Which robot model formats are supported by dart-io?

The skill supports URDF (ROS), SDF (Gazebo), MJCF (MuJoCo), and the native DART SKEL format.

Can I force a specific file format during the loading process?

Yes, the skill demonstrates how to use the ModelFormat enum within ReadOptions to override auto-detection.

How does this skill handle asset paths in URDF files?

It provides patterns for using dart::io::ReadOptions to define package directories, allowing the parser to resolve 'package://' URLs correctly.

Is this skill compatible with the latest version of DART?

Yes, it is designed for the C++20 version of the DART physics engine and its modern I/O API.

DART IO Model Loader

Name: DART IO Model Loader
Author: dartsim

bydartsim

•

1,046

Game Development

Simplifies loading and parsing of URDF, SDF, MJCF, and SKEL robot models for the DART physics engine.

About

The dart-io skill provides Claude with specialized knowledge of the Dynamic Animation and Robotics Toolkit (DART) I/O subsystem. It enables developers to efficiently implement model loading logic for robotics and animation projects using the unified dart::io API. By providing guidance on format auto-detection, package resolution for assets, and specific parser configurations for URDF, SDF, and MJCF, this skill streamlines the process of bringing complex 3D models into a C++20 physics simulation environment.

Key Features

Automatic format detection and manual format overrides
Unified API guidance for dart::io::readWorld and readSkeleton
Multi-format support for URDF, SDF, MJCF, and SKEL files
Advanced package directory resolution for complex robot assets
Integration patterns for C++20 robotics simulation workflows
1,046 GitHub stars

Use Cases

Loading Gazebo world files for environment setup in C++
Converting and parsing MJCF models for use in physics-based animation
Importing ROS-compatible URDF models into DART simulations

About

Key Features

Automatic format detection and manual format overrides
Unified API guidance for dart::io::readWorld and readSkeleton
Multi-format support for URDF, SDF, MJCF, and SKEL files
Advanced package directory resolution for complex robot assets
Integration patterns for C++20 robotics simulation workflows
1,046 GitHub stars

Use Cases

Loading Gazebo world files for environment setup in C++
Converting and parsing MJCF models for use in physics-based animation
Importing ROS-compatible URDF models into DART simulations