Agent Skills
› dartsim/dart
› dart-test
dart-test
GitHub用于编写、调试和验证DART项目的测试技能，涵盖单元测试、集成测试及CI流程。提供Pixi命令、GoogleTest规范、CUDA环境处理及常见陷阱说明，并指导在涉及仿真或视觉场景时联动dart-verify-sim进行端到端检查。
Trigger Scenarios
需要运行或调试DART项目测试时
配置或排查CI/CD流水线问题时
编写符合规范的单元测试或集成测试时
Install
npx skills add dartsim/dart --skill dart-test -g -y
SKILL.md
Frontmatter
{
"name": "dart-test",
"description": "DART Test: unit tests, integration tests, CI validation, and debugging"
}
DART Testing
Load this skill when writing or debugging tests.
Quick Commands
pixi run test # Quick test run
pixi run test-all # Full validation
pixi run -e cuda test-all # CUDA-enabled full validation on Linux CUDA hosts
pixi run test-unit # Unit tests
pixi run test-py # Python tests
Full Documentation
For complete testing guide: docs/onboarding/testing.md
For CI/CD troubleshooting: docs/onboarding/ci-cd.md
Test Organization
- Unit tests:
tests/unit/ - Integration tests:
tests/integration/ - Regression tests: Near the code they test
Writing Tests
- Follow existing patterns in the test directory
- Use GoogleTest framework
- Name tests descriptively:
TEST(ClassName, MethodName_Condition_ExpectedResult)
CI Validation
Before submitting PR:
pixi run lint # Must pass
pixi run test-all # Must pass
pixi run -e cuda test-all # Must pass on Linux CUDA hosts
Debugging Test Failures
# Run the smallest existing Pixi test task that covers the failure
pixi run test-unit
# Get CI logs
gh run view <RUN_ID> --log-failed
Simulation And Visual End-to-End Checks
When a failure or change depends on scene structure, dynamics,
collision/contact, simulation stepping, GUI output, or a visual example, also
load dart-verify-sim. Use its text-first oracle and then an assessed headless
capture with claim-relevant debug layers. Record a concrete no-visual reason
only when that corroboration is unavailable or not applicable.
Gotchas
pixi run buildbuilds libraries only, NOT the unit-test binaries. If you runctestwithout building the test target first, you may execute stale binaries that silently pass. Build the test target before running its label, e.g. for the simulation suite:pixi run build-simulation-tests(targetdart_simulation_tests) beforectest -L simulation.pixi run test-allis the default-environment full gate. On Linux hosts with a visible NVIDIA CUDA runtime, also runpixi run -e cuda test-all; the CUDA run preserves thecudaPixi environment and executes the CUDA CTest + benchmark smoke path when the runtime is detected.- The CUDA Pixi config auto-detects visible GPU compute capabilities for
DART_CUDA_ARCHITECTURES; unsupported PTX/toolchain errors usually mean the generated CUDA architecture flags need to be checked before blaming test code.
Version History
-
b9fbefc
Current 2026-07-19 11:31
新增仿真和视觉端到端检查部分，指导在依赖场景结构、动力学或GUI输出时加载dart-verify-sim技能进行文本优先验证和无头捕获。
- e0d13fd 2026-07-05 10:36
