---

name: urdf description: URDF 机器人描述创作和验证。在创建、编辑、检查、验证或调试“.urdf”文件、机器人链接、关节、限制、惯性、视觉/碰撞几何、网格参考、框架约定或机器人描述工件时使用。将 SRDF 技能用于 MoveIt2 语义组和 IK/路径规划语义；使用 cad-viewer 技能进行本地 MoveIt2 服务器控件；使用 CAD 技能进行 STEP/STL/3MF/DXF/GLB 输出。

URDF

Provenance: maintained in earthtojake/text-to-cad. Use the installed local skill files as the runtime source of truth; the repository link is only for provenance and release review.

Use this skill for URDF robot-description outputs. Treat URDF work as constrained kinematic modeling, not just XML writing. The main correctness risks are frame placement, joint-axis semantics, unit consistency, mesh scale, and inertial data.

Core Rules

1. The .urdf file is the source of truth. Author and edit URDF XML directly; do not build a Python generation pipeline for it. There is no gen_urdf() contract.
2. Before writing or changing URDF XML, establish the robot's frame, joint, geometry, unit, and assumption ledger and embed it as a comment block at the top of the .urdf file. See references/design-ledger.md.
3. Use URDF frame semantics exactly. Joint origins, link frames, joint axes, and visual/collision/inertial origins use different reference frames. See references/frame-semantics.md.
4. Do not infer spatial transforms, mesh units, handedness, axes, or joint signs from vague prose. Use CAD transforms, dimensioned drawings, measured values, existing source data, or explicit documented assumptions.
5. Never freehand numeric values that are the result of computation — inertia tensors, centers of mass, unit conversions across many links, mirrored transforms. Compute them: closed-form formulas for primitives, or a throwaway helper script for mesh-derived values. See references/inertials.md.
6. For physical links, model inertial, visual, and collision separately when the target consumer needs them. Frame-only links may intentionally omit mass and geometry.
7. Validate every created or modified .urdf with scripts/validate before reporting completion. See references/validation.md.
8. Helper scripts are allowed and encouraged for computation, but they are scaffolding, not the artifact's source of truth. For complex or genuinely parametric models it is reasonable to keep a model-local helper script on disk next to related source code (for example STEP generator sources) and note it in the ledger; this is optional, and the checked-in .urdf remains canonical.

CAD Viewer Handoff

After completing URDF work that creates or modifies a .urdf, you must ALWAYS hand the explicit file path to $cad-viewer when that skill is installed. $cad-viewer must start CAD Viewer if it is not already running and return link(s) to the relevant created or updated file(s); if $cad-viewer is unavailable or startup fails, report that instead of silently omitting the handoff.

Workflow

1. Identify the target .urdf file and its consumers: RViz, robot_state_publisher, Gazebo/Ignition, MoveIt, a real robot driver, or another simulator.
2. Read or create the design ledger before editing frames, origins, axes, mesh scale, limits, or inertials. Keep the ledger as a comment block in the .urdf itself.
3. Prepare mesh assets first when links reference meshes: one mesh per link, exported in that link's frame by the owning CAD/mesh workflow. See references/meshes.md.
4. Author or edit the URDF XML directly, following references/authoring-contract.md for structure, ordering, and naming.
5. Compute — never guess — inertials and other derived numbers. See references/inertials.md.
6. Validate with scripts/validate; fix findings and re-validate until clean.
7. Run the verification recipe in references/validation.md: external tools when available (check_urdf), then a viewer review sweeping every joint.
8. Report remaining assumptions, unchecked spatial data, and validation gaps.

Commands

Run with the Python environment for the project or workspace. Treat python in examples as an interpreter placeholder; if bare python is unavailable, substitute python3, a project virtualenv interpreter, or the configured interpreter path. The validator uses only the Python standard library.

From this skill directory, the validator shape is:

python scripts/validate path/to/robot.urdf
python scripts/validate path/to/a.urdf path/to/b.urdf
python scripts/validate path/to/robot.urdf --strict
python scripts/validate path/to/robot.urdf --format json
python scripts/validate path/to/robot.urdf --package robot_description=/path/to/pkg

The validator collects all findings in one pass (severity, code, XML path) across XML structure, tree topology, joint semantics (limits, mimic, dynamics), geometry, mesh references, materials, inertial physics, and misspelled elements, and prints a per-file summary. --strict treats warnings as failures; --format json emits a machine-readable findings document; --package NAME=PATH resolves package:// mesh URIs. It exits nonzero if any target fails. Relative targets resolve from the current working directory; when running from outside this skill directory, prefix the launcher path so target files still resolve from the intended workspace.

Validation is a guardrail, not spatial proof: a URDF can pass every structural check while placing a joint in the wrong spot. The ledger and viewer sweep exist for that reason.

Snapshot Tool

scripts/snapshot renders the robot to a PNG still or an orbit GIF, using the same shared CLI and headless browser runtime every rendering skill uses — so a snapshot matches what the CAD Viewer shows.

python scripts/snapshot --input path/to/robot.urdf --output review.png
python scripts/snapshot --input path/to/robot.urdf --output turntable.gif --mode orbit

It accepts .urdf only. Pose the robot with the job field "jointValues" (joint name to degrees, defaulting to the rest pose) rather than --params, which is STEP-only; robots are authored in metres and are framed on the robot scene scale automatically.

Theme settings live under one --theme, mirroring the viewer's Theme tab. The default theme is snapshot — Workbench Light with the ground grid, origin axis and shadows removed, because in a still image those read as geometry. There is no --display: display settings (mode, clip, exploded, edges) are CAD topology settings, and a robot carries none.

Link meshes are resolved relative to the description, so they must be present: an unhydrated Git LFS pointer fails as "No link mesh loaded for robot". Run git lfs checkout <mesh dir> first.

Use python scripts/snapshot --help for the complete current command interface.

References

• Authoring contract (structure, ordering, golden skeleton): references/authoring-contract.md
• Design ledger: references/design-ledger.md
• Frame semantics: references/frame-semantics.md
• Mesh preparation and references: references/meshes.md
• Inertials (formulas, scripts, sanity gates): references/inertials.md
• URDF edit workflow: references/urdf-workflow.md
• Validation and verification recipe: references/validation.md