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-testnpx skills add dartsim/dart --skill dart-testgit 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-test)<a href="https://agentmods.dev/skills/dartsim/dart/dart-test"><img src="https://agentmods.dev/badge/skills/dartsim/dart/dart-test.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 | $0.00018 | $0.00648 |
| Opus 5 | $0.00009 | $0.00324 |
| Sonnet 5 | $0.00004 | $0.00130 |
| Haiku 4.5 | $0.00002 | $0.00065 |
Grade A, and why
dart-test 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 — 84 lines — stays where its author put it; the contents beside it link to each section on GitHub.
DART Testing
Load this skill when writing or debugging tests.
Quick Commands
pixi run test # Quick test run
pixi run test-all # Full validation
pixi run -e cuda test-all # CUDA-enabled full validation on Linux CUDA hosts
pixi run test-unit # Unit tests
pixi run test-py # Python tests
Full Documentation
For complete testing guide: docs/onboarding/testing.md
For CI/CD troubleshooting: docs/onboarding/ci-cd.md
Test Organization
- Unit tests:
tests/unit/ - Integration tests:
tests/integration/ - Regression tests: Near the code they test
Writing Tests
- Follow existing patterns in the test directory
- Use GoogleTest framework
- Name tests descriptively:
TEST(ClassName, MethodName_Condition_ExpectedResult)
CI Validation
Before submitting PR:
pixi run lint # Must pass
pixi run test-all # Must pass
pixi run -e cuda test-all # Must pass on Linux CUDA hosts
Debugging Test Failures
# Run the smallest existing Pixi test task that covers the failure
pixi run test-unit
# Get CI logs
gh run view <RUN_ID> --log-failed
Simulation And Visual End-to-End Checks
When a failure or change depends on 3D structure or behavior, also load
dart-verify-sim: text-first oracle, then an assessed headless capture with
claim-relevant debug layers, or a concrete reason when visual corroboration is
unavailable or not applicable.
Gotchas
pixi run buildbuilds libraries only, NOT the unit-test binaries. If you runctestwithout building the test target first, you may execute stale binaries that silently pass. Use the guarded runner tasks (for examplepixi run test-simulation, which buildsdart_simulation_testsfirst) instead of a rawctest -L <label>against a stale binary.pixi run test-allis the default-environment full gate. On Linux hosts with a visible NVIDIA CUDA runtime, also runpixi run -e cuda test-all; the CUDA run preserves thecudaPixi environment and executes the CUDA CTest + benchmark smoke path when the runtime is detected.- The CUDA Pixi config auto-detects visible GPU compute capabilities for
DART_CUDA_ARCHITECTURES; unsupported PTX/toolchain errors usually mean the generated CUDA architecture flags need to be checked before blaming test code.
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 · -1 lines 4b5f4851bc11
- 4d ago First seen · 85 lines · 18 tokens per session scan A 4805bd2753ac
dart-test is a skill published in the GitHub repository dartsim/dart (1,201 stars, last pushed today), licensed BSD-2-Clause. It adds 18 tokens to every session and 648 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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