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