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
It runs from inside its repository, so the clone comes first — what it calls does not travel with the file alone.
git clone --depth 1 https://github.com/dartsim/dartnpx agentmods add commands/dartsim/dart/dart-prWrote 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-pr)<a href="https://agentmods.dev/commands/dartsim/dart/dart-pr"><img src="https://agentmods.dev/badge/commands/dartsim/dart/dart-pr/github.svg" alt="Measured on agentmods" height="20"></a>Or the 80×15 button, for a site that already has a row of RSS and ATOM ones. Only the verdict fits; the numbers stay here.
<a href="https://agentmods.dev/commands/dartsim/dart/dart-pr"><img src="https://agentmods.dev/badge/commands/dartsim/dart/dart-pr.svg" alt="Reviewed on agentmods" width="80" 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 | $0.00015 | $0.01657 |
| Opus 5.5 | $0.00006 | $0.00663 |
| Sonnet 5.5 | $0.00003 | $0.00331 |
| Haiku 4.5 | $0.00002 | $0.00166 |
Grade A, and why
dart-pr 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 6d 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 — 155 lines — stays where its author put it; the contents beside it link to each section on GitHub.
Prepare or open a DART pull request after explicit maintainer/user approval: $ARGUMENTS
Required Reading
@AGENTS.md @docs/onboarding/contributing.md @docs/onboarding/release-management.md @docs/onboarding/ai-tools.md @docs/onboarding/changelog.md @.github/PULL_REQUEST_TEMPLATE.md
Recent PR Patterns
When project context is unclear, inspect recently merged PRs for examples; the current PR-description owner below takes precedence over older bodies:
gh pr list --repo dartsim/dart --state merged --base <target-branch> --limit 10 \
--json number,title,body,mergedAt
Use these practices:
- Keep titles plain, scoped, and outcome-focused. Do not add agent prefixes.
- Describe private plans in prose or link public PRs/issues. Keep private, local, and machine-specific paths out of the title and body.
- Follow
docs/onboarding/contributing.md§ "PR Descriptions" for the Summary and Testing default, optional material context, evidence formats, and collapsed detail. This is the PR-description owner for agents and contributors. Write each paragraph and list item of the body on one line: GitHub renders newlines as line breaks, so never wrap PR text at a fixed width. - For CI, performance, or infrastructure work, include evidence that supports the outcome and relevant verification gaps.
- For model/scene, dynamics, collision/contact, simulation, rendering, mesh,
texture, GUI, or visual-example changes, use
dart-verify-sim: report the text correctness oracle and include assessed, claim-tied Filament/debug-overlay evidence when applicable (an image alone is not correctness proof):- Prefer an existing headless example path such as
--headless,--frames,--width,--height, and--shotover manual screenshots. - Follow
docs/ai/verification.md§ "Simulation Verification Route" for before/after 3D highlights, matched captures, and compute-only plots. - Inspect the images yourself and retain reproduction commands and environment details in collapsed evidence details. Keep limiting caveats and failed or uncertain results prominent.
- Use
pixi run evidence-publishto render the section without network access. Followdocs/ai/verification.md§ "Visual Verification (Headless Capture)" for publication after explicit maintainer/user approval. Attachments use the same store as drag-and-drop, never release assets or tags;--body-filereplaces the whole PR body. Keep transient PR evidence out of Git; commit visual files only as durable documentation, fixtures, or source assets. - If no headless path exists, either add a narrowly scoped capture mode when it fits the example or document why visual comparison is not practical.
- Prefer an existing headless example path such as
- Link relevant PRs, issues, backports, and follow-ups when useful to the review.
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.
- 6d ago Changed · +1 lines 5be594384422
- 7d ago Changed · -11 lines 1bbf72ea046b
- 9d ago Changed · +4 lines 4a74a5cc77fc
- 10d ago Changed · -33 lines 4ed9deb91ce4
- 12d ago Changed · -3 lines db0a25eeec3f
- 14d ago Changed · +1 lines 1c0ad7461644
- 20d ago Changed · +94 lines be55249e4531
- 1mo ago Changed · -14 lines a75f1080d3de
- 1mo ago Changed · -17 lines c97ca9766ad8
- 1mo ago First seen · 133 lines · 15 tokens per session scan A 227a4bb30dfc
dart-pr is a command published in the GitHub repository dartsim/dart (1,218 stars, last pushed today), licensed BSD-2-Clause. It adds 15 tokens to every session and 1,657 once invoked, about $0.0001 per session on Opus 5.5. 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
git
The pre-finish status: branch, hygiene findings, message checks, workflow lint, template state.
session-report
Capture what changed this session and why, scoped to the current branch. Read by ship verbs when synthesizing the commit message; deleted after a successful commit.
commit
A command that examines staged Git changes and proposes a commit message using the Conventional Commits format, such as feat, fix, or docs. Git is a tool for tracking changes to code.
commit
Context-aware Git commit assistant with smart pre-commit checks.
step6-ship
Pipeline Step 6 — Ship the completed phase: commit, update roadmap, capture postmortem, optionally push and create PR.
triage-github
Scan GitHub repos for activity, generate a summary, and create actionable GTD tasks.