Agent Skills › dartsim/dart › dart-downstream-fix

dart-downstream-fix

GitHub

用于修复通过 gz-physics、Gazebo 或 gz-sim 上报的 DART 下游问题。处理崩溃、断言失败、NaN/Inf 传播及性能回归，遵循最小化修复原则，在 LTS 分支和 main 分支分别提交 PR，并包含回归测试与 CI 验证。

.agents/skills/dart-downstream-fix/SKILL.md dartsim/dart

Trigger Scenarios

用户报告 Gazebo 或 gz-physics 中由 DART 引起的崩溃或异常行为需要修复追溯至 DART 的 NaN/Inf 传播或缺乏验证的问题请求对 DART 下游问题进行根因分析和补丁开发

Install

npx skills add dartsim/dart --skill dart-downstream-fix -g -y

More Options

Non-standard path

npx skills add https://github.com/dartsim/dart/tree/main/.agents/skills/dart-downstream-fix -g -y

Use without installing

npx skills use dartsim/dart@dart-downstream-fix

指定 Agent (Claude Code)

npx skills add dartsim/dart --skill dart-downstream-fix -a claude-code -g -y

安装 repo 全部 skill

npx skills add dartsim/dart --all -g -y

预览 repo 内 skill

npx skills add dartsim/dart --list

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 main for 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
Run pixi run lint and relevant tests; use pixi run test-all when feasible, and also pixi run -e cuda test-all on 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 main PR with milestone DART 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

Metadata

Files: 0
Version: 2289223
Hash: 27d01432
Indexed: 2026-07-19 11:29

dart-downstream-fix