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 commands/dartsim/dart/dart-nextgit 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/commands/dartsim/dart/dart-next)<a href="https://agentmods.dev/commands/dartsim/dart/dart-next"><img src="https://agentmods.dev/badge/commands/dartsim/dart/dart-next.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 | $0.01520 |
| Opus 5 | $0.00009 | $0.00760 |
| Sonnet 5 | $0.00004 | $0.00304 |
| Haiku 4.5 | $0.00002 | $0.00152 |
Grade A, and why
dart-next 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 yesterday.
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 — 141 lines — stays where its author put it; the contents beside it link to each section on GitHub.
Select and execute the next bounded DART task: $ARGUMENTS
Required Reading
@AGENTS.md @docs/ai/principles.md @docs/ai/north-star.md @docs/ai/workflows.md @docs/ai/verification.md @docs/plans/dashboard.md @docs/dev_tasks/README.md
Load docs/plans/README.md, docs/plans/north-star-roadmap.md,
docs/onboarding/contributing.md, docs/onboarding/ci-cd.md, and
docs/onboarding/ai-tools.md only when the selected mode or routed workflow
needs them.
Arguments
Interpret $ARGUMENTS as optional constraints:
mode=select: choose one task and stop with evidence.mode=execute: choose one task, make local changes, and verify locally. This is the default when the user asks to do the work.mode=pr: execute locally and prepare PR text, then ask for explicit maintainer/user approval before any GitHub, PR, CI, branch, or review-thread mutation, including pushes, PR creation, PR comments, reviewer requests, review re-triggers, thread resolution, ready-for-review transitions, merges, CI reruns, or branch deletion.size=tiny|small|medium|largeordays=N: fit the chosen task to the requested scope. Default tosmall, meaning one focused local session.focus=<topic>: prefer a focus area without making it the only allowed candidate. Examples:ai-native,easy-start,algorithm,compute,release,ci,docs,python,io,PLAN-122,world_split,dartpy, or a file path.area=<dimension>: alias forfocus=<dimension>.- Any issue, PR, branch, milestone, failing check, file path, or user-stated priority overrides the default dashboard order.
If constraints conflict or make the task unsafe to select, stop and ask one clarifying question.
Workflow
- Inspect local state before choosing work:
git status --short --branch git diff --stat - Build the candidate set from tracked evidence:
- explicit user instruction in
$ARGUMENTS; - current branch, local diff, or active
docs/dev_tasks/<task>/state; docs/plans/dashboard.md, in priority order, especiallyHorizon: Now;docs/ai/north-star.mdgaps and readiness criteria;- issue, PR, or CI state named by the user or inferable from the branch.
- explicit user instruction in
- Exclude candidates that are blocked, larger than the requested size, missing
enough evidence to start, likely to require unapproved GitHub mutations, or
only bootstrap/maintain the
dart-nextworkflow itself unless explicitly focused. - Prefer the highest-value remaining candidate in this order:
- user-specified issue, PR, failing check, or file path;
- candidates matching
focus=<topic>orarea=<dimension>; - failing CI or review feedback on the current PR;
- active dev task with a clear next local step;
- first unblocked
Horizon: Nowdashboard item fitting the size; - issue triage or plan refinement when implementation evidence is missing.
- State the selected task before editing:
- candidate and source evidence;
- rejected higher-priority candidates and why they were not selected;
- whether the preferred focus matched the selected task, and why if it did not;
- size assumption and expected stopping point;
- workflow to follow next;
- verification gate from
docs/ai/verification.md.
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.
- yesterday Changed · -4 lines · +9 tokens per session 013ecc2a1052
- 3d ago First seen · 145 lines · 9 tokens per session scan A 9eb7d4b81f44
dart-next is a command 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 1,520 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.
Other commands, from other repositories
mission
List active missions with their constraints and alerts.
template
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project-recap
Generate a visual project recap for context switching.
sync-linear
Sync current work with Linear ticket status.
add-note
Add an internal or external note to a ConnectWise PSA ticket.
fest-show
Show festival progression (in-progress tasks, roadmap, and dependency view).