Agent Skills: DART Testing

DART Testing

Load this skill when writing or debugging tests.

Quick Commands

pixi run test         # Quick test run
pixi run test-py      # Python tests
pixi run test-all     # Build defaults and run C++/Python tests
pixi run -e gazebo test-gz # Gazebo/gz-physics compatibility gate

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

1. Follow existing patterns in the test directory
2. Use GoogleTest framework
3. Name tests descriptively: TEST(ClassName, MethodName_Condition_ExpectedResult)

CI Validation

Before submitting PR:

pixi run lint         # Must pass
pixi run test-all     # Default build plus C++/Python runtime aggregate
pixi run -e gazebo test-gz # Must pass when Gazebo/gz-physics compatibility could be affected

Debugging Test Failures

# Run the smallest existing Pixi test task that covers the failure
pixi run test

# 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, OSG output, or a visual example, also load dart-verify-sim. Use its text-first oracle and then an assessed, claim-tied capture through DebugOverlay. Record a concrete no-visual reason only when capture is unavailable or not applicable.

Gotchas

• pixi run build builds libraries only, NOT every test binary. If you run ctest directly, build the relevant test target first; pixi run build-tests builds the release-branch test targets.
• pixi run test-all builds the default CMake ALL graph. The branch config pins BUILD_TESTING=ON, so that graph also runs CTest and pytest. Pair it with pixi run lint; use pixi run test or pixi run test-py for focused reruns and clearer failure attribution.
• For package, collision, constraint, or dependency changes that could affect downstream users, run pixi run -e gazebo test-gz when practical.