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-build/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-build)<a href="https://agentmods.dev/skills/dartsim/dart/dart-build"><img src="https://agentmods.dev/badge/skills/dartsim/dart/dart-build.svg" alt="Measured on agentmods" height="20"></a>- NVIDIA SkillSpector warn
SkillSpector: 1 finding, 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.
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 | $0.00018 | $0.00646 |
| Opus 5 | $0.00009 | $0.00323 |
| Sonnet 5 | $0.00004 | $0.00129 |
| Haiku 4.5 | $0.00002 | $0.00065 |
Grade A, and why
dart-build 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 — 75 lines — stays where its author put it; the contents beside it link to each section on GitHub.
DART Build System
Load this skill when working with DART's build system.
Quick Commands
pixi run config # Configure CMake
pixi run build # Build
pixi run test # Run tests
pixi run test-all # Full validation (lint + build + tests)
pixi run -e cuda test-all # CUDA-enabled full validation on Linux CUDA hosts
pixi run lint # Format code
Full Documentation
For complete build instructions, read: docs/onboarding/building.md
For build system internals (CMake, dependencies): docs/onboarding/build-system.md
Common Issues
| Issue | Solution |
|---|---|
| CMake not found | pixi install |
| Missing dependency | Check pixi.toml |
| Build failure | pixi run config then pixi run build |
| Linking error | Check CMakeLists.txt in relevant module |
CUDA Notes
- On Linux hosts with visible NVIDIA GPUs, the CUDA Pixi config auto-detects
compute capabilities for
DART_CUDA_ARCHITECTURES; setDART_CUDA_ARCHITECTURES=<arch>only when overriding that detected list. - If CUDA runtime tests fail with unsupported PTX/toolchain errors, verify the generated CUDA flags include the local GPU architecture before assuming a kernel bug.
Pixi Lockfiles
- Do not edit
pixi.lockby hand. Change dependency constraints inpixi.toml, then run a Pixi command such aspixi installto let Pixi regenerate the lockfile. - If
pixi.lockchanges format or has broad solver churn, keep the generated output and call it out in the PR rather than attempting to splice lockfile entries manually.
Filament GUI Visual Checks
- For Filament GUI, scene, or simulation rendering changes, load
dart-verify-sim. Pair a text correctness oracle withagent-capture, view assessment, and claim-relevant engine debug layers; inspect the artifact and sidecar instead of relying only on command success. - If the user explicitly asks for the
dartsimapp, runpixi run dartsimand verify the requested interaction or behavior before ending the check. Then close any application you started solely for verification, unless the user asked to leave it running.
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 · +2 lines a57717073ef2
- 4d ago Changed 036243b56435
- 6d ago First seen · 73 lines · 18 tokens per session scan A 49f41dc1a47e
dart-build is a skill published in the GitHub repository dartsim/dart (1,202 stars, last pushed yesterday), licensed BSD-2-Clause. It adds 18 tokens to every session and 646 once invoked, about $0.0001 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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