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 agentmods add skills/dartsim/dart/dart-execute-packetnpx skills add dartsim/dart --skill dart-execute-packetgit 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-execute-packet)<a href="https://agentmods.dev/skills/dartsim/dart/dart-execute-packet"><img src="https://agentmods.dev/badge/skills/dartsim/dart/dart-execute-packet.svg" alt="Measured on agentmods" height="20"></a>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 | $0.00025 | $0.01418 |
| Opus 5 | $0.00013 | $0.00709 |
| Sonnet 5 | $0.00005 | $0.00284 |
| Haiku 4.5 | $0.00003 | $0.00142 |
Grade A, and why
dart-execute-packet 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 today.
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 — 137 lines — stays where its author put it; the contents beside it link to each section on GitHub.
dart-execute-packet
Use this skill in Codex to run the DART dart-execute-packet workflow. The editable
workflow source lives in .claude/commands/; this file is its generated adapter
in the shared .agents/skills/ catalog.
Invocation
- Claude Code/OpenCode:
/dart-execute-packet <arguments> - Codex:
$dart-execute-packet <arguments>
Treat the text after the skill name as $ARGUMENTS. When the workflow
references $1, $2, etc., map those to the positional values supplied by the
user.
Command Body
Execute a work packet in DART: $ARGUMENTS
Required Reading
Read these files first: @AGENTS.md @docs/ai/orchestration.md @docs/ai/principles.md @docs/ai/verification.md @docs/plans/dashboard.md
Inputs
$ARGUMENTS is optional and takes one of three forms:
WP-<plan>.<n>(for exampleWP-122.1) — execute exactly that packet.PLAN-NNN(for examplePLAN-122) — select the first available packet in that plan.- empty — auto-select: walk
docs/plans/dashboard.mdtop to bottom (document order is priority); for eachActiveentry whose owner doc is a numbered plan file containing### WP-packet headings (the discovery rule indocs/ai/orchestration.md), take the first available packet by the availability rules below. State which packet was selected and why before starting.
If nothing resolves to an available packet, report what was checked (plans walked, packets skipped and the blocking signal for each) and stop; do not invent work.
Availability and conflict check
Apply docs/ai/orchestration.md's "Packet discovery and claim signals":
verify all dependencies, local and default-branch markers, remote branches, and
open PRs before claiming. Fetch/list operations are read-only; an unverifiable
precondition is unmet. Never remove another session's claim or reuse its branch.
Pushes and PR mutations require explicit maintainer/user 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.
- today Changed · -26 lines b305ef7df65e
- 2d ago Changed · +1 lines 511619d33d13
- 4d ago First seen · 162 lines · 25 tokens per session scan A 602313f9b2da
dart-execute-packet is a skill published in the GitHub repository dartsim/dart (1,201 stars, last pushed today), licensed BSD-2-Clause. It adds 25 tokens to every session and 1,418 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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