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-io/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-io)<a href="https://agentmods.dev/skills/dartsim/dart/dart-io"><img src="https://agentmods.dev/badge/skills/dartsim/dart/dart-io.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 | $0.00024 | $0.00383 |
| Opus 5 | $0.00012 | $0.00192 |
| Sonnet 5 | $0.00005 | $0.00077 |
| Haiku 4.5 | $0.00002 | $0.00038 |
Grade A, and why
dart-io 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 4d 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.
What it actually says
DART Model Loading (dart::io)
Load this skill when working with robot model files or parsers.
When correctness depends on the loaded model's 3D structure or behavior, also
load dart-verify-sim for a text oracle plus claim-tied visual corroboration.
Quick Start
#include <dart/io/read.hpp>
// Format auto-detection
auto skel = dart::io::readSkeleton("dart://sample/urdf/KR5/KR5 sixx R650.urdf");
Full Documentation
For complete I/O guide: docs/onboarding/io-parsing.md
For module-specific details: dart/io/AGENTS.md
Supported Formats
docs/onboarding/io-parsing.md owns the format list (URDF, SDF, MJCF, and
opt-in OpenUSD behind DART_BUILD_IO_USD=ON).
Common Patterns
// URDF with package resolution
dart::io::ReadOptions options;
options.addPackageDirectory("my_robot", "/path/to/my_robot");
auto skel = dart::io::readSkeleton("package://my_robot/urdf/robot.urdf", options);
// Force specific format
options.format = dart::io::ModelFormat::Sdf;
Key Files
- API:
dart/io/read.hpp - Tests:
tests/unit/io/test_read.cpp
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.
- 4d ago Changed · -4 lines 63f9fe78862c
- 6d ago First seen · 58 lines · 24 tokens per session scan A c20580431926
dart-io is a skill published in the GitHub repository dartsim/dart (1,202 stars, last pushed yesterday), licensed BSD-2-Clause. It adds 24 tokens to every session and 383 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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