.2.2-hc60ed4a_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libspral-2023.09.07-h6aa6db2_2.conda
@@ -100,8 +138,10 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libstdcxx-ng-13.2.0-h7e041cc_5.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libsystemd0-255-h3516f8a_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libtasn1-4.19.0-h166bdaf_0.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libthrift-0.19.0-hb90f79a_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libtiff-4.6.0-ha9c0a0a_2.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libunistring-0.9.10-h7f98852_0.tar.bz2
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libutf8proc-2.8.0-h166bdaf_0.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libuuid-2.38.1-h0b41bf4_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libuv-1.48.0-hd590300_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libva-2.21.0-hd590300_0.conda
@@ -126,14 +166,17 @@ environments:
       - conda: https://conda.anaconda.org/conda-forge/linux-64/numpy-1.26.4-py312heda63a1_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/octomap-1.9.8-h924138e_0.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/linux-64/openh264-2.3.1-hcb278e6_2.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/openjpeg-2.5.2-h488ebb8_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/openscenegraph-3.6.5-h82d3af2_18.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/openssl-3.2.1-hd590300_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/orc-2.0.0-h1e5e2c1_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/p11-kit-0.24.1-hc5aa10d_0.tar.bz2
       - conda: https://conda.anaconda.org/conda-forge/noarch/packaging-24.0-pyhd8ed1ab_0.conda
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+  - libcxx >=16
+  - libparquet 15.0.2 h278d484_0_cpu
+  - numpy >=1.26.4,<2.0a0
+  - python >=3.12,<3.13.0a0
+  - python >=3.12,<3.13.0a0 *_cpython
+  - python_abi 3.12.* *_cp312
+  constrains:
+  - apache-arrow-proc =*=cpu
+  license: Apache-2.0
+  license_family: APACHE
+  size: 3941931
+  timestamp: 1710811066436
+- kind: conda
+  name: pyarrow
+  version: 15.0.2
+  build: py312h176e3d2_0_cpu
+  subdir: linux-64
+  url: https://conda.anaconda.org/conda-forge/linux-64/pyarrow-15.0.2-py312h176e3d2_0_cpu.conda
+  sha256: 0e8bf94427192aa6f46f56469c8608f65f0cb8779e7a889578ae0ee0c88c32ba
+  md5: 2aa181d6d6744bb94e3a36098fe0d330
+  depends:
+  - libarrow 15.0.2 h6bfc85a_0_cpu
+  - libarrow-acero 15.0.2 h59595ed_0_cpu
+  - libarrow-dataset 15.0.2 h59595ed_0_cpu
+  - libarrow-flight 15.0.2 hc6145d9_0_cpu
+  - libarrow-flight-sql 15.0.2 h757c851_0_cpu
+  - libarrow-gandiva 15.0.2 hb016d2e_0_cpu
+  - libarrow-substrait 15.0.2 h757c851_0_cpu
+  - libgcc-ng >=12
+  - libparquet 15.0.2 h352af49_0_cpu
+  - libstdcxx-ng >=12
+  - numpy >=1.26.4,<2.0a0
+  - python >=3.12,<3.13.0a0
+  - python_abi 3.12.* *_cp312
+  constrains:
+  - apache-arrow-proc =*=cpu
+  license: Apache-2.0
+  license_family: APACHE
+  size: 4536607
+  timestamp: 1710811248576
+- kind: conda
+  name: pyarrow
+  version: 15.0.2
+  build: py312h85e32bb_0_cpu
+  subdir: win-64
+  url: https://conda.anaconda.org/conda-forge/win-64/pyarrow-15.0.2-py312h85e32bb_0_cpu.conda
+  sha256: 881dd58c685076dc9fd6352117e61455e37f60179579be9d93d9eb31479ede8b
+  md5: ca8ef6aa3d478b217f8f42f1f96ff9e6
+  depends:
+  - libarrow 15.0.2 h2a83f13_0_cpu
+  - libarrow-acero 15.0.2 h63175ca_0_cpu
+  - libarrow-dataset 15.0.2 h63175ca_0_cpu
+  - libarrow-flight 15.0.2 h02312f3_0_cpu
+  - libarrow-flight-sql 15.0.2 h55b4db4_0_cpu
+  - libarrow-gandiva 15.0.2 h3f2ff47_0_cpu
+  - libarrow-substrait 15.0.2 h89268de_0_cpu
+  - libparquet 15.0.2 h7ec3a38_0_cpu
+  - numpy >=1.26.4,<2.0a0
+  - python >=3.12,<3.13.0a0
+  - python_abi 3.12.* *_cp312
+  - ucrt >=10.0.20348.0
+  - vc >=14.2,<15
+  - vc14_runtime >=14.29.30139
+  constrains:
+  - apache-arrow-proc =*=cpu
+  license: Apache-2.0
+  license_family: APACHE
+  size: 3473153
+  timestamp: 1710812714885
+- kind: conda
+  name: pyarrow
+  version: 15.0.2
+  build: py312hc4c33ac_0_cpu
+  subdir: osx-64
+  url: https://conda.anaconda.org/conda-forge/osx-64/pyarrow-15.0.2-py312hc4c33ac_0_cpu.conda
+  sha256: 89b1bd258baadcc730870648a7293975cbc2e7450992149898201a64613d125f
+  md5: dcbaf6c3e968ee6642e11cb357add3e8
+  depends:
+  - libarrow 15.0.2 h49b82c4_0_cpu
+  - libarrow-acero 15.0.2 hd427752_0_cpu
+  - libarrow-dataset 15.0.2 hd427752_0_cpu
+  - libarrow-flight 15.0.2 h39e3226_0_cpu
+  - libarrow-flight-sql 15.0.2 h1a3ed6a_0_cpu
+  - libarrow-gandiva 15.0.2 h43798cf_0_cpu
+  - libarrow-substrait 15.0.2 h1a3ed6a_0_cpu
+  - libcxx >=16
+  - libparquet 15.0.2 h089a9f7_0_cpu
+  - numpy >=1.26.4,<2.0a0
+  - python >=3.12,<3.13.0a0
+  - python_abi 3.12.* *_cp312
+  constrains:
+  - apache-arrow-proc =*=cpu
+  license: Apache-2.0
+  license_family: APACHE
+  size: 3992404
+  timestamp: 1710814502744
 - kind: conda
   name: pytest
   version: 8.1.1
@@ -7097,6 +10635,84 @@ packages:
   license_family: BSD
   size: 6785
   timestamp: 1695147430513
+- kind: conda
+  name: rdma-core
+  version: '50.0'
+  build: hd3aeb46_1
+  build_number: 1
+  subdir: linux-64
+  url: https://conda.anaconda.org/conda-forge/linux-64/rdma-core-50.0-hd3aeb46_1.conda
+  sha256: 85e38508eb4921e53cf1cb97435f9c9408ea2ddc582c6588ec50f3f3ec3abdc0
+  md5: f462219598fcf46c0cdfb985c3482b4f
+  depends:
+  - __glibc >=2.17,<3.0.a0
+  - libgcc-ng >=12
+  - libnl >=3.9.0,<4.0a0
+  - libstdcxx-ng >=12
+  license: Linux-OpenIB
+  license_family: BSD
+  size: 4713842
+  timestamp: 1710157799992
+- kind: conda
+  name: re2
+  version: 2023.09.01
+  build: h4cba328_2
+  build_number: 2
+  subdir: osx-arm64
+  url: https://conda.anaconda.org/conda-forge/osx-arm64/re2-2023.09.01-h4cba328_2.conda
+  sha256: 0e0d44414381c39a7e6f3da442cb41c637df0dcb383a07425f19c19ccffa0118
+  md5: 0342882197116478a42fa4ea35af79c1
+  depends:
+  - libre2-11 2023.09.01 h7b2c953_2
+  license: BSD-3-Clause
+  license_family: BSD
+  size: 26770
+  timestamp: 1708947220914
+- kind: conda
+  name: re2
+  version: 2023.09.01
+  build: h7f4b329_2
+  build_number: 2
+  subdir: linux-64
+  url: https://conda.anaconda.org/conda-forge/linux-64/re2-2023.09.01-h7f4b329_2.conda
+  sha256: f0f520f57e6b58313e8c41abc7dfa48742a05f1681f05654558127b667c769a8
+  md5: 8f70e36268dea8eb666ef14c29bd3cda
+  depends:
+  - libre2-11 2023.09.01 h5a48ba9_2
+  license: BSD-3-Clause
+  license_family: BSD
+  size: 26617
+  timestamp: 1708946796423
+- kind: conda
+  name: re2
+  version: 2023.09.01
+  build: hb168e87_2
+  build_number: 2
+  subdir: osx-64
+  url: https://conda.anaconda.org/conda-forge/osx-64/re2-2023.09.01-hb168e87_2.conda
+  sha256: 5739ed2cfa62ed7f828eb4b9e6e69ff1df56cb9a9aacdc296451a3cb647034eb
+  md5: 266f8ca8528fc7e0fa31066c309ad864
+  depends:
+  - libre2-11 2023.09.01 h81f5012_2
+  license: BSD-3-Clause
+  license_family: BSD
+  size: 26814
+  timestamp: 1708947195067
+- kind: conda
+  name: re2
+  version: 2023.09.01
+  build: hd3b24a8_2
+  build_number: 2
+  subdir: win-64
+  url: https://conda.anaconda.org/conda-forge/win-64/re2-2023.09.01-hd3b24a8_2.conda
+  sha256: 929744a982215ea19f6f9a9d00c782969cd690bfddeeb650a39df1536af577fe
+  md5: ffeb985810bc7d103662e1465c758847
+  depends:
+  - libre2-11 2023.09.01 hf8d8778_2
+  license: BSD-3-Clause
+  license_family: BSD
+  size: 207315
+  timestamp: 1708947529390
 - kind: conda
   name: readline
   version: '8.2'
@@ -7143,6 +10759,98 @@ packages:
   license_family: GPL
   size: 255870
   timestamp: 1679532707590
+- kind: conda
+  name: rerun-sdk
+  version: 0.14.1
+  build: py312h60fbdae_1
+  build_number: 1
+  subdir: win-64
+  url: https://conda.anaconda.org/conda-forge/win-64/rerun-sdk-0.14.1-py312h60fbdae_1.conda
+  sha256: a2a5746843480337b90f55e44d604e10a998f0f753fa78cea7b405b7acea67c5
+  md5: 21f71c7773d7271d2d2395e76c153a3b
+  depends:
+  - attrs >=23.1.0
+  - numpy >=1.23
+  - pillow
+  - pyarrow >=14.0.2
+  - python >=3.12,<3.13.0a0
+  - python_abi 3.12.* *_cp312
+  - typing_extensions >=4.5
+  - ucrt >=10.0.20348.0
+  - vc >=14.2,<15
+  - vc14_runtime >=14.29.30139
+  license: MIT OR Apache-2.0
+  size: 12544773
+  timestamp: 1711044172200
+- kind: conda
+  name: rerun-sdk
+  version: 0.14.1
+  build: py312h6a27564_1
+  build_number: 1
+  subdir: osx-arm64
+  url: https://conda.anaconda.org/conda-forge/osx-arm64/rerun-sdk-0.14.1-py312h6a27564_1.conda
+  sha256: f6e9e3186793310cc74176c7ff5746c2054a32633f0e43fbd04e35bad7e7582e
+  md5: 3decccdd6b7c12090eb19d9373580e9a
+  depends:
+  - __osx >=11.0
+  - attrs >=23.1.0
+  - libcxx >=16
+  - numpy >=1.23
+  - pillow
+  - pyarrow >=14.0.2
+  - python >=3.12,<3.13.0a0
+  - python >=3.12,<3.13.0a0 *_cpython
+  - python_abi 3.12.* *_cp312
+  - typing_extensions >=4.5
+  license: MIT OR Apache-2.0
+  size: 13442157
+  timestamp: 1711044207390
+- kind: conda
+  name: rerun-sdk
+  version: 0.14.1
+  build: py312h9118e91_1
+  build_number: 1
+  subdir: linux-64
+  url: https://conda.anaconda.org/conda-forge/linux-64/rerun-sdk-0.14.1-py312h9118e91_1.conda
+  sha256: 010d9a6248f6e081d66dbd104b56c945b6309152715208307911ceb997dbdfa7
+  md5: c62677c1c5c93199585c3c5b9361f936
+  depends:
+  - attrs >=23.1.0
+  - libgcc-ng >=12
+  - libstdcxx-ng >=12
+  - numpy >=1.23
+  - pillow
+  - pyarrow >=14.0.2
+  - python >=3.12,<3.13.0a0
+  - python_abi 3.12.* *_cp312
+  - typing_extensions >=4.5
+  license: MIT OR Apache-2.0
+  size: 17333034
+  timestamp: 1711041933019
+- kind: conda
+  name: rerun-sdk
+  version: 0.14.1
+  build: py312hbe1a6d7_1
+  build_number: 1
+  subdir: osx-64
+  url: https://conda.anaconda.org/conda-forge/osx-64/rerun-sdk-0.14.1-py312hbe1a6d7_1.conda
+  sha256: 63f8477bcdef70dcd3e026f85baeee76531ae829b90e23dcf73e9bb9d4965cee
+  md5: ded1147b5d65c4eb2d615ab456f2832f
+  depends:
+  - __osx >=10.12
+  - attrs >=23.1.0
+  - libcxx >=16
+  - numpy >=1.23
+  - pillow
+  - pyarrow >=14.0.2
+  - python >=3.12,<3.13.0a0
+  - python_abi 3.12.* *_cp312
+  - typing_extensions >=4.5
+  constrains:
+  - __osx >=10.12
+  license: MIT OR Apache-2.0
+  size: 13918230
+  timestamp: 1711044163050
 - kind: conda
   name: rhash
   version: 1.4.3
@@ -7184,6 +10892,21 @@ packages:
   license_family: MIT
   size: 184509
   timestamp: 1693427593121
+- kind: conda
+  name: s2n
+  version: 1.4.7
+  build: h06160fa_0
+  subdir: linux-64
+  url: https://conda.anaconda.org/conda-forge/linux-64/s2n-1.4.7-h06160fa_0.conda
+  sha256: c46f77d6280f2f22e7c63b160c9177627278056742370f8aec7aeb1b3c5393a9
+  md5: bd39dff72c2daebd9b38c5a27b3ad207
+  depends:
+  - libgcc-ng >=12
+  - openssl >=3.2.1,<4.0a0
+  license: Apache-2.0
+  license_family: Apache
+  size: 339411
+  timestamp: 1710451148936
 - kind: conda
   name: scotch
   version: 7.0.4
@@ -7287,6 +11010,65 @@ packages:
   license_family: MIT
   size: 469644
   timestamp: 1708702431036
+- kind: conda
+  name: snappy
+  version: 1.1.10
+  build: h17c5cce_0
+  subdir: osx-arm64
+  url: https://conda.anaconda.org/conda-forge/osx-arm64/snappy-1.1.10-h17c5cce_0.conda
+  sha256: dfae03cd2339587871e53b42833657faa4c9e42e3e2c56ee9e32bc60797c7f62
+  md5: ac82a611d1a67a598096ebaa857198e3
+  depends:
+  - libcxx >=14.0.6
+  license: BSD-3-Clause
+  license_family: BSD
+  size: 33879
+  timestamp: 1678534968831
+- kind: conda
+  name: snappy
+  version: 1.1.10
+  build: h225ccf5_0
+  subdir: osx-64
+  url: https://conda.anaconda.org/conda-forge/osx-64/snappy-1.1.10-h225ccf5_0.conda
+  sha256: 575915dc13152e446a84e2f88de70a14f8b6af1a870e708f9370bd4be105583b
+  md5: 4320a8781f14cd959689b86e349f3b73
+  depends:
+  - libcxx >=14.0.6
+  license: BSD-3-Clause
+  license_family: BSD
+  size: 34657
+  timestamp: 1678534768395
+- kind: conda
+  name: snappy
+  version: 1.1.10
+  build: h9fff704_0
+  subdir: linux-64
+  url: https://conda.anaconda.org/conda-forge/linux-64/snappy-1.1.10-h9fff704_0.conda
+  sha256: 02219f2382b4fe39250627dade087a4412d811936a5a445636b7260477164eac
+  md5: e6d228cd0bb74a51dd18f5bfce0b4115
+  depends:
+  - libgcc-ng >=12
+  - libstdcxx-ng >=12
+  license: BSD-3-Clause
+  license_family: BSD
+  size: 38865
+  timestamp: 1678534590321
+- kind: conda
+  name: snappy
+  version: 1.1.10
+  build: hfb803bf_0
+  subdir: win-64
+  url: https://conda.anaconda.org/conda-forge/win-64/snappy-1.1.10-hfb803bf_0.conda
+  sha256: 2a195b38cb63f03ad9f73a82db52434ebefe216fb70f7ea3defe4ddf263d408a
+  md5: cff1df79c9cff719460eb2dd172568de
+  depends:
+  - ucrt >=10.0.20348.0
+  - vc >=14.2,<15
+  - vs2015_runtime >=14.29.30139
+  license: BSD-3-Clause
+  license_family: BSD
+  size: 57065
+  timestamp: 1678534804734
 - kind: conda
   name: spdlog
   version: 1.12.0
@@ -7615,6 +11397,21 @@ packages:
   license_family: MIT
   size: 15940
   timestamp: 1644342331069
+- kind: conda
+  name: typing_extensions
+  version: 4.10.0
+  build: pyha770c72_0
+  subdir: noarch
+  noarch: python
+  url: https://conda.anaconda.org/conda-forge/noarch/typing_extensions-4.10.0-pyha770c72_0.conda
+  sha256: 4be24d557897b2f6609f5d5f7c437833c62f4d4a96581e39530067e96a2d0451
+  md5: 16ae769069b380646c47142d719ef466
+  depends:
+  - python >=3.8
+  license: PSF-2.0
+  license_family: PSF
+  size: 37018
+  timestamp: 1708904796013
 - kind: conda
   name: tzdata
   version: 2024a
@@ -7641,6 +11438,25 @@ packages:
   license_family: PROPRIETARY
   size: 1283972
   timestamp: 1666630199266
+- kind: conda
+  name: ucx
+  version: 1.15.0
+  build: h11edf95_7
+  build_number: 7
+  subdir: linux-64
+  url: https://conda.anaconda.org/conda-forge/linux-64/ucx-1.15.0-h11edf95_7.conda
+  sha256: 3e381ec5918045a43e0f349214a4d38e53990897ba07a6abf025f9e0156acaf2
+  md5: 20a94f617ad76922f8737ad1fe317f4d
+  depends:
+  - libgcc-ng >=12
+  - libstdcxx-ng >=12
+  - rdma-core >=50.0
+  constrains:
+  - cuda-version >=11.2,<12
+  license: BSD-3-Clause
+  license_family: BSD
+  size: 6847943
+  timestamp: 1710357262334
 - kind: conda
   name: unixodbc
   version: 2.3.12
@@ -8314,6 +12130,21 @@ packages:
   license_family: MIT
   size: 13667
   timestamp: 1684638272445
+- kind: conda
+  name: xorg-libxau
+  version: 1.0.11
+  build: hcd874cb_0
+  subdir: win-64
+  url: https://conda.anaconda.org/conda-forge/win-64/xorg-libxau-1.0.11-hcd874cb_0.conda
+  sha256: 8c5b976e3b36001bdefdb41fb70415f9c07eff631f1f0155f3225a7649320e77
+  md5: c46ba8712093cb0114404ae8a7582e1a
+  depends:
+  - m2w64-gcc-libs
+  - m2w64-gcc-libs-core
+  license: MIT
+  license_family: MIT
+  size: 51297
+  timestamp: 1684638355740
 - kind: conda
   name: xorg-libxau
   version: 1.0.11
@@ -8366,6 +12197,20 @@ packages:
   license_family: MIT
   size: 19126
   timestamp: 1610071769228
+- kind: conda
+  name: xorg-libxdmcp
+  version: 1.1.3
+  build: hcd874cb_0
+  subdir: win-64
+  url: https://conda.anaconda.org/conda-forge/win-64/xorg-libxdmcp-1.1.3-hcd874cb_0.tar.bz2
+  sha256: f51205d33c07d744ec177243e5d9b874002910c731954f2c8da82459be462b93
+  md5: 46878ebb6b9cbd8afcf8088d7ef00ece
+  depends:
+  - m2w64-gcc-libs
+  license: MIT
+  license_family: MIT
+  size: 67908
+  timestamp: 1610072296570
 - kind: conda
   name: xorg-libxext
   version: 1.3.4
diff --git a/pixi.toml b/pixi.toml
index 68663b9ae38cd..f6bfe4d93587a 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -13,6 +13,7 @@ install-local = { cmd = "cmake --install build --prefix $CONDA_PREFIX", depends_
     "configure_local",
     "build",
 ] }
+
 example-hello-world = { cmd = "cmake --build build --target hello_world --parallel && ./build/bin/hello_world", depends_on = [
     "configure",
 ] }
@@ -22,6 +23,10 @@ example-atlas-puppet = { cmd = "cmake --build build --target atlas_puppet --para
 example-atlas-simbicon = { cmd = "cmake --build build --target atlas_simbicon --parallel && ./build/bin/atlas_simbicon", depends_on = [
     "configure",
 ] }
+example-rerun = { cmd = "cmake --build build --target example-rerun --parallel && ./build/bin/example-rerun", depends_on = [
+    "configure",
+] }
+
 bm-empty = { cmd = "cmake --build build --target BM_INTEGRATION_empty --parallel && ./build/bin/BM_INTEGRATION_empty", depends_on = [
     "configure",
 ] }
@@ -36,16 +41,17 @@ console_bridge = ">=1.0.2,<1.1"
 eigen = ">=3.4.0,<3.5"
 fcl = ">=0.7.0,<0.8"
 fmt = ">=10.2.1,<10.3"
+ipopt = ">=3.14.14,<3.15"
 libode = ">=0.16.2,<0.17"
+nlopt = ">=2.7.1,<2.8"
+numpy = ">=1.26.4,<1.27"
 octomap = ">=1.9.8,<1.10"
 openscenegraph = ">=3.6.5,<3.7"
+pagmo = ">=2.19.0,<2.20"
+rerun-sdk = ">=0.14.1,<0.15"
 spdlog = ">=1.12.0,<1.13"
 tinyxml2 = ">=10.0.0,<10.1"
 urdfdom = ">=4.0.0,<4.1"
-ipopt = ">=3.14.14,<3.15"
-nlopt = ">=2.7.1,<2.8"
-pagmo = ">=2.19.0,<2.20"
-numpy = ">=1.26.4,<1.27"
 
 [build-dependencies]
 cmake = "3.22.*"
@@ -64,7 +70,7 @@ freeglut = ">=3.2.2,<3.3"
 imgui = ">=1.90.4,<1.91"
 
 [target.linux-64.tasks]
-configure = "cmake -G Ninja -S . -B build -DDART_VERBOSE=ON -DDART_USE_SYSTEM_IMGUI=ON"
+configure = "cmake -G Ninja -S . -B build -DDART_VERBOSE=ON -DDART_USE_SYSTEM_IMGUI=ON -DDART_BUILD_RERUN=ON"
 lint = { cmd = "cmake --build build --target format && black . && isort .", depends_on = [
     "configure",
 ] }
@@ -94,7 +100,7 @@ test-all = { cmd = "cmake --build build -j --target ALL", depends_on = [
 clang-format-14 = ">=14.0.6,<14.1"
 
 [target.osx-64.tasks]
-configure = "cmake -G Ninja -S . -B build -DDART_VERBOSE=ON -DDART_USE_SYSTEM_IMGUI=ON"
+configure = "cmake -G Ninja -S . -B build -DDART_VERBOSE=ON -DDART_USE_SYSTEM_IMGUI=ON -DDART_BUILD_RERUN=ON"
 lint = { cmd = "cmake --build build --target format && black . && isort .", depends_on = [
     "configure",
 ] }
@@ -127,7 +133,7 @@ clang-format-14 = ">=14.0.6,<14.1"
 imgui = ">=1.90.4,<1.91"
 
 [target.osx-arm64.tasks]
-configure = "cmake -G Ninja -S . -B build -DDART_VERBOSE=ON -DDART_USE_SYSTEM_IMGUI=ON"
+configure = "cmake -G Ninja -S . -B build -DDART_VERBOSE=ON -DDART_USE_SYSTEM_IMGUI=ON -DDART_BUILD_RERUN=ON"
 lint = { cmd = "cmake --build build --target format && black . && isort .", depends_on = [
     "configure",
 ] }
@@ -161,7 +167,7 @@ imgui = ">=1.90.4,<1.91"
 freeglut = ">=3.2.2,<3.3"
 
 [target.win-64.tasks]
-configure = "cmake -S . -B build -G 'Visual Studio 17 2022' -DCMAKE_BUILD_TYPE=Release -DDART_MSVC_DEFAULT_OPTIONS=ON -DBUILD_SHARED_LIBS=OFF -DDART_VERBOSE=ON -DDART_USE_SYSTEM_IMGUI=OFF"
+configure = "cmake -S . -B build -G 'Visual Studio 17 2022' -DCMAKE_BUILD_TYPE=Release -DDART_MSVC_DEFAULT_OPTIONS=ON -DBUILD_SHARED_LIBS=OFF -DDART_VERBOSE=ON -DDART_USE_SYSTEM_IMGUI=OFF -DDART_BUILD_RERUN=ON"
 lint = { cmd = "black . && isort .", depends_on = ["configure"] }
 check-lint = { cmd = "black . --check && isort . --check", depends_on = [
     "configure",