dartsim 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.
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/