DART is an open-source C++23 physics engine that simulates the movement and interactions of articulated rigid-body systems for robotics, animation, and machine learning. Researchers and developers use it for kinematics, dynamics, collision handling, constraints, and loading robot models, with C++ and Python interfaces. The catalogue add-ons support workflows built around this engine.
Borrowing it
Nothing to install: this file belongs to dartsim/dart. Take a copy, put it at the same path in your own repository, and replace the rules that are about this project with yours.
curl -O https://raw.githubusercontent.com/dartsim/dart/main/.agents/skills/dart-architecture/SKILL.mdgit clone --depth 1 https://github.com/dartsim/dartWrote this? Show the measurements
A badge with what this costs and how it scanned, read live from this page, so it follows the numbers instead of freezing them. Markdown for a README, HTML for a documentation site or a project page.
[](https://agentmods.dev/skills/dartsim/dart/dart-architecture)<a href="https://agentmods.dev/skills/dartsim/dart/dart-architecture"><img src="https://agentmods.dev/badge/skills/dartsim/dart/dart-architecture/github.svg" alt="Measured on agentmods" height="20"></a>Or the 80×15 button, for a site that already has a row of RSS and ATOM ones. Only the verdict fits; the numbers stay here.
<a href="https://agentmods.dev/skills/dartsim/dart/dart-architecture"><img src="https://agentmods.dev/badge/skills/dartsim/dart/dart-architecture.svg" alt="Reviewed on agentmods" width="80" height="20"></a>- NVIDIA SkillSpector warn
SkillSpector: 10 findings, up to medium
These are SkillSpector’s own severities. On a checked sample its high-severity flags on skills were ~96% false positives — a documented command, a public API, a “never do X” rule — so we show them as a caution to read, not a verdict. Why →
- medium Agent Snooping · line 7 Skill enumerates or reads other installed skills. Access to other skills' SKILL.md files or the skills directory reveals prompt instructions, capabilities, and secrets that should be invisible to peer skills.Fix: Remove all code or instructions that list or read other skills' files or directories. Skills should operate independently; cross-skill access is a privilege escalation.
- medium Prompt Injection · line 45 Large whitespace padding was detected (a block of blank lines or a long run of spaces). This can push injected instructions below or to the right of the visible area so a human reviewer never sees them while the agent still reads them. Manual review of the hidden content is recommended.Fix: Remove the large whitespace padding (blank-line blocks or long space runs) and review any content hidden below or to the right of it. Keep skill files compact and reviewable so no instructions can be
- medium Prompt Injection · line 47 Large whitespace padding was detected (a block of blank lines or a long run of spaces). This can push injected instructions below or to the right of the visible area so a human reviewer never sees them while the agent still reads them. Manual review of the hidden content is recommended.Fix: Remove the large whitespace padding (blank-line blocks or long space runs) and review any content hidden below or to the right of it. Keep skill files compact and reviewable so no instructions can be
- medium Prompt Injection · line 49 Large whitespace padding was detected (a block of blank lines or a long run of spaces). This can push injected instructions below or to the right of the visible area so a human reviewer never sees them while the agent still reads them. Manual review of the hidden content is recommended.Fix: Remove the large whitespace padding (blank-line blocks or long space runs) and review any content hidden below or to the right of it. Keep skill files compact and reviewable so no instructions can be
- medium Prompt Injection · line 50 Large whitespace padding was detected (a block of blank lines or a long run of spaces). This can push injected instructions below or to the right of the visible area so a human reviewer never sees them while the agent still reads them. Manual review of the hidden content is recommended.Fix: Remove the large whitespace padding (blank-line blocks or long space runs) and review any content hidden below or to the right of it. Keep skill files compact and reviewable so no instructions can be
- medium Prompt Injection · line 51 Large whitespace padding was detected (a block of blank lines or a long run of spaces). This can push injected instructions below or to the right of the visible area so a human reviewer never sees them while the agent still reads them. Manual review of the hidden content is recommended.Fix: Remove the large whitespace padding (blank-line blocks or long space runs) and review any content hidden below or to the right of it. Keep skill files compact and reviewable so no instructions can be
- medium Prompt Injection · line 148 Large whitespace padding was detected (a block of blank lines or a long run of spaces). This can push injected instructions below or to the right of the visible area so a human reviewer never sees them while the agent still reads them. Manual review of the hidden content is recommended.Fix: Remove the large whitespace padding (blank-line blocks or long space runs) and review any content hidden below or to the right of it. Keep skill files compact and reviewable so no instructions can be
- medium Prompt Injection · line 151 Large whitespace padding was detected (a block of blank lines or a long run of spaces). This can push injected instructions below or to the right of the visible area so a human reviewer never sees them while the agent still reads them. Manual review of the hidden content is recommended.Fix: Remove the large whitespace padding (blank-line blocks or long space runs) and review any content hidden below or to the right of it. Keep skill files compact and reviewable so no instructions can be
- medium Prompt Injection · line 152 Large whitespace padding was detected (a block of blank lines or a long run of spaces). This can push injected instructions below or to the right of the visible area so a human reviewer never sees them while the agent still reads them. Manual review of the hidden content is recommended.Fix: Remove the large whitespace padding (blank-line blocks or long space runs) and review any content hidden below or to the right of it. Keep skill files compact and reviewable so no instructions can be
- medium Prompt Injection · line 154 Large whitespace padding was detected (a block of blank lines or a long run of spaces). This can push injected instructions below or to the right of the visible area so a human reviewer never sees them while the agent still reads them. Manual review of the hidden content is recommended.Fix: Remove the large whitespace padding (blank-line blocks or long space runs) and review any content hidden below or to the right of it. Keep skill files compact and reviewable so no instructions can be
What it costs to keep this loaded
Counted locally with the o200k_base tokenizer, which is exact for GPT models; Claude uses its own tokenizer and its counts differ. Treat this as one consistent yardstick across the catalogue rather than a bill. Prices are per million input tokens.
| Model | Per session | Once invoked |
|---|---|---|
| Fable 5.1 | $0.00041 | $0.02493 |
| Opus 5 | $0.00020 | $0.01247 |
| Sonnet 5 | $0.00008 | $0.00499 |
| Haiku 4.5 | $0.00004 | $0.00249 |
Grade A, and why
dart-architecture scanned grade A with 0 findings against 26 rules in 11 categories — prompt injection, anti-refusal, data exfiltration, privilege escalation, supply chain, agent snooping, system-prompt leakage, SSRF and excessive agency — measured 2d ago.
A static scan of the body, not an audit. Every finding is printed with the line that produced it so you can judge whether it matters here. A mod is markdown that instructs an agent; that is exactly why what it instructs is worth reading.
Nothing flagged
None of the 26 patterns this scan looks for appear in this file: no shell pipes, no recursive deletes, no credential paths, no hidden text, no instruction-override or anti-refusal phrasing, no agent-config snooping. That is not a guarantee, it is the absence of the things that are checkable.
How it starts
The opening of the file, as written. The whole thing — 182 lines — stays where its author put it; the contents beside it link to each section on GitHub.
DART 7 Architecture
Load this skill when working on the DART 7 simulation World, on
solvers/physics domains/compute backends, when a change adds or renames a
dart/simulation module, step-stage slot, or solver family, or whenever a
task needs the big-picture map of how DART 7 is generalized for
multi-physics, multi-solver, and multi-backend simulation.
The design in one sentence
World owns topology, time and composition. A solver may advance one or several physical domains, using a shared solve or an explicit coupling strategy. Semantic dependencies, executable plans and runtime adapters separate physics from scheduling. Users configure DART-owned method/policy values, never solver registries, component storage or runtime objects.
Why three axes of choice
- Research, apples-to-apples. A new paper's algorithm should be reproducible and benchmarkable inside DART against baselines on shared foundations, not in a fork. New methods enter through DART-owned solver families.
- End-user choice. Users pick the solver method and (internally) backend that fit their accuracy/speed/platform needs.
- Auto-configuration. Defaults are selected from scene content so the easy path stays trivial; the backend seam is designed for later platform/scene-scale awareness without changing the public API.
The living architecture map
The published page docs/readthedocs/architecture.md embeds four views that
are rendered at docs-build time from typed JSON under
docs/assets/architecture/. The JSON is the source of truth; rendered HTML is
never committed.
| View | Owns |
|---|---|
simulation-framework.architecture.json |
facade → scene → selection → schedule → solver families → data/collision → compute; every dart/simulation/<dir> except compute/ |
world-step.dataflow.json |
the built-in World::step() stage slots as nodes (ids are BuiltInWorldStepStageSlot names in snake case) plus the two listed bookends sync and continuation for the prologue and epilogue outside the schedule, flows named by exchanged data |
compute-graph.architecture.json |
semantic graph → executable plan → runtime adapters → evidence; dart/simulation/compute/** |
library-context.architecture.json |
every dart/<module>, dartpy, dartsim, external dependencies |
compute-graph.runtime.json |
fixture recorded by tests/unit/simulation/compute/test_architecture_probe.cpp for the advisory runtime drift check |
What this file has done since we first saw it
Hashed on every crawl. A supply-chain change to an agent config is a question of when, not whether, so the history is kept rather than the latest state alone.
- 2d ago Changed · +94 lines · +9 tokens per session 6cddfdc47d91
- 8d ago First seen · 88 lines · 32 tokens per session scan A 0d6cf7fe30e0
dart-architecture is a skill published in the GitHub repository dartsim/dart (1,204 stars, last pushed 2d ago), licensed BSD-2-Clause. It adds 41 tokens to every session and 2,493 once invoked, about $0.0002 per session on Opus 5. A static security scan graded it A with 0 findings. No closer match exists in the catalogue, so it is treated as the original; first seen 2026-09-01.
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