Agent Skills
› dartsim/dart
› dart-python
dart-python
GitHub提供 DART Python 绑定 (dartpy) 的开发指南，涵盖构建、测试、类型存根生成及 Wheel 打包流程，并规范了代码风格与关键文件结构。
Trigger Scenarios
需要构建或测试 dartpy Python 绑定
处理 dartpy 的 CMake 配置或类型存根
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 3D structure or behavior, also load
dart-verify-sim: a focused Python text oracle plus an assessed claim-tied
capture, or a recorded exception when rendering is unavailable.
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
-
bcd584e
Current 2026-09-02 23:41
简化了加载 dart-verify-sim skill 的条件，从覆盖模型/场景加载等广泛领域缩减为仅针对 3D 结构或行为变更的场景。
- b9fbefc 2026-07-19 11:30
