Agent Skills
› dartsim/dart
› dart-io
dart-io
GitHub提供DART机器人模型加载能力，支持URDF、SDF、MJCF和SKEL格式的自动检测与解析。适用于ROS或Gazebo机器人模型的导入及自定义包路径配置。
Trigger Scenarios
需要加载URDF/SDF/MJCF/SKEL格式的机器人模型文件
使用dart::io进行模型解析或格式转换
处理ROS机器人描述文件或Gazebo世界模型
Install
npx skills add dartsim/dart --skill dart-io -g -y
SKILL.md
Frontmatter
{
"name": "dart-io",
"description": "DART IO: URDF, SDF, MJCF, SKEL parsers, and dart::io loading"
}
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 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
Version History
- e0d13fd Current 2026-07-05 10:37
