Claude-skill-registry dart-io

DART model loading - URDF, SDF, MJCF, SKEL parsers and dart::io unified API

install

source · Clone the upstream repo

git clone https://github.com/majiayu000/claude-skill-registry

Claude Code · Install into ~/.claude/skills/

T=$(mktemp -d) && git clone --depth=1 https://github.com/majiayu000/claude-skill-registry "$T" && mkdir -p ~/.claude/skills && cp -r "$T/skills/data/dart-io" ~/.claude/skills/majiayu000-claude-skill-registry-dart-io && rm -rf "$T"

manifest: skills/data/dart-io/SKILL.md

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
```