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/.claude/commands/dart-ultrawork.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/commands/dartsim/dart/dart-ultrawork)<a href="https://agentmods.dev/commands/dartsim/dart/dart-ultrawork"><img src="https://agentmods.dev/badge/commands/dartsim/dart/dart-ultrawork.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 5.1 | $0.00023 | $0.02043 |
| Opus 5 | $0.00012 | $0.01022 |
| Sonnet 5 | $0.00005 | $0.00409 |
| Haiku 4.5 | $0.00002 | $0.00204 |
Grade A, and why
dart-ultrawork 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 — 164 lines — stays where its author put it; the contents beside it link to each section on GitHub.
Start a team-scale or autonomous DART task: $ARGUMENTS
Required Reading
@AGENTS.md @docs/ai/principles.md @docs/ai/north-star.md @docs/ai/orchestration.md @docs/dev_tasks/README.md @docs/ai/verification.md
Load additional owners only when the matching phase needs them:
- placement or cleanup:
docs/information-architecture.md; - numbered-plan selection or packet state:
docs/plans/dashboard.md; - version control, changelog, tools, or review:
docs/onboarding/{contributing,changelog,ai-tools}.md.
Arguments
$ARGUMENTS is a task brief plus optional mode flags:
mode=interview: ask one up-front batch of critical questions.mode=brief: treat provided context as sufficient unless escalation applies.mode=resume: start from the existingdocs/dev_tasks/<task>/project home and run the session-start protocol before changing files.interview=skip: skip maintainer questions only when the brief already answers all consequential decisions.
The brief may be prose or a structured TASK / CONTEXT block. Extract north
star, deliverable, acceptance criteria, constraints, risks, references, paths,
issues/PRs/branches, commands, and first step when present.
Workflow
Own understanding, decomposition, sequencing, review, and honest evidence for
the whole task. Follow the orchestrator/executor and packet-sizing contracts in
docs/ai/orchestration.md. Delegate only when the user explicitly requested it
and the current surface permits it; otherwise execute packets serially. Use
dart-new-task for bounded single-session work unless the user asked for the
autonomous project-home loop.
- Session start and current reality - Follow
docs/dev_tasks/README.md's Session Start protocol for thedocs/dev_tasks/<task>/project home: current snapshot and next action first, history only as needed, then verify live branch/PR/plan state before acting. Runpixi run ai-doctorwhen setup, discovery, instruction, agent, or hook state is uncertain. Create or refresh the project home before implementation when the session policy requires it. - Understand and scout - Restate the north star, final deliverable,
acceptance criteria, quality bar, non-goals, constraints, risks, and target
branch line (DART 7
main, DART 6 LTS, or both). Scout the territory first with named docs/code, read-only searches, adart-analyzepass, the Codexdart_scoutprofile, or focused reference review; draft a candidate decomposition privately before asking anything. - Interview decisions; self-resolve uncertainties - Ask at most one
up-front batch of critical questions, only for choices or authority missing
from the brief and prior decisions. Escalate before destructive
operations, history rewrites, irreversible migrations, meaningful cost,
security/credential/secret handling, legal or privacy-sensitive decisions,
major product-direction choices not covered by the brief, conflicts with
stated constraints, or any assumption whose wrong answer could cause
significant harm. If input is unavailable, choose the safest reversible path,
document the assumption, and continue only with non-blocked work. Then split
consequential unknowns:
- Maintainer decisions: preference, scope, public API, release,
quality-bar, or roadmap calls that evidence cannot settle. Ask the human
now in one batched interview (focused questions with 2-4 concrete
options each, recommendation first). Defer work that depends on an open
decision; continue independent work already authorized. Skip this discretionary interview when
mode=brief; also skip wheninterview=skipand the prompt already answers everything consequential. In both cases, still follow the escalation rules above. - Evidence-resolvable uncertainties: anything a focused A/B test,
benchmark, throwaway spike, reference lookup, or blind-spot review can
settle. Do not ask the human; schedule these as spike/research packets
and record the method and result as evidence (see "Discovering unknowns
before committing" in
docs/ai/orchestration.md).
- Maintainer decisions: preference, scope, public API, release,
quality-bar, or roadmap calls that evidence cannot settle. Ask the human
now in one batched interview (focused questions with 2-4 concrete
options each, recommendation first). Defer work that depends on an open
decision; continue independent work already authorized. Skip this discretionary interview when
- Create or refresh the tracking surface - Populate the project home with
value, north star, deliverable, scope, non-goals, assumptions, risks,
acceptance evidence, gates, dependencies, milestone, next actions, and
blockers. Claim-dependent 3D structure or behavior work routes through
dart-verify-sim. KeepRESUME.mdas the handoff; adddecisions.md,verification.md, andprogress-log.mdsidecars when they improve resumability or evidence. - Set the goal contract - Express done-when as verifiable outcomes (files, tests, gates, artifacts). Activate a persistent goal or stop-hook mode only when the user explicitly requests it and the tool supports it. Stop once the acceptance criteria are satisfied, verification is recorded, docs are current, known gaps are documented, and unnecessary work has been removed or deferred. Every delegated packet gets its own contract: GOAL (one sentence), DONE WHEN (verifiable), EVIDENCE (what to record), RISKS, and NEXT STEP.
- Decompose and route - Cut work packets per
docs/ai/orchestration.mdand route bydocs/ai/README.md. Execute serially by default. When the user explicitly requested delegation, use a read-only scout for territory mapping, bounded workers ordart-execute-packetfor implementation, an independent reviewer for acceptance review, and a release auditor for branch adaptation; Codex supplies these roles as the.codex/agents/profiles and other tools use separate sessions. Use parallel writers only with user-approved implementation delegation and explicit disjoint ownership; research/review approval alone is insufficient. Record the phase-specific mode and delegation decision perdocs/ai/orchestration.md. - Run the autonomous work/review cycle - For each meaningful chunk: plan, execute, verify, then run an independent/specialized review lane. Treat review findings as hypotheses: investigate, fix or record no-fix evidence, clean up, re-verify, and re-review. A packet is not done until the current post-fix state has at least two clean review passes recorded.
- Supervise and steer - Monitor progress; unblock, reassign, or re-cut packets on scope mismatch. Workers return Task, Summary, Files changed, Evidence/tests, Risks, and Recommended next step. Use another tool, an independent session, or the bounded specialist profiles within the approved model/effort and delegation scope; use role-separated local review when an independent route is unavailable under that scope. Root-cause failures and fold newly discovered unknowns back into step 3.
- Update docs at each stopping point - Follow
docs/dev_tasks/README.md's Session End protocol. Keep the current snapshot sufficient for a fresh session to resume without hidden chat memory or reading the entire history. - Version-control and closeout - Keep commits and PRs coherent: separate
feature work, bug fixes, refactors, docs, experiments, and AI-infra changes
when practical; review the diff, remove unrelated changes, make the
changelog decision, and run
pixi run lintbefore commits. Run task-specific gates fromdocs/ai/verification.md, record evidence per packet, and complete the principle audit. A project is complete only when the north star and acceptance criteria are met, verification evidence is recorded, docs are current, known gaps are documented, unnecessary work is removed or deferred, and final state is summarized inRESUME.mdor a durable owner. Promote durable artifacts out ofdocs/dev_tasks/<task>/and remove the folder in the completing PR. GitHub mutations (push, PR, comments, re-triggers) only with explicit maintainer/user approval.
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 · -6 lines 8e7e137974ef
- 3d ago First seen · 170 lines · 23 tokens per session scan A 22d437b5c82d
dart-ultrawork is a command published in the GitHub repository dartsim/dart (1,201 stars, last pushed yesterday), licensed BSD-2-Clause. It adds 23 tokens to every session and 2,043 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 2026-09-03.
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