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dart::iodart::io#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");#include <dart/io/Read.hpp>
// 自动检测格式
auto world = dart::io::readWorld("dart://sample/skel/chain.skel");
auto skel = dart::io::readSkeleton("dart://sample/urdf/KR5/KR5 sixx R650.urdf");docs/onboarding/io-parsing.mddart/io/AGENTS.mddocs/onboarding/io-parsing.mddart/io/AGENTS.md| Format | Extension | Use Case |
|---|---|---|
| URDF | | ROS robots |
| SDF | | Gazebo models |
| MJCF | | MuJoCo models |
| SKEL | | Legacy DART |
| 格式 | 扩展名 | 使用场景 |
|---|---|---|
| URDF | | ROS机器人 |
| SDF | | Gazebo模型 |
| MJCF | | MuJoCo模型 |
| SKEL | | 旧版DART |
// 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;// 带包路径解析的URDF
dart::io::ReadOptions options;
options.addPackageDirectory("my_robot", "/path/to/my_robot");
auto skel = dart::io::readSkeleton("package://my_robot/urdf/robot.urdf", options);
// 强制指定格式
options.format = dart::io::ModelFormat::Sdf;dart/io/Read.hpptests/unit/io/test_Read.cppdart/io/Read.hpptests/unit/io/test_Read.cpp