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/