dart-ci
GitHub用于调试DART项目的CI/CD失败及GitHub Actions工作流。提供PR检查监控、运行日志查看与重试命令，涵盖格式化、覆盖率、跨平台（FreeBSD/macOS/CUDA）常见故障解决方案，并说明GPU Runner安全策略。
Trigger Scenarios
Install
npx skills add dartsim/dart --skill dart-ci -g -y
SKILL.md
Frontmatter
{
"name": "dart-ci",
"description": "DART CI: GitHub Actions, cache debugging, and platform-specific failures"
}
DART CI/CD Troubleshooting
Load this skill when debugging CI failures or working with GitHub Actions.
When the failing claim depends on model/scene structure, physics behavior, or
GUI/rendering output, also load dart-verify-sim and reproduce it with a text
oracle plus assessed visual evidence. Document a visual exception when that
renderer is unavailable or not applicable in the failing environment.
Quick Commands
# Monitor PR checks
gh pr checks <PR_NUMBER>
gh pr checks <PR_NUMBER> --watch --interval 30 --fail-fast
# View run details
gh run list --branch <BRANCH> -e pull_request -L 20
gh run watch <RUN_ID> --interval 30
gh run view <RUN_ID> --json status,conclusion,url
# Debug failures
gh run view <RUN_ID> --job <JOB_ID> --log-failed
gh run view <RUN_ID> --json jobs --jq '.jobs[] | {name, databaseId}'
# Rerun failed jobs only after explicit maintainer/user approval
gh run rerun <RUN_ID> --failed
gh run rerun <RUN_ID> --job <DATABASE_ID>
Full Documentation
For complete CI/CD guide: docs/onboarding/ci-cd.md
Common Failure Modes
| Failure Type | Solution |
|---|---|
| Formatting fails | pixi run lint; push only after approval |
| Codecov patch fails | Add tests for uncovered lines |
| FreeBSD RTTI fails | Use type enums + static_cast instead of dynamic_cast |
| macOS ARM64 SEGFAULT | Replace alloca()/VLAs with std::vector<T> |
| RTD build fails | Use defensive .get(key, default) patterns |
| gz-physics fails | Reproduce with pixi run -e gazebo test-gz |
Workflow Architecture
| Workflow | Purpose | Platforms |
|---|---|---|
ci_lint.yml |
Formatting | Ubuntu |
ci_ubuntu.yml |
Build + test + coverage | Ubuntu |
ci_macos.yml |
Build + test | macOS |
ci_windows.yml |
Build + test | Windows |
ci_freebsd.yml |
Build + test (VM) | FreeBSD |
ci_gz_physics.yml |
Gazebo integration | Ubuntu |
ci_cuda.yml |
CUDA compile + smoke | Ubuntu/GPU |
CUDA Runner Policy
The project has a trusted ubuntu-latest-gpu runner for same-repository CUDA
runtime validation, but it must never run untrusted fork-PR code. Consequences:
- Same-repository PRs, protected branch pushes, and manual dispatches use the
GPU runner and run
pixi run --locked -e cuda test-cuda. - Fork PRs use a GitHub-hosted fallback and compile CUDA targets without running GPU-only steps.
- Local CUDA validation is
pixi run -e cuda test-allon Linux hosts with a visible NVIDIA CUDA runtime; local Pixi config auto-detects visible GPU compute capabilities forDART_CUDA_ARCHITECTURES. pixi run check-phase5-cuda-workflowenforces the trusted-event GPU guard and fork-PR hosted fallback inci_cuda.yml.
Fast Iteration Loop
- Identify failing step from job logs
- Reproduce locally with same build toggles
- Fix the smallest failing test
- Push only after explicit maintainer/user approval, then monitor:
gh run watch <RUN_ID>
Caching And Timing
Use the cache policy, current timing guidance, and investigation steps in
docs/onboarding/ci-cd.md. Treat observed job duration and cache diagnostics
from the affected run as the current evidence; do not copy mutable timing or
hit-rate estimates into this skill.
Version History
- b9fbefc Current 2026-07-19 11:29
