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-pythonnpx skills add dartsim/dart --skill dart-pythongit clone --depth 1 https://github.com/dartsim/dartWhat 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 | $0.00020 | $0.00455 |
| Opus 5 | $0.00010 | $0.00228 |
| Sonnet 5 | $0.00004 | $0.00091 |
| Haiku 4.5 | $0.00002 | $0.00046 |
Grade A, and why
dart-python 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.
What it actually says
DART Python Bindings (dartpy)
Load this skill when working with Python bindings or dartpy.
When a binding exposes or changes model/scene loading, dynamics,
collision/contact/constraints, simulation stepping, GUI/rendering output, or a visual
example, also load dart-verify-sim. Pair a focused Python text/behavior oracle
with an assessed, claim-tied headless capture; document a visual exception when
rendering is unavailable or not applicable.
Quick Start
import dartpy as dart
world = dart.World()
skel = dart.io.read_skeleton("dart://sample/urdf/KR5/KR5 sixx R650.urdf")
world.add_skeleton(skel)
for _ in range(100):
world.step()
Full Documentation
For complete Python bindings guide: docs/onboarding/python-bindings.md
For module-specific details: python/AGENTS.md
Quick Commands
pixi run build-py-dev # Build for development
pixi run test-py # Run Python tests
pixi run generate-stubs # Generate type stubs
Wheel Building
pixi run -e py314-wheel wheel-build
pixi run -e py314-wheel wheel-repair # Linux only
pixi run -e py314-wheel wheel-test
Key Patterns
- snake_case preferred (camelCase emits DeprecationWarning)
- NumPy arrays auto-convert to Eigen types
- GUI requires
DART_BUILD_GUI=ON
Key Files
- Package config:
pyproject.toml - Build system:
python/dartpy/CMakeLists.txt - Type stubs:
python/stubs/dartpy/
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 First seen · 67 lines · 20 tokens per session scan A 99cd959d24cc
dart-python is a skill published in the GitHub repository dartsim/dart (1,199 stars, last pushed today), licensed BSD-2-Clause. It adds 20 tokens to every session and 455 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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