DART model loading - URDF, SDF, MJCF, SKEL parsers and dart::io unified API
dart::io)Load this skill when working with robot model files or parsers.
#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");
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 |
| SKEL | .skel | Legacy DART |
// URDF with package resolution