Agent Skills › dartsim/dart › dart-io

dart-io

GitHub

用于加载和解析机器人模型文件（URDF, SDF, MJCF, SKEL）的 C++ 技能，提供 DART 库的文件读取与格式转换功能。

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

Trigger Scenarios

需要解析 URDF、SDF、MJCF 或 SKEL 格式的机器人模型文件使用 DART 库进行机器人仿真场景构建

Install

npx skills add dartsim/dart --skill dart-io -g -y

More Options

Non-standard path

npx skills add https://github.com/dartsim/dart/tree/main/.agents/skills/dart-io -g -y

Use without installing

npx skills use dartsim/dart@dart-io

指定 Agent (Claude Code)

npx skills add dartsim/dart --skill dart-io -a claude-code -g -y

安装 repo 全部 skill

npx skills add dartsim/dart --all -g -y

预览 repo 内 skill

npx skills add dartsim/dart --list

SKILL.md

Frontmatter

{
    "name": "dart-io",
    "description": "DART IO: URDF, SDF, MJCF, SKEL parsers, and dart::utils loading"
}

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 Filament 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

Version History

f630c91 Current 2026-10-18 20:25
将 API 从 dart::io 重构为更具体的子模块如 dart::utils::DartLoader 和 SdfParser，并更新相关文档路径。
bcd584e 2026-09-02 23:40
b9fbefc 2026-07-19 11:29