Agent Skills › dartsim/dart › dart-io

dart-io

GitHub

提供DART机器人模型文件的加载与解析功能，支持URDF、SDF、MJCF等格式。包含自动格式检测、包路径解析及特定格式强制指定等常用模式，适用于机器人仿真模型的读取任务。

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

Trigger Scenarios

需要加载或解析机器人模型文件（如URDF、SDF）处理DART框架下的3D结构或行为数据输入

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/.claude/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 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 structure or behavior, also load dart-verify-sim for a text 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

docs/onboarding/io-parsing.md owns the format list (URDF, SDF, MJCF, and opt-in OpenUSD behind DART_BUILD_IO_USD=ON).

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

bcd584e Current 2026-09-02 23:41
更新Supported Formats章节为表格形式，并补充了各格式的扩展名与典型用例说明。
b9fbefc 2026-07-19 11:30
升级 AI 基础设施并引入视觉验证功能；修复头文件命名大小写不一致问题（Read.hpp -> read.hpp）
51b2d25 2026-07-11 18:24
移除了对 DART 7 遗留 SKEL 格式的支持。
e0d13fd 2026-07-05 10:36