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Research-Stack/5-Applications/text-to-cad/skills/urdf/SKILL.md

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urdf URDF generation and validation for robot model outputs. Use when the agent needs to create, edit, regenerate, inspect, or validate `.urdf` files, `gen_urdf()` envelopes, robot links, joints, joint limits, parent/child kinematic structure, visual mesh references, or URDF-specific XML validation. Use the `cad` skill for STEP, STL, DXF, GLB/topology, snapshots, and `@cad[...]` geometry references.

URDF

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.

Viewer-specific metadata is allowed when the consuming UI expects it. In this workspace, the CAD viewer can read texttocad: namespaced pose presets from generated URDF files to populate the URDF file sheet with named poses. Treat that metadata as generator-owned, workspace-specific extension data rather than standard URDF.

Workflow

  1. Treat the Python source that defines gen_urdf() as source of truth. Treat the configured .urdf file as generated.
  2. For the gen_urdf() envelope contract, read references/generator-contract.md.
  3. For robot description edits, read references/urdf-workflow.md.
  4. Edit links, joints, limits, axes, origins, inertials, materials, mesh filenames, and any viewer-specific texttocad: pose metadata deliberately.
  5. Regenerate only the explicit URDF target with 5-Applications/scripts/gen_urdf.
  6. Use --summary for a compact robot/link/joint check after regeneration.
  7. For validation expectations, read references/validation.md.
  8. If the URDF references changed CAD mesh outputs, use the cad skill 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: 5-Applications/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