dart-downstream-fix
GitHub修复通过gz-physics或Gazebo报告的DART下游问题。针对崩溃、NaN/Inf传播等回溯至DART的行为缺陷，执行最小化修复流程，在LTS分支实施并同步至main，包含回归测试与CI验证。
Trigger Scenarios
Install
npx skills add dartsim/dart --skill dart-downstream-fix -g -y
SKILL.md
Frontmatter
{
"name": "dart-downstream-fix",
"description": "DART Downstream Fix: fix a DART bug reported through gz-physics or Gazebo"
}
dart-downstream-fix
Use this skill in Codex to run the DART dart-downstream-fix workflow. The editable
workflow source lives in .claude/commands/; this file is its generated adapter
in the shared .agents/skills/ catalog.
Invocation
- Claude Code/OpenCode:
/dart-downstream-fix <arguments> - Codex:
$dart-downstream-fix <arguments>
Treat the text after the skill name 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 GUI output, route through dart-verify-sim: establish a
text oracle, add assessed claim-tied visual evidence, or document a
visual exception when rendering is unavailable or not applicable.
- Read the downstream issue, logs, stack traces, and reproduction steps.
- Identify the DART API, component, and invalid usage pattern involved.
- Search for related validation and recovery patterns in DART.
- Plan the smallest fix and the regression test location.
- Decide whether the bug applies to the active release line. For applicable
bug fixes, implement on the active DART 6 LTS branch first, then cherry-pick
or reapply to
mainfor DART 7:- branch:
fix/<downstream-project>-<issue-number>-<brief-description>-6-lts - add a regression test that reproduces the downstream symptom
- keep the fix minimal; no unrelated refactors
- branch:
- Run
pixi run lintand relevant tests; usepixi run test-allwhen feasible, and alsopixi run -e cuda test-allon Linux hosts with a visible NVIDIA CUDA runtime. - Ask for explicit maintainer/user approval before pushing or creating PRs. After approval, create the release-branch PR with the branch-matching DART 6.x patch milestone and reference the downstream issue.
- Create the matching
mainPR with milestoneDART 7.0; adapt API differences if needed.
Release-Line Differences
- DART 7 commonly uses
DART_WARN()and<dart/All.hpp>. - DART 6 LTS may use
dtwarn << ...,<dart/dart.hpp>, and older test CMake patterns.
Output
- Root cause and fix summary
- Main PR URL and release PR URL, if applicable
- Tests run and CI status
- Link back to the downstream issue
Version History
- b9fbefc Current 2026-07-19 11:29
