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DART IO: URDF, SDF, MJCF parsers, and dart::io loading
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Basierend auf der SOC-Berufsklassifikation
DART Analyze: analyze repository evidence without editing
DART Architecture: the DART 7 multi-physics, multi-solver, multi-backend simulation pipeline and where each abstraction is owned
DART Audit Agent Compliance: audit and fix gaps when agents miss or cannot discover documented rules
DART Backport PR: backport a merged main PR to a release branch
DART Benchmark Packet: author or refresh a benchmark evidence packet for an owning plan
DART Branch Cleanup: analyze or clean stale repository branches
| name | dart-io |
| description | DART IO: URDF, SDF, MJCF parsers, and dart::io loading |
dart::io)Load this skill when working with robot model files or parsers.
When correctness depends on the loaded model's 3D hierarchy, transforms,
collision geometry, or simulated behavior, also load dart-verify-sim for a
text scene/behavior oracle plus claim-tied visual corroboration.
#include <dart/io/read.hpp>
// Format auto-detection
auto skel = dart::io::readSkeleton("dart://sample/urdf/KR5/KR5 sixx R650.urdf");
For complete I/O guide: docs/onboarding/io-parsing.md
For module-specific details: dart/io/AGENTS.md
| Format | Extension | Use Case |
|---|---|---|
| URDF | .urdf | ROS robots |
| SDF | .sdf, .world | Gazebo models |
| MJCF | .xml | MuJoCo models |
// 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;
dart/io/read.hpptests/unit/io/test_read.cpp