majiayu000 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 world = dart::io::readWorld("dart://sample/skel/chain.skel");
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