Research-Stack/5-Applications/text-to-cad/skills/urdf

URDF Skill

Generated robot-description tools for coding agents.

The URDF skill operates on explicit Python sources that define gen_urdf(). It does not assume a project root or directory layout, so it can be used inside this harness, in the standalone urdf-skill repo, or in another project that provides the required Python environment.

What It Can Do

• Regenerate .urdf outputs from Python gen_urdf() sources.
• Validate URDF XML with yourdfpy.
• Check link names, joint names, parent/child references, rooted tree structure, and joint limits.
• Validate visual mesh filenames and supported mesh references.
• Print compact robot, link, and joint summaries after regeneration.
• Keep URDF generation separate from STEP, STL, GLB/topology, and DXF generation.

Commands

Run commands from the project that owns the target files:

python <urdf-skill>/scripts/gen_urdf path/to/robot.py
python <urdf-skill>/scripts/gen_urdf path/to/robot.py --summary

Install the skill runtime dependencies from requirements.txt when the active Python environment does not already provide them.

If URDF mesh references depend on changed CAD geometry, regenerate those CAD or STL outputs separately with the CAD skill.

Project Harness

The text-to-cad harness is a convenient way to manage projects that use this skill. It provides a models/ layout, a local viewer, prompt-reference UX, and root setup commands that install the bundled skill dependencies.

For agent-facing workflow rules, use SKILL.md.