Agent-Skills.md

Agent Skills: DART Python Bindings (dartpy)

DART Python bindings (dartpy) - nanobind, wheel building, API patterns

UncategorizedID: dartsim/dart/dart-python

Repository

dartsim/dart
dartsimLicense: BSD-2-Clause
1,069298

Install this agent skill to your local

pnpm dlx add-skill https://github.com/dartsim/dart/tree/HEAD/.codex/skills/dart-python

Skill Files

Browse the full folder contents for dart-python.

Download Skill

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.codex/skills/dart-python/SKILL.md

Skill Metadata

Name
dart-python
Description
DART Python bindings (dartpy) - nanobind, wheel building, API patterns
<!-- AUTO-GENERATED FILE - DO NOT EDIT MANUALLY --> <!-- Source: .claude/skills/dart-python/SKILL.md --> <!-- Sync script: scripts/sync_ai_commands.py --> <!-- Run `pixi run sync-ai-commands` to update -->

DART Python Bindings (dartpy)

Load this skill when working with Python bindings or dartpy.

Quick Start

import dartpy as dart

world = dart.World()
skel = dart.io.read_skeleton("dart://sample/urdf/KR5/KR5 sixx R650.urdf")
world.add_skeleton(skel)

for _ in range(100):
    world.step()

Full Documentation

For complete Python bindings guide: docs/onboarding/python-bindings.md

For module-specific details: python/AGENTS.md

Quick Commands

pixi run build-py-dev    # Build for development
pixi run test-py         # Run Python tests
pixi run generate-stubs  # Generate type stubs

Wheel Building

pixi run -e py312-wheel wheel-build
pixi run -e py312-wheel wheel-repair  # Linux only
pixi run -e py312-wheel wheel-test

Key Patterns

  • snake_case preferred (camelCase emits DeprecationWarning)
  • NumPy arrays auto-convert to Eigen types
  • GUI requires DART_BUILD_GUI=ON

Key Files

  • Package config: pyproject.toml
  • Build system: python/dartpy/CMakeLists.txt
  • Type stubs: python/stubs/dartpy/