Agent Skills
› dartsim/dart
› dart-python
dart-python
GitHub提供DART Python绑定(dartpy)的开发指南，涵盖nanobind构建、API模式及wheel打包。包含快速启动示例、关键命令如开发构建与测试，以及命名规范（snake_case）和NumPy自动转换等核心用法说明。
Trigger Scenarios
需要创建或修改DART的Python绑定代码
遇到dartpy相关的构建或编译问题
需要生成Python类型存根文件
进行DART Python模块的单元测试
Install
npx skills add dartsim/dart --skill dart-python -g -y
SKILL.md
Frontmatter
{
"name": "dart-python",
"description": "DART Python: dartpy bindings, nanobind, wheels, and API patterns"
}
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 py314-wheel wheel-build
pixi run -e py314-wheel wheel-repair # Linux only
pixi run -e py314-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/
Version History
- e0d13fd Current 2026-07-05 10:38
