{"enrichment":{"faq":[{"a":"urdf helps you create URDF files by guiding you through robot structure definition. Start by defining your robot's base link, then add joints and child links with proper frame origins and axes. urdf supports both manual XML editing and Python gen_urdf() source generation for reproducible, version-controlled robot models. You can validate geometry, mesh references, joint limits, and inertial properties as you build.","q":"How do I create a URDF file for my robot?"},{"a":"urdf validates joint, geometry, mesh, and inertial correctness across your entire robot model. It checks frame semantics, origin transforms, joint axes alignment, collision and visual geometry setup, mesh file references and scaling, and inertial parameter consistency. These validations catch spatial transform errors and configuration mistakes before you deploy to RViz, Gazebo, MoveIt, or your robot driver.","q":"What can urdf validate in my robot description?"},{"a":"urdf helps debug frame semantics by analyzing origins, axes, and spatial transforms throughout your kinematic chain. It identifies misaligned joint axes, incorrect parent-child link relationships, and transform inconsistencies that break visualization or control. Use urdf's frame validation to verify that each link's origin and each joint's axis conform to your robot's actual geometry and design intent.","q":"How do I debug URDF frame conventions and spatial transforms?"},{"a":"Yes. urdf creates Python gen_urdf() sources that programmatically generate your robot description. This approach enables reproducible, version-controlled robot model generation and makes it easy to parameterize designs, iterate on configurations, and integrate robot definitions into build pipelines or simulation workflows.","q":"Can urdf generate Python source code for robot model creation?"},{"a":"urdf prepares URDF outputs for RViz visualization, Gazebo physics simulation, MoveIt motion planning, and robot drivers. By validating frame correctness, joint limits, inertials, and mesh geometry, urdf ensures your robot description works reliably across these frameworks without requiring manual fixes or compatibility patches.","q":"Which simulation and control frameworks does urdf support?"},{"a":"urdf is released under the MIT license, allowing free use, modification, and distribution in both open-source and commercial projects. You can integrate urdf into your robotics workflows, extend it for custom validation rules, or embed it in your own tools without licensing restrictions.","q":"What is urdf's license and how can I use it?"}],"shadow_tags":["kinematic-modeling","robot-description-format","mesh-geometry","frame-transforms","joint-semantics","inertia-properties","xml-generation","validation-pipeline","simulator-integration","cad-to-urdf"],"summary_rewrite":"Create and modify URDF (Unified Robot Description Format) files to define robot kinematics, joint structures, and link hierarchies. This skill helps roboticists and engineers build frame-correct kinematic models for simulation, visualization, and control system integration. Streamline your robot description workflow with intelligent URDF generation and editing capabilities."},"files":[{"bytes":5314,"path":"skills/urdf/SKILL.md","sha256":"2973ccd2515bef07748fa291522ab43bcd21e3d67f1338dd67753cf37954153a","url":"https://skillfed.io/files/earthtojake/text-to-cad/urdf/a266e1ed/SKILL.md"}],"id":"earthtojake/text-to-cad/urdf","links":{"html":"https://skillfed.io/earthtojake/text-to-cad/urdf","md":"https://skillfed.io/earthtojake/text-to-cad/urdf.md","repo":"https://github.com/earthtojake/text-to-cad"},"meta":{"agents_supported":[],"first_seen":"2026-07-28","forks":1183,"language":"JavaScript","last_updated":"2026-07-11","license":"MIT","name":"urdf","publisher":"earthtojake","stars":10959},"relations":{"similar":[{"id":"earthtojake/text-to-cad/srdf"},{"id":"earthtojake/text-to-cad/sdf"},{"id":"earthtojake/text-to-cad/dxf"},{"id":"earthtojake/text-to-cad/gcode"},{"id":"earthtojake/text-to-cad/cad-viewer"},{"id":"matlab/matlab-agentic-toolkit/matlab-model-robot-kinematics"},{"id":"earthtojake/text-to-cad/cad"},{"id":"earthtojake/text-to-cad/step-parts"},{"id":"earthtojake/text-to-cad/implicit-cad"},{"id":"earthtojake/text-to-cad/sendcutsend"}]},"slug":{"owner":"earthtojake","repo":"text-to-cad","skill":"urdf"},"version":"a266e1ed"}