A testing guide for the DART project, covering unit tests, integration tests, CI checks, and debugging failures. Unit tests check small pieces of code; integration tests check how pieces work together.

Use it to write GoogleTest tests, run Python or full test suites, validate CI, inspect failed CI logs, and check simulation-related behavior.

It gives contributors the project’s expected test commands and helps narrow down failures before submitting a change.

dart-test — Skill for Claude Code and Codex by dartsim/dart

About the project

DART is an open-source C++23 physics engine that simulates the movement and interactions of articulated rigid-body systems for robotics, animation, and machine learning. Researchers and developers use it for kinematics, dynamics, collision handling, constraints, and loading robot models, with C++ and Python interfaces. The catalogue add-ons support workflows built around this engine.

dartsim/dart · 1,218 stars · on GitHub · dart.readthedocs.io

Install

Getting it into your agent

One page per mod, every tool's command on it. A separate URL per tool would split the same page into five that compete with each other.

Any agent

npx skills add dartsim/dart --skill dart-test

Clone the repo

git clone --depth 1 https://github.com/dartsim/dart

Made for: Claude Code, Codex.

Wrote this? Show the measurements

A badge with what this costs and how it scanned, read live from this page, so it follows the numbers instead of freezing them. Markdown for a README, HTML for a documentation site or a project page.

README.md

[![agentmods](https://agentmods.dev/badge/skills/dartsim/dart/dart-test/github.svg)](https://agentmods.dev/skills/dartsim/dart/dart-test)

Your own site

<a href="https://agentmods.dev/skills/dartsim/dart/dart-test"><img src="https://agentmods.dev/badge/skills/dartsim/dart/dart-test/github.svg" alt="Measured on agentmods" height="20"></a>

Or the 80×15 button, for a site that already has a row of RSS and ATOM ones. Only the verdict fits; the numbers stay here.

Your own site · 80×15

<a href="https://agentmods.dev/skills/dartsim/dart/dart-test"><img src="https://agentmods.dev/badge/skills/dartsim/dart/dart-test.svg" alt="Reviewed on agentmods" width="80" height="20"></a>

Per session 18 Skills are progressive disclosure: only the name and description are preloaded; the body loads when the skill is used.

When invoked 826 The whole file, excluding the scripts and references it only reads on demand.

Security scan A 0 findings. A grade says what 26 rules found in the file — not that it is safe. Third-party audits

NVIDIA SkillSpector warn 7 Sept 2026

SkillSpector: 1 finding, up to medium

These are SkillSpector’s own severities. On a checked sample its high-severity flags on skills were ~96% false positives — a documented command, a public API, a “never do X” rule — so we show them as a caution to read, not a verdict. Why →

medium Agent Snooping · line 7
Skill enumerates or reads other installed skills. Access to other skills' SKILL.md files or the skills directory reveals prompt instructions, capabilities, and secrets that should be invisible to peer skills.

Fix: Remove all code or instructions that list or read other skills' files or directories. Skills should operate independently; cross-skill access is a privilege escalation.

How audits are shown

Origin original No closer match found in the catalogue.

Token cost

What it costs to keep this loaded

Counted locally with the o200k_base tokenizer, which is exact for GPT models; Claude uses its own tokenizer and its counts differ. Treat this as one consistent yardstick across the catalogue rather than a bill. Prices are per million input tokens.

Model	Per session	Once invoked
Fable 5.1	$0.00018	$0.00826
Opus 5.5	$0.00007	$0.00330
Sonnet 5.5	$0.00004	$0.00165
Haiku 4.5	$0.00002	$0.00083

Measured 8d ago against content hash fab7a354bdf6, method: parsed. Prices are Anthropic first-party input rates as of 2026-10-07, from the pricing page.

Security

Grade A, and why

dart-test scanned grade A with 0 findings against 26 rules in 11 categories — prompt injection, anti-refusal, data exfiltration, privilege escalation, supply chain, agent snooping, system-prompt leakage, SSRF and excessive agency — measured 8d ago.

A static scan of the body, not an audit. Every finding is printed with the line that produced it so you can judge whether it matters here. A mod is markdown that instructs an agent; that is exactly why what it instructs is worth reading.

Nothing flagged

None of the 26 patterns this scan looks for appear in this file: no shell pipes, no recursive deletes, no credential paths, no hidden text, no instruction-override or anti-refusal phrasing, no agent-config snooping. That is not a guarantee, it is the absence of the things that are checkable.

.agents/skills/dart-test/SKILL.md · 91 lines

How it starts

The opening of the file, as written. The whole thing — 91 lines — stays where its author put it; the contents beside it link to each section on GitHub.

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 test-gui     # GUI tests except native-window tests; needs a graphics device
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: tests/regression/ (start from test_Issue000Template.cpp)

Writing Tests

Follow existing patterns in the test directory
Use GoogleTest framework
Name tests descriptively, in the style of the neighboring tests in that file

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, Filament 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 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.
pixi run test, test-py, and test-all build the GUI but skip tests that need a graphics device (CTest label gui-device and the Python GUI rendering tests). Device-free GUI tests remain in the default gates; the gui label covers all GUI tests. GUI, Filament, and dartpy.gui changes also need pixi run test-gui, which selects -L gui -LE filament-native in the same build/<env>/cpp/Release tree. Native-window tests need a desktop session or Xvfb: ctest --test-dir build/<env>/cpp/Release -L filament-native (ctest --test-dir build/<env>/cpp -C Release -L filament-native on Windows).
For package, collision, constraint, or dependency changes that could affect downstream users, run pixi run -e gazebo test-gz.

Read the full file on GitHub · 91 lines

Changes

What this file has done since we first saw it

Hashed on every crawl. A supply-chain change to an agent config is a question of when, not whether, so the history is kept rather than the latest state alone.

8d ago Changed · +11 lines fab7a354bdf6
14d ago Changed 3235b1534302
20d ago Changed · -4 lines 55e4e3b5125f
1mo ago Changed · -1 lines 4b5f4851bc11
1mo ago First seen · 85 lines · 18 tokens per session scan A 4805bd2753ac

Subscribe to this mod's changes

dart-test is a skill published in the GitHub repository dartsim/dart (1,218 stars, last pushed today), licensed BSD-2-Clause. It adds 18 tokens to every session and 826 once invoked, about $0.0001 per session on Opus 5.5. A static security scan graded it A with 0 findings. No closer match exists in the catalogue, so it is treated as the original; first seen 2026-09-01.

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