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/.agents/skills/dart-python

Skill Files

Browse the full folder contents for dart-python.

Download Skill

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

Skill Metadata

Name
dart-python
Description
"DART Python: dartpy bindings, pybind11, wheels, and 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.

When a binding exposes or changes model/scene loading, dynamics, collision/contact/constraints, simulation stepping, GUI/OSG output, or a visual example, also load dart-verify-sim. Pair a focused Python text/behavior oracle with an assessed, claim-tied OSG capture; document a visual exception when capture is unavailable or not applicable.

Quick Start

import dartpy as dart

world = dart.simulation.World()
loader = dart.utils.DartLoader()
skel = loader.parseSkeleton("dart://sample/urdf/KR5/KR5 sixx R650.urdf")
world.addSkeleton(skel)

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

Full Documentation

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

For current examples and test patterns: python/examples/ and python/tests/

Quick Commands

pixi run build-py-dev    # Build for development
pixi run test-py         # Run Python tests

Wheel Building

This release branch ships Pixi-managed wheel tasks. The core tasks are wheel-build-core, wheel-repair-linux-core, wheel-repair-macos-core, wheel-repair-windows-core, wheel-verify-core, and wheel-test-core; the per-Python environments py310-wheel through py313-wheel expose wheel-build, wheel-repair, wheel-verify, and wheel-test on top of them. CI runs them in .github/workflows/publish_dartpy.yml (for example pixi run -e py313-wheel wheel-build). See docs/onboarding/python-bindings.md for the wheel workflow overview.

Key Patterns

  • DART 6.20 uses pybind11 under python/dartpy/; do not import nanobind guidance.
  • Follow the existing DART 6 camelCase binding names used in python/examples and python/tests.
  • 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