dart-io

DART model loading - URDF, SDF, MJCF, SKEL parsers and dart::io unified API

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Install this agent skill to your Project

npx add-skill https://github.com/majiayu000/claude-skill-registry/tree/main/skills/development/dart-io

SKILL.md

DART Model Loading (`dart::io`)

Load this skill when working with robot model files or parsers.

Quick Start

cpp

#include <dart/io/Read.hpp>

// Format auto-detection
auto world = dart::io::readWorld("dart://sample/skel/chain.skel");
auto skel = dart::io::readSkeleton("dart://sample/urdf/KR5/KR5 sixx R650.urdf");

Full Documentation

For complete I/O guide: docs/onboarding/io-parsing.md

For module-specific details: dart/io/AGENTS.md

Supported Formats

Format	Extension	Use Case
URDF	`.urdf`	ROS robots
SDF	`.sdf`, `.world`	Gazebo models
MJCF	`.xml`	MuJoCo models
SKEL	`.skel`	Legacy DART

Common Patterns

cpp

// URDF with package resolution
dart::io::ReadOptions options;
options.addPackageDirectory("my_robot", "/path/to/my_robot");
auto skel = dart::io::readSkeleton("package://my_robot/urdf/robot.urdf", options);

// Force specific format
options.format = dart::io::ModelFormat::Sdf;

Key Files

API: dart/io/Read.hpp
Tests: tests/unit/io/test_Read.cpp