Agent-Skills.md

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

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

UncategorizedID: dartsim/dart/dart-io

Repository

dartsim/dart
dartsimLicense: BSD-2-Clause
1,069298

Install this agent skill to your local

pnpm dlx add-skill https://github.com/dartsim/dart/tree/HEAD/.agents/skills/dart-io

Skill Files

Browse the full folder contents for dart-io.

Download Skill

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.agents/skills/dart-io/SKILL.md

Skill Metadata

Name
dart-io
Description
"DART IO: URDF, SDF, MJCF, SKEL parsers, and dart::utils loading"
<!-- AUTO-GENERATED FILE - DO NOT EDIT MANUALLY --> <!-- Source: .claude/skills/dart-io/SKILL.md --> <!-- Sync script: scripts/sync_ai_commands.py --> <!-- Run `pixi run sync-ai-commands` to update -->

DART Model Loading (dart::utils)

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

When the claim depends on the loaded hierarchy, transforms, collision geometry, or simulated behavior, also load dart-verify-sim for a text scene/behavior oracle plus claim-tied OSG visual corroboration.

Quick Start

#include <dart/utils/urdf/DartLoader.hpp>

dart::utils::DartLoader loader;
auto skel = loader.parseSkeleton(
    "dart://sample/urdf/KR5/KR5 sixx R650.urdf");

Full Documentation

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

For repository-specific guidance: 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

#include <dart/utils/sdf/SdfParser.hpp>

// URDF with package resolution
dart::utils::DartLoader loader;
loader.addPackageDirectory("my_robot", "/path/to/my_robot");
auto skel = loader.parseSkeleton("package://my_robot/urdf/robot.urdf");

// Force specific format
auto world = dart::utils::SdfParser::readWorld("dart://sample/sdf/world.sdf");

Key Files

  • URDF API: dart/utils/urdf/DartLoader.hpp
  • SDF API: dart/utils/sdf/SdfParser.hpp
  • SKEL API: dart/utils/SkelParser.hpp
  • Tests: tests/integration/test_DartLoader.cpp, tests/integration/test_SdfParser.cpp, tests/integration/test_SkelParser.cpp