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

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