Agent Skills › dartsim/dart › dart-build

dart-build

GitHub

DART项目构建技能，涵盖CMake配置、Pixi依赖管理及编译排错。提供常用命令、常见问题解决方案及锁文件管理规范，支持Gazebo兼容性测试与GUI视觉检查，辅助开发者高效完成构建任务。

.claude/skills/dart-build/SKILL.md dartsim/dart

Trigger Scenarios

需要配置或执行DART项目的CMake构建流程遇到依赖缺失、链接错误或构建失败等编译问题

Install

npx skills add dartsim/dart --skill dart-build -g -y

More Options

Non-standard path

npx skills add https://github.com/dartsim/dart/tree/main/.claude/skills/dart-build -g -y

Use without installing

npx skills use dartsim/dart@dart-build

指定 Agent (Claude Code)

npx skills add dartsim/dart --skill dart-build -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-build",
    "description": "DART Build: CMake, pixi, dependencies, and build troubleshooting"
}

DART Build System

Load this skill when working with DART's build system.

Quick Commands

pixi run config       # Configure CMake
pixi run build        # Build
pixi run test         # Run tests
pixi run test-all     # Build defaults and run C++/Python tests
pixi run -e gazebo test-gz # Gazebo/gz-physics compatibility gate
pixi run lint         # Format code

Full Documentation

For complete build instructions, read: docs/onboarding/building.md

For build system internals (CMake, dependencies): docs/onboarding/build-system.md

Common Issues

Issue	Solution
CMake not found	`pixi install`
Missing dependency	Check `pixi.toml`
Build failure	`pixi run config` then `pixi run build`
Linking error	Check CMakeLists.txt in relevant module

Development Branch Notes

The development branch prioritizes compatibility with installed headers, package exports, and downstream Gazebo/gz-physics behavior.
For package, collision, constraint, or dependency changes that could affect downstream users, run the Gazebo gate: pixi run -e gazebo test-gz.

Pixi Lockfiles

Do not edit pixi.lock by hand. Change dependency constraints in pixi.toml, then run a Pixi command such as pixi install to let Pixi regenerate the lockfile.
If pixi.lock changes format or has broad solver churn, keep the generated output and call it out in the PR rather than attempting to splice lockfile entries manually.

GUI Visual Checks

For Filament GUI, scene, or simulation rendering changes, load dart-verify-sim. Pair a focused text correctness oracle with agent-capture, view assessment, and claim-relevant core DebugOverlay layers; inspect the artifact and sidecar instead of relying only on command success.

Key Files

pixi.toml - Package management
CMakeLists.txt - Build configuration
cmake/ - CMake modules

Version History

f630c91 Current 2026-10-18 20:25
新增Gazebo/gz-physics兼容性门控测试；移除旧版CUDA说明，增加Filament GUI渲染视觉检查指引；更新开发分支为main。
deb9869 2026-09-08 21:46
bcd584e 2026-09-02 23:41
b9fbefc 2026-07-19 11:30
将构建配置命令从configure重命名为config；新增Filament GUI视觉检查及与dart-verify-sim技能协作的指引。
e0d13fd 2026-07-05 10:36