Agent Skills › dartsim/dart › dart-io

dart-io

GitHub

提供DART库中URDF、SDF、MJCF及SKEL机器人模型文件的解析与加载功能，支持ROS和Gazebo格式，包含快速入门、常用模式及API文档指引。

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

触发场景

需要解析机器人模型文件（如URDF、SDF）使用DART库加载骨架或世界场景

安装

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

更多选项

非标准路径

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

不安装直接使用

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/six_axis_arm/six_axis_arm.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

版本历史

aa707ae 当前 2026-11-02 12:53
将KR5示例替换为DART作者设计的六轴机械臂示例
f630c91 2026-10-18 20:26
重构为基于dart::utils的API，新增对SKEL格式的支持，替换旧版自动检测逻辑并更新关键文件路径。
bcd584e 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