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.
Getting it into your agent
One page per mod, every tool's command on it. A separate URL per tool would split the same page into five that compete with each other.
npx skills add dartsim/dart --skill dart-backport-prgit 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-backport-pr)<a href="https://agentmods.dev/skills/dartsim/dart/dart-backport-pr"><img src="https://agentmods.dev/badge/skills/dartsim/dart/dart-backport-pr/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-backport-pr"><img src="https://agentmods.dev/badge/skills/dartsim/dart/dart-backport-pr.svg" alt="Reviewed on agentmods" width="80" height="20"></a>- NVIDIA SkillSpector pass
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 | $0.00024 | $0.01060 |
| Opus 5.5 | $0.00010 | $0.00424 |
| Sonnet 5.5 | $0.00005 | $0.00212 |
| Haiku 4.5 | $0.00002 | $0.00106 |
Grade A, and why
dart-backport-pr 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 6d 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 — 103 lines — stays where its author put it; the contents beside it link to each section on GitHub.
dart-backport-pr
Use this skill to run the DART dart-backport-pr workflow. The editable workflow
source lives in .claude/commands/; this generated skill is its entrypoint for
Codex and Muse.
Invocation
- Claude Code:
/dart-backport-pr <arguments> - Codex:
$dart-backport-pr <arguments> - Muse:
/dart-backport-pr <arguments>
Treat the text after the skill name, or the user's request when the skill is
loaded on demand, as $ARGUMENTS. When the workflow references $1, $2,
etc., map those to the positional values supplied by the user.
Command Body
Backport PR or commits: $ARGUMENTS
Required Reading
@AGENTS.md @docs/onboarding/contributing.md @docs/onboarding/release-management.md @docs/onboarding/changelog.md
Workflow
New patches land on main. Use this workflow to backport merged PRs to a
selected release-* stabilization or maintenance branch.
A release branch may be cut from an approved stabilization commit before its
first release tag, or from a published release tag.
For a source change involving model/scene structure, physics behavior, or Filament
output, use the release branch's dart-verify-sim workflow to preserve the text
oracle and assessed visual evidence. Document a visual exception when the
release branch cannot render the claim.
- Verify the source PR or commit is merged to
main:gh pr view <SOURCE_PR> --json state,mergedAt,baseRefName,mergeCommit - Resolve the target from the live backport PR base or the selected release
branch. Fetch it and read its
docs/onboarding/release-management.md§ "Release target"; verify the exactDART <Next release>milestone is open on GitHub. Publishing requires explicit maintainer/user approval. Check whether an equivalent change already exists on that branch:git fetch origin <RELEASE_BRANCH> main git cherry -v --abbrev=40 origin/<RELEASE_BRANCH> origin/main | grep <COMMIT_HASH> - Create a topic branch from the release target without resetting an
existing local branch:
BRANCH=backport/<SOURCE_PR>-to-<RELEASE_BRANCH> if git show-ref --verify --quiet "refs/heads/$BRANCH"; then if [ -n "$(git status --short)" ] || [ "$(git rev-parse "$BRANCH")" \ != "$(git rev-parse "origin/<RELEASE_BRANCH>")" ]; then echo "existing $BRANCH is dirty or diverges from the release tip" >&2 exit 1 # stop and ask before resetting or cherry-picking onto it fi git switch "$BRANCH" else git switch --no-track -c "$BRANCH" origin/<RELEASE_BRANCH> fi - Cherry-pick with provenance:
git cherry-pick -x <COMMIT_HASH>. - Resolve conflicts minimally; stop and ask if conflicts are broad or change behavior.
- Run
/dart-changelog decideor$dart-changelog decideagainst the backport diff and release target before opening the release PR. If an entry is required but needs the backport PR number, draft the decision and keep the finalize/update follow-up local until explicit approval permits another push. Do not skip the changelog decision just because this is a backport. Release branches take no fragments: if the cherry-pick addedchangelog.d/fragments, delete them and letdart-changelogwrite the entry into the release branch'sCHANGELOG.md. - Run
pixi run lintand the smallest relevant release-branch checks. - Ask for explicit maintainer/user approval before pushing or opening the PR.
After approval, open it as a draft against the release branch with the
resolved next-release milestone and the PR template, then follow
docs/onboarding/ai-tools.md§ "PR Lifecycle". If the changelog decision was deferred for the PR number, run/dart-changelog finalizeor$dart-changelog finalizeand push the follow-up only after explicit approval.
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.
- 6d ago Changed · +3 lines 54eeb7d8b2cf
- 16d ago Changed · +1 lines 5931f34e3161
- 17d ago Changed 97b0326d7542
- 19d ago Changed · +6 lines · +2 tokens per session 735675c034f0
- 22d ago Changed · +2 lines 01889d287d3c
- 24d ago Changed · +2 lines · -4 tokens per session 53a8b77b86e6
- 1mo ago Changed · -1 lines · +5 tokens per session e40be61d0b1b
- 1mo ago Changed d9965453085e
- 1mo ago Changed · +13 lines 7106e3daa71f
- 1mo ago First seen · 77 lines · 21 tokens per session scan A 4d24c39cfbed
dart-backport-pr is a skill published in the GitHub repository dartsim/dart (1,222 stars, last pushed yesterday), licensed BSD-2-Clause. It adds 24 tokens to every session and 1,060 once invoked, about $0.0001 per session on Opus 5.5. 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.
Other skills, from other repositories
release-announcement
Write a release announcement — changelog, blog post, in-app note, or social post — that leads with user impact, names the audience, and includes upgrade/migration steps without filler.
release-notes
Generate user-facing release notes from tickets, PRDs, or changelogs. Creates clear, engaging summaries organized by category (new features, improvements, fixes). Use when writing release notes, creating changelogs, announcing product updates, or summarizing what shipped.
release
Fully automate a release with version-bump and childhood.
multi-agent-release-manager
Cleans up the workspace, formats code, runs presubmit checks, and uploads CLs to Gerrit.
pack-submit
Package one of this agent's own skills as a standalone community pack and submit it to the aeon registry as a PR.
release-helper
Ensures configuration and code changes are released correctly. Use PROACTIVELY whenever you edit config.json, change any setting, or fix a configuration bug in this project, so the change reaches production.