dart-downstream-fix

Use this skill to run the DART dart-downstream-fix workflow. The editable workflow source lives in .claude/commands/; this generated skill is its entrypoint for Codex and Muse.

Invocation

• Claude Code: /dart-downstream-fix <arguments>
• Codex: $dart-downstream-fix <arguments>
• Muse: /dart-downstream-fix <arguments>

Treat the text after the skill name, or the user's request when the skill is loaded on demand, as $ARGUMENTS. When the workflow references $1, $2, etc., map those to the positional values supplied by the user.

Command Body

Fix downstream-reported DART issue: $ARGUMENTS

Required Reading

@AGENTS.md @docs/onboarding/contributing.md @docs/onboarding/ci-cd.md

When To Use

Use for downstream issues in gz-physics, Gazebo, or gz-sim that trace back to DART behavior: crashes, assertions, NaN/Inf propagation, missing validation, or DART performance regressions.

Workflow

If the downstream symptom depends on scene/model structure, simulation, collision/contact, or Filament output, route through dart-verify-sim: establish a text oracle, add assessed claim-tied visual evidence, or document a visual exception when graphics support is unavailable or not applicable.

1. Read the downstream issue, logs, stack traces, and reproduction steps.
2. Identify the DART API, component, and invalid usage pattern involved.
3. Search for related validation and recovery patterns in DART.
4. Plan the smallest fix and the regression test location.
5. Decide whether the bug applies to the active release line. For applicable bug fixes, implement on the development branch, main:
   • branch: fix/<downstream-project>-<issue-number>-<brief-description>
   • add a regression test that reproduces the downstream symptom
   • keep the fix minimal; no unrelated refactors
6. Run pixi run lint and relevant tests; use pixi run test-all when feasible, and run pixi run -e gazebo test-gz when Gazebo/gz-physics compatibility could be affected.
7. Ask for explicit maintainer/user approval before pushing or creating PRs. After approval, create the PR against main with the milestone resolved from the target branch's docs/onboarding/release-management.md, and reference the downstream issue.

Release-Line Conventions

• DART 6 code (release-6.20) may use dtwarn << ..., <dart/dart.hpp>, and older test CMake patterns.

Output

• Root cause and fix summary
• PR URL, if one was opened
• Tests run and CI status
• Link back to the downstream issue