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29 lines
1 KiB
Markdown
29 lines
1 KiB
Markdown
# URDF Generator Contract
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Use this reference when creating or editing Python sources that generate URDF files.
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## Source Of Truth
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The Python source that defines `gen_urdf()` is source of truth. The configured `.urdf` file is generated and should not be hand-edited.
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## Envelope Contract
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`gen_urdf()` must be a top-level zero-argument function returning an envelope with:
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- `xml`: complete URDF XML as a string
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- `urdf_output`: relative path to the generated `.urdf` file
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The `urdf_output` path:
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- is relative to the owning Python source
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- must use POSIX `/` separators
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- must end in `.urdf`
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- is resolved as a file path, not through a harness root
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The host project may impose its own layout policy, but the URDF skill runtime does not hardcode a project directory.
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## Runtime Behavior
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`5-Applications/scripts/gen_urdf` runs only `gen_urdf()`. It does not regenerate STEP, STL, GLB/topology, DXF, or CAD render artifacts.
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If URDF mesh references depend on updated CAD outputs, regenerate those CAD targets separately with the CAD skill.
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