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），支持自动格式检测、包路径解析及指定格式读取，确保3D层级、变换和碰撞几何的正确性。
Trigger Scenarios
需要加载URDF、SDF或MJCF格式的机器人模型
处理ROS或Gazebo/MuJoCo兼容的机器人描述文件
Install
npx skills add dartsim/dart --skill dart-io -g -y
SKILL.md
Frontmatter
{
"name": "dart-io",
"description": "DART IO: URDF, SDF, MJCF parsers, and dart::io loading"
}
DART Model Loading (dart::io)
Load this skill when working with robot model files or parsers.
When correctness depends on the loaded model's 3D hierarchy, transforms,
collision geometry, or simulated behavior, also load dart-verify-sim for a
text scene/behavior oracle plus claim-tied visual corroboration.
Quick Start
#include <dart/io/read.hpp>
// Format auto-detection
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 |
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
Version History
- b9fbefc Current 2026-07-19 11:29
