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
It runs from inside its repository, so the clone comes first — what it calls does not travel with the file alone.
git clone --depth 1 https://github.com/dartsim/dartnpx agentmods add skills/dartsim/dart/dart-contributeWrote 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-contribute)<a href="https://agentmods.dev/skills/dartsim/dart/dart-contribute"><img src="https://agentmods.dev/badge/skills/dartsim/dart/dart-contribute/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-contribute"><img src="https://agentmods.dev/badge/skills/dartsim/dart/dart-contribute.svg" alt="Reviewed on agentmods" width="80" 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 | $0.00017 | $0.01519 |
| Opus 5.5 | $0.00007 | $0.00608 |
| Sonnet 5.5 | $0.00003 | $0.00304 |
| Haiku 4.5 | $0.00002 | $0.00152 |
Grade A, and why
dart-contribute scanned grade A with 0 findings against 26 rules in 11 categories — prompt injection, anti-refusal, data exfiltration, privilege escalation, supply chain, agent snooping, system-prompt leakage, SSRF and excessive agency — measured 6d ago.
A static scan of the body, not an audit. Every finding is printed with the line that produced it so you can judge whether it matters here. A mod is markdown that instructs an agent; that is exactly why what it instructs is worth reading.
Nothing flagged
None of the 26 patterns this scan looks for appear in this file: no shell pipes, no recursive deletes, no credential paths, no hidden text, no instruction-override or anti-refusal phrasing, no agent-config snooping. That is not a guarantee, it is the absence of the things that are checkable.
How it starts
The opening of the file, as written. The whole thing — 164 lines — stays where its author put it; the contents beside it link to each section on GitHub.
DART Contribution Workflow
Load this skill when contributing code to DART.
Full Documentation
For complete guide: docs/onboarding/contributing.md
For code style: docs/onboarding/code-style.md
For target branches and milestones: docs/onboarding/release-management.md
§ "Release target" on the freshly fetched PR base.
Branch Naming
feature/<topic>- New featuresfix/<topic>- Bug fixesrefactor/<topic>- Refactoringdocs/<topic>- Documentation
PR Workflow
Resolve the target and required milestone below, and complete the applicable
actions in docs/onboarding/contributing.md § "PR Author Checklist" before
publishing a PR.
# Development and new fixes start from main without tracking it
git fetch origin main
git switch --no-track -c <type>/<topic> origin/main
# Make changes, then
pixi run lint
pixi run test-all
# For package, collision, constraint, dependency, or downstream compatibility changes
pixi run -e gazebo test-gz
# After explicit maintainer/user approval, push and create PR
branch=$(git branch --show-current)
git push -u origin "HEAD:${branch}"
# Prepare the plain title and filled template, then require both checks to pass
printf '%s\n' "$pr_title" | pixi run python scripts/check_local_paths.py --stdin
pixi run python scripts/check_local_paths.py --text-file "$pr_body_file"
gh pr create --draft --base <target-branch> --milestone "<milestone>" \
--title "$pr_title" --body-file "$pr_body_file"
Then follow docs/onboarding/ai-tools.md § "PR Lifecycle" from draft to merge.
Rule of thumb: run pixi run lint before committing so auto-fixes are included.
Follow docs/onboarding/contributing.md § "PR Descriptions" for the
Summary and Testing default, optional material context, evidence formats,
collapsed detail, and required simulation evidence.
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 · +4 lines 2f9d28efe3a2
- 16d ago Changed · +2 lines 38bd84f838d0
- 17d ago Changed ea8842a71992
- 19d ago Changed · +18 lines 88295eaa2efc
- 20d ago Changed · -4 lines ce02f29297cc
- 22d ago Changed · +3 lines efdaa02f1f06
- 24d ago Changed · -1 lines 6e9152c16d15
- 1mo ago Changed · +81 lines · -7 tokens per session b53e1a4de5cb
- 1mo ago Changed · +2 lines ed29c7e75c2d
- 1mo ago First seen · 59 lines · 24 tokens per session scan A 347455ee0ba8
dart-contribute is a skill published in the GitHub repository dartsim/dart (1,222 stars, last pushed yesterday), licensed BSD-2-Clause. It adds 17 tokens to every session and 1,519 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.
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Release safety rules. INVOKE WHEN: yarn release, npm publish, release canary, release packages, publishing, skip checks, skip tests. NEVER skip checks or tests without explicit permission.
ship
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safe-extraction
Apply when extracting code from a large monolith file into submodules. Covers barrel re-exports, internals DI seam proxy patterns, CI invariant allowlist updates, and cross-file test verification. Prevents CI failures, broken imports, and test regressions from code extraction.