# Dart Io

> DART IO: URDF, SDF, MJCF parsers, and dart::io loading

- Skill: `dartsim/dart-io` (Agent Skill)
- Install (CLI): `npx skillmds@latest add dartsim/dart-io`
- Raw SKILL.md: https://api.skillmd.com/api/skills/dartsim/dart-io/raw
- Safety review: pending
- Works with: Claude Code, Claude.ai, OpenAI Codex
- Category: Coding & Dev Tools
- Author: dartsim (https://skillmd.com/u/dartsim)
- Updated: 2026-09-17
- Page: https://skillmd.com/skills/dartsim/dart-io

---


<!-- AUTO-GENERATED FILE - DO NOT EDIT MANUALLY -->
<!-- Source: .claude/skills/dart-io/SKILL.md -->
<!-- Sync script: scripts/sync_ai_commands.py -->
<!-- Run `pixi run sync-ai-commands` to update -->

# 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

```cpp
#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

```cpp
// 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`