Agent Skills
› dartsim/dart
› dart-python
dart-python
GitHub用于处理 DART Python 绑定（dartpy）的开发技能。涵盖模型加载、动力学仿真、碰撞检测及 GUI 渲染等核心功能的代码编写与调试。提供快速构建、测试、类型存根生成及 Wheel 打包命令，并规范了命名风格与自动类型转换模式。
Trigger Scenarios
需要创建或修改 DART Python 绑定代码
涉及 dartpy 的仿真、碰撞或渲染功能实现
执行 Python 包的构建、测试或打包任务
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.
When a binding exposes or changes model/scene loading, dynamics,
collision/contact/constraints, simulation stepping, GUI/rendering output, or a visual
example, also load dart-verify-sim. Pair a focused Python text/behavior oracle
with an assessed, claim-tied headless capture; document a visual exception when
rendering is unavailable or not applicable.
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
- b9fbefc Current 2026-07-19 11:30
