DART Build System Skill

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 |

Release Branch Notes

This DART 6.20 support 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 when practical: 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 OSG 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

Agent Skills: DART Build System

Install this agent skill to your local

Skill Files