AgentSkillsCN

dart-python

DART Python 绑定（dartpy）——nanobind、Wheel 打包、API 设计模式

SKILL.md
--- frontmatter
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

python
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

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

Wheel Building

bash
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/