mirror of
https://github.com/allaunthefox/Research-Stack.git
synced 2026-08-09 07:15:47 +00:00
41 lines
1.8 KiB
Markdown
41 lines
1.8 KiB
Markdown
<div align="center">
|
|
|
|
<img src="assets/text-to-cad-demo.gif" alt="Demo of the text-to-cad harness generating and previewing CAD geometry" width="100%">
|
|
|
|
<br>
|
|
|
|
</div>
|
|
|
|
# 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](https://github.com/earthtojake/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:
|
|
|
|
```bash
|
|
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](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](https://github.com/earthtojake/text-to-cad) 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](SKILL.md).
|