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-contribute/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-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 | $0.00024 | $0.00544 |
| Opus 5 | $0.00012 | $0.00272 |
| Sonnet 5 | $0.00005 | $0.00109 |
| Haiku 4.5 | $0.00002 | $0.00054 |
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 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 — 61 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 automated review handling: docs/onboarding/ai-reviews.md
Branch Naming
feature/<topic>- New featuresfix/<topic>- Bug fixesrefactor/<topic>- Refactoringdocs/<topic>- Documentation
Features, docs, and non-bugfix refactors branch from origin/main. Bug fixes
that apply to the current release line branch from the active DART 6 LTS
origin/release-6.* branch first and then reach main as a second PR (the
dual-PR rule in docs/onboarding/contributing.md).
PR Path
Run pixi run lint before committing and the task-type gate set from
docs/ai/verification.md; use dart-pr for authorized local preparation and
commits. Before publication or another approval-gated action, verify existing
explicit maintainer/user approval covers its action, target, and scope; ask only
for missing authority. Use dart-changelog to decide the CHANGELOG.md entry
per docs/onboarding/changelog.md. Use plain descriptive
commit messages and PR titles without agent tags. Update published PR branches
with additive commits after merging the target branch; never rebase or
force-push a published PR branch unless the maintainer explicitly asks.
Milestones (Required)
| Target Branch | Milestone |
|---|---|
main |
DART 7.0 (or next major) |
Active DART 6 LTS release-6.* branch |
Branch-matching DART 6.x patch |
# After explicit maintainer/user approval, set milestone on an existing PR
gh pr edit <PR#> --milestone "DART 7.0"
# List available milestones
gh api repos/dartsim/dart/milestones --jq '.[] | .title'
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 ed29c7e75c2d
- 5d ago Changed · -85 lines 347455ee0ba8
- 7d ago First seen · 144 lines · 24 tokens per session scan A 6d62bb86f670
dart-contribute is a skill published in the GitHub repository dartsim/dart (1,204 stars, last pushed 2d ago), licensed BSD-2-Clause. It adds 24 tokens to every session and 544 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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