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Refresh docs for flattened dartpy API
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‎docs/onboarding/README.md‎

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- `dartpy` (top-level) - Core classes/functions (math, dynamics, collision, simulation, constraint, optimizer) exposed in snake_case
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- `dartpy.io` - File parsers (URDF, SDF, SKEL, MJCF) [alias for legacy `utils`]
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- `dartpy.gui` - 3D visualization with OSG and ImGui
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- Legacy `dartpy.common`/`math`/`dynamics`/`collision`/`simulation`/`constraint`/`optimizer`/`utils` remain importable in DART 7.x but emit `DeprecationWarning` and will be removed in DART 8.0.
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- Legacy `dartpy`/`math`/`dynamics`/`collision`/`simulation`/`constraint`/`optimizer`/`utils` remain importable in DART 7.x but emit `DeprecationWarning` and will be removed in DART 8.0.
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**Key Files**:
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Python->>dartpy: world = dartpy.World()
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dartpy->>DART: World::create()
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Python->>dartpy: skel = dartpy.dynamics.Skeleton.create()
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Python->>dartpy: skel = dartpy.Skeleton.create()
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dartpy->>DART: Skeleton::create()
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Python->>dartpy: world.add_skeleton(skel)

‎docs/onboarding/python-bindings.md‎

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- Core classes/functions (dynamics, collision, math, simulation, constraint,
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optimizer) are promoted onto `dartpy` directly.
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- Legacy module paths (`dartpy.common`, `dartpy.math`, `dartpy.dynamics`,
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`dartpy.collision`, `dartpy.simulation`, `dartpy.constraint`,
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`dartpy.optimizer`, `dartpy.utils`) remain importable but emit
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`DeprecationWarning` in DART 7.x and are slated for removal in DART 8.0.
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Toggle with `DARTPY_WARN_ON_LEGACY_MODULES=0` (silence) or
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`DARTPY_ENABLE_LEGACY_MODULES=0` (opt out entirely).
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- Legacy submodules remain importable in DART 7.x but will be removed in DART
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8.0. Toggle deprecation handling with `DARTPY_WARN_ON_LEGACY_MODULES` or
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`DARTPY_ENABLE_LEGACY_MODULES`.
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**Source**: See `python/dartpy/` directory for module implementations
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import numpy as np
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# NumPy arrays automatically convert to Eigen types
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skel.setPositions(np.array([0.1, 0.2, 0.3]))
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skel.set_positions(np.array([0.1, 0.2, 0.3]))
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# Eigen types automatically convert to NumPy arrays
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positions = skel.getPositions() # Returns ndarray
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positions = skel.get_positions() # Returns ndarray
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```
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### OSG Bindings Design

‎docs/python_api/modules/collision.rst‎

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dartpy.collision
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================
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dartpy
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======
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.. automodule:: dartpy.collision
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.. note:: Legacy submodules will be removed in DART 8.0; use top-level `dartpy`.
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.. automodule:: dartpy
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:members:
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:undoc-members:
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:show-inheritance:

‎docs/python_api/modules/common.rst‎

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dartpy.common
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=============
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dartpy
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======
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.. automodule:: dartpy.common
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.. note:: Legacy submodules will be removed in DART 8.0; use top-level `dartpy`.
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.. automodule:: dartpy
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‎docs/python_api/modules/constraint.rst‎

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dartpy.constraint
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=================
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dartpy
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======
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.. automodule:: dartpy.constraint
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.. note:: Legacy submodules will be removed in DART 8.0; use top-level `dartpy`.
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.. automodule:: dartpy
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‎docs/python_api/modules/dynamics.rst‎

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dartpy.dynamics
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===============
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dartpy
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======
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.. automodule:: dartpy.dynamics
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.. note:: Legacy submodules will be removed in DART 8.0; use top-level `dartpy`.
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.. automodule:: dartpy
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‎docs/python_api/modules/gui.rst‎

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.. automodule:: dartpy.gui
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‎docs/python_api/modules/math.rst‎

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dartpy.math
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============
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dartpy
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======
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.. automodule:: dartpy.math
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.. note:: Legacy submodules will be removed in DART 8.0; use top-level `dartpy`.
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.. automodule:: dartpy
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‎docs/python_api/modules/optimizer.rst‎

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dartpy.optimizer
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================
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dartpy
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======
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.. automodule:: dartpy.optimizer
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.. note:: Legacy submodules will be removed in DART 8.0; use top-level `dartpy`.
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.. automodule:: dartpy
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‎docs/python_api/modules/simulation.rst‎

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dartpy.simulation
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=================
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dartpy
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======
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.. automodule:: dartpy.simulation
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.. note:: Legacy submodules will be removed in DART 8.0; use top-level `dartpy`.
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.. automodule:: dartpy
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