DART Model Loading (`dart::io`) Skill

DART Model Loading (`dart::io`)

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

Quick Start

#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

// 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

Agent Skills: DART Model Loading (`dart::io`)

Install this agent skill to your local

Skill Files