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cedrickcheecedrickchee/text-to-cad/.agents/skills/urdf/SKILL.md

urdf

Skill35 starsChanged 6 months agoMITView on GitHub

URDF generation and validation for robot model outputs. Use when the agent needs to create, edit, regenerate, inspect, or validate `.urdf` files, `gen_urdf()` envelopes, robot links, joints, joint limits, parent/child kinematic structure, visual or collision mesh references, collision geometry, or URDF-specific XML validation. Use the owning CAD or mesh workflow for STEP/STP, STL/3MF/DXF exports, render images, GLB/topology sidecars, CAD Explorer links, and @cad geometry references.

2 other projects use a version of this.

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  • Other versions2 projects use a version of this.

    Word for word · 0

    None found.

    Edited · 0

    None found.

    Wrote their own version · 2

    1. saint0x/my-skills★ 1same name
    2. tlinedeep/claude-skills★ 0same name

    How matches are found. Word for word: the exact same text. Edited: shares passages with this file (“99% same” means 99% of its five-word phrases also appear here; 10% or more counts). Their own version: similar meaning, or, weakest, the same name. We can’t tell which project had it first. Projects are counted among the 200 most-starred candidates, and mentions are links to the repository we found, up to 50 per site, so both counts are a floor.

  • In this repository4 other files it gives its agents.

The file

We split this skill into the rules it gives an agent

4 rules. About 0 are common, 2 are distinctive, and 2 are very specific to this project.

  • ≈0

    Common · estimate

    Many files like this have a rule of this kind.

  • ≈2

    Distinctive · estimate

    This author's own choices. Worth a look.

  • 2

    Very specific

    Tied to their project's names, files or tools. Probably skip.

  • Common
  • Distinctive
  • Very specific
  1. Distinctive:

    Use this skill for robot description outputs.

    line 8
  2. Very specific:

    Treat the Python source that defines gen_urdf() as source of truth.

    line 16
  3. Very specific:

    Use --summary for a compact robot/link/joint check after regeneration.

    line 22
  4. Distinctive:

    If URDF mesh references depend on changed CAD, mesh, or render outputs, regenerate only the affected explicit targets with the owning CAD …

    line 24

≈ “Common” is an estimate: at least 1 in 5 of the 350,495 skill files we read have a rule of the same kind, not the same words. “Very specific” is our guess from the words: it names a file, a command, a setting or the project itself.

Keep what fits and drop the rest. Your version, ready for your agents.
Files
SKILL.md

URDF

Use this skill for robot description outputs. URDF work is intentionally separate from ordinary CAD generation because the correctness questions are kinematic, XML, and mesh-reference oriented rather than primarily geometric.

Consumer-specific metadata is allowed when a downstream UI or simulator adapter expects it. Treat that metadata as generator-owned extension data rather than standard URDF.

Defer CAD handoff details to the CAD skill: read .agents/skills/cad/SKILL.md, then only load its references/rendering-and-explorer.md when a URDF needs a CAD Explorer link. If the local CAD skill is unavailable, use cad-skill as the fallback reference. Keep URDF-specific generation and explorer_metadata contracts in this skill.

Workflow

  1. Treat the Python source that defines gen_urdf() as source of truth. Treat the configured .urdf file as generated.
  2. For the gen_urdf() envelope contract, read references/generator-contract.md.
  3. For robot description edits, read references/urdf-workflow.md.
  4. Prioritize complete physical links: include inertial, visual, and collision for each link that represents physical robot geometry. Frame-only links may intentionally omit them.
  5. Edit links, joints, limits, axes, origins, inertials, materials, visual/collision geometry, mesh filenames, and any consumer-specific sidecar metadata deliberately.
  6. Regenerate only the explicit URDF target with scripts/gen_urdf/cli.py.
  7. Use --summary for a compact robot/link/joint check after regeneration.
  8. For validation expectations, read references/validation.md.
  9. If URDF mesh references depend on changed CAD, mesh, or render outputs, regenerate only the affected explicit targets with the owning CAD or mesh workflow.
  10. For CAD Explorer handoff of generated .urdf entries, use the CAD skill's Explorer handoff rules rather than duplicating link syntax here.

Commands

Run with the Python environment for the project or workspace. If the environment lacks the URDF validation runtime packages, install this skill's script dependencies from requirements.txt. Invoke the tool as a filesystem script, for example python <urdf-skill>/scripts/gen_urdf/cli.py .... Relative target paths are resolved from the current working directory; the tool does not prepend a project root.

  • URDF sidecars: scripts/gen_urdf/cli.py

The command interface is target-explicit. Pass the Python generator that defines gen_urdf(); use --summary for a compact robot/link/joint check.

References

  • URDF generation: references/gen-urdf.md
  • Generator contract: references/generator-contract.md
  • URDF edit workflow: references/urdf-workflow.md
  • URDF validation: references/validation.md

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