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Run the in-crate unit tests for mujoco-rs. Use this when asked to run tests or verify that changes work correctly.
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Build rustdoc and Sphinx documentation, verifying both for warnings, broken links, content correctness, and changelog/migration completeness against the code. Use this when asked to build docs, check doc comments, or verify documentation.
Pre-release preparation and verification workflow for cutting a new mujoco-rs version. Use this when asked to prepare a release, do a pre-release check, cut version X.Y.Z, or verify the crate is ready to publish. Runs every gate the maintainer needs before publishing, then hands off the networked publish steps.
Systematically verify correctness of the mujoco-rs wrapper layer using parallel subagents. Use this when asked to audit, verify, or deeply check the codebase for bugs.
Audit the impact of regenerated MuJoCo FFI bindings (the ffi-regenerate Cargo feature) on the wrapper layer. Diffs src/mujoco_c.rs, reads the MuJoCo changelog entries for the version range, deep-verifies every changed item against the C/C++ source, and writes a self-contained HTML report suggesting required wrapper additions/removals/updates. Strictly read-only -- it suggests changes but never edits code. Use after regenerating the FFI bindings or bumping the MuJoCo version.
Adversarial multi-agent soundness audit of the mujoco-rs SAFE API surface -- memory safety, thread safety (every unsafe impl Send/Sync), &self vs &mut self mutability, and lifetime/variance correctness, restricted to defects reachable from 100% safe code. Produces a single self-contained HTML report. Use when asked to audit/check the crate for unsoundness or undefined behavior reachable from safe code. Distinct from /verify (which covers stride/length-field/type correctness).
Run AddressSanitizer and UndefinedBehaviorSanitizer on the Rust+C FFI boundary. Use this when asked to check for memory errors, undefined behavior, or when verifying FFI safety.
| name | test |
| description | Run the in-crate unit tests for mujoco-rs. Use this when asked to run tests or verify that changes work correctly. |
Run all tests (unit tests inside src/, integration tests in tests/, and doctests).
Check Cargo.toml for the current MuJoCo version (look for +mj-X.Y.Z in the package version). Then find the matching mujoco-X.Y.Z/ directory at the repository root.
Run all tests (replace X.Y.Z with the version found in step 1):
export MUJOCO_DYNAMIC_LINK_DIR=$(realpath mujoco-X.Y.Z/lib) && export LD_LIBRARY_PATH=$(realpath mujoco-X.Y.Z/lib/) && cargo test --features renderer
[!NOTE]
- To run a single test:
cargo test --features renderer <test_name>.- To run tests in release mode add
--release.- Read
Cargo.toml[features]for available features. Viewer/renderer features are opt-in (not in defaults).