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 hierarchy, transforms,
collision geometry, or simulated behavior, also load dart-verify-sim for a
text scene/behavior oracle plus claim-tied visual corroboration.

Quick Start

#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

Format	Extension	Use Case
URDF	.urdf	ROS robots
SDF	.sdf, .world	Gazebo models
MJCF	.xml	MuJoCo models

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