name	dart-downstream-fix
description	DART Downstream Fix: fix a DART bug reported through gz-physics or Gazebo

dart-downstream-fix

Use this skill in Codex to run the DART dart-downstream-fix workflow. The editable workflow source lives in .claude/commands/; this file is its generated adapter in the shared .agents/skills/ catalog.

Invocation

Claude Code/OpenCode: /dart-downstream-fix <arguments>
Codex: $dart-downstream-fix <arguments>

Treat the text after the skill name as $ARGUMENTS. When the workflow references $1, $2, etc., map those to the positional values supplied by the user.

Command Body

Fix downstream-reported DART issue: $ARGUMENTS

Required Reading

@AGENTS.md @docs/onboarding/contributing.md @docs/onboarding/ci-cd.md

When To Use

Use for downstream issues in gz-physics, Gazebo, or gz-sim that trace back to DART behavior: crashes, assertions, NaN/Inf propagation, missing validation, or DART performance regressions.

Workflow

If the downstream symptom depends on scene/model structure, simulation, collision/contact, or GUI output, route through dart-verify-sim: establish a text oracle, add assessed claim-tied visual evidence, or document a visual exception when rendering is unavailable or not applicable.

Read the downstream issue, logs, stack traces, and reproduction steps.
Identify the DART API, component, and invalid usage pattern involved.
Search for related validation and recovery patterns in DART.
Plan the smallest fix and the regression test location.
Decide whether the bug applies to the active release line. For applicable bug fixes, implement on the active DART 6 LTS branch first, then cherry-pick or reapply to main for DART 7:
- branch: fix/<downstream-project>-<issue-number>-<brief-description>-6-lts
- add a regression test that reproduces the downstream symptom
- keep the fix minimal; no unrelated refactors
Run pixi run lint and relevant tests; use pixi run test-all when feasible, and also pixi run -e cuda test-all on Linux hosts with a visible NVIDIA CUDA runtime.
Ask for explicit maintainer/user approval before pushing or creating PRs. After approval, create the release-branch PR with the branch-matching DART 6.x patch milestone and reference the downstream issue.
Create the matching main PR with milestone DART 7.0; adapt API differences if needed.

Release-Line Differences

DART 7 commonly uses DART_WARN() and <dart/All.hpp>.
DART 6 LTS may use dtwarn << ..., <dart/dart.hpp>, and older test CMake patterns.

Output

Root cause and fix summary
Main PR URL and release PR URL, if applicable
Tests run and CI status
Link back to the downstream issue

dart-downstream-fix

Invocation

Claude Code/OpenCode: /dart-downstream-fix <arguments>

Codex: $dart-downstream-fix <arguments>

Treat the text after the skill name as $ARGUMENTS. When the workflow references $1, $2, etc., map those to the positional values supplied by the user.

Command Body

Fix downstream-reported DART issue: $ARGUMENTS

Required Reading

@AGENTS.md @docs/onboarding/contributing.md @docs/onboarding/ci-cd.md

When To Use

Use for downstream issues in gz-physics, Gazebo, or gz-sim that trace back to DART behavior: crashes, assertions, NaN/Inf propagation, missing validation, or DART performance regressions.

Workflow

Read the downstream issue, logs, stack traces, and reproduction steps.

Identify the DART API, component, and invalid usage pattern involved.

Search for related validation and recovery patterns in DART.

Plan the smallest fix and the regression test location.

Decide whether the bug applies to the active release line. For applicable bug fixes, implement on the active DART 6 LTS branch first, then cherry-pick or reapply to main for DART 7:

branch: fix/<downstream-project>-<issue-number>-<brief-description>-6-lts
add a regression test that reproduces the downstream symptom
keep the fix minimal; no unrelated refactors

Run pixi run lint and relevant tests; use pixi run test-all when feasible, and also pixi run -e cuda test-all on Linux hosts with a visible NVIDIA CUDA runtime.

Ask for explicit maintainer/user approval before pushing or creating PRs. After approval, create the release-branch PR with the branch-matching DART 6.x patch milestone and reference the downstream issue.

Create the matching main PR with milestone DART 7.0; adapt API differences if needed.

Release-Line Differences

DART 7 commonly uses DART_WARN() and <dart/All.hpp>.

DART 6 LTS may use dtwarn << ..., <dart/dart.hpp>, and older test CMake patterns.

Output

Root cause and fix summary

Main PR URL and release PR URL, if applicable

Tests run and CI status

Link back to the downstream issue

dart-downstream-fix