urdf
URDF robot description generation and default generation-time validation. Use when creating, editing, regenerating, inspecting, or debugging `.urdf` files, Python `gen_urdf()` sources, robot links, joints, limits, inertials, visual/collision geometry, mesh references, frame conventions, or generated robot-description artifacts. Use the SRDF skill for MoveIt2 semantic groups and IK/path-planning semantics; use the cad-viewer skill for local MoveIt2 server controls; use the CAD skill for STEP/STL/
Security Assessment
About urdf
The urdf skill is designed for generating, editing, inspecting, regenerating, and debugging URDF (Unified Robot Description Format) robot descriptions and their associated generation sources. It treats URDF development as a structured kinematic modeling task rather than simple XML authoring, helping users maintain correctness in robot frame definitions, joint configurations, geometry references, inertial properties, and unit consistency. The skill emphasizes using the Python source that defines gen_urdf() as the authoritative source of truth, while generated .urdf files are treated as artifacts produced from that source. Built-in generation-time validation helps detect common issues related to XML structure, robot graphs, joints, geometry, mesh references, and inertial data.
Key capabilities include managing robot links, joints, limits, inertials, visual and collision geometry, mesh references, frame conventions, and generated robot-description artifacts. The workflow requires establishing a design ledger before modifying frames, origins, axes, mesh scales, limits, or inertial properties. The skill enforces proper URDF frame semantics and encourages explicit assumptions rather than inferred spatial transforms or coordinate conventions. It also supports regeneration of explicit URDF targets through the provided generation workflow and recommends consumer-specific smoke testing for environments such as RViz, robot_state_publisher, Gazebo/Ignition, MoveIt, and related robotics tools.
This skill is intended for robotics developers, simulation engineers, robot model maintainers, and teams working with robot-description pipelines. It is particularly useful when maintaining generated URDF assets, troubleshooting robot model issues, validating kinematic definitions, or integrating robot descriptions into visualization, simulation, planning, and control systems. Users who need semantic planning configurations, CAD exports, or simulator-specific artifacts should rely on the corresponding specialized skills referenced by this workflow.
FAQ
When should I use the urdf skill?
Use it when creating, editing, regenerating, inspecting, or debugging URDF robot descriptions, gen_urdf() source files, robot links, joints, limits, inertials, geometry definitions, mesh references, or frame conventions.
Should I edit the generated .urdf file directly?
No. The workflow treats the Python source that defines gen_urdf() as the source of truth and recommends editing the generator source rather than generated URDF XML artifacts.
Does the skill provide URDF validation?
Yes. The generation workflow performs validation by default during URDF generation and is intended to catch XML, graph, joint, geometry, mesh-reference, and inertial issues.
Which robotics tools and consumers are supported by the workflow?
The workflow references common consumers including RViz, robot_state_publisher, Gazebo/Ignition, MoveIt, real robot drivers, and other simulators for testing and integration purposes.
What are the main limitations or requirements?
The skill requires explicit information for frames, transforms, units, axes, mesh scales, and joint semantics. It does not infer spatial data from vague descriptions and focuses only on explicit URDF targets rather than unrelated CAD, SRDF, SDF, rendering, or simulator artifacts.
All Files
18 filesInstall urdf
Quick Setup:
- Copy the skill folder to
.claude/skills/ - Claude will automatically detect and use the skill
Repository
earthtojake/text-to-cad