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.
Workflow
- Treat the Python source that defines
gen_urdf()as source of truth. Treat the configured.urdffile as generated. - For the
gen_urdf()envelope contract, readreferences/generator-contract.md. - For robot description edits, read
references/urdf-workflow.md. - Edit links, joints, limits, axes, origins, inertials, materials, and mesh filenames deliberately.
- Regenerate only the explicit URDF target with
scripts/gen_urdf. - Use
--summaryfor a compact robot/link/joint check after regeneration. - For validation expectations, read
references/validation.md. - If the URDF references changed CAD mesh outputs, use the
cadskill to regenerate the affected STEP/STL/render assets separately.
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 .... Relative target paths are resolved from the current working directory; the tool does not prepend a harness root such as models/.
- URDF sidecars:
scripts/gen_urdf
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