dart-python

DART Python Bindings (dartpy)

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Install skill "dart-python" with this command: npx skills add dartsim/dart/dartsim-dart-dart-python

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 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/

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