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earthtojake/urdf

Generación y validación por defecto de descripciones de robots URDF. Útil para crear, editar, regenerar, inspeccionar o depurar archivos `.urdf`, fuentes Python `gen_urdf()`, enlaces de robot, articulaciones, límites, inercias, geometría visual/de colisión, referencias de mallas, convenciones de marcos de referencia o artefactos generados de descripción de robots.

¿Qué es urdf?

La habilidad `earthtojake/urdf` proporciona generación y validación en tiempo de creación de descripciones de robots en formato URDF. Es esencial al trabajar con archivos `.urdf`, funciones Python `gen_urdf()`, o cualquier aspecto de la definición de un robot, incluyendo enlaces (links), articulaciones (joints), límites, inercias, geometría visual y de colisión, y referencias a mallas. Esta habilidad también ayuda a verificar convenciones de marcos de referencia y artefactos generados de la descripción del robot, asegurando que el modelo sea válido antes de su uso en simulaciones o planificadores de movimiento. Compatible con plataformas como Claude Code, Cursor y Codex, y se complementa con las habilidades SRDF (para grupos semánticos y planificación de MoveIt2), cad-viewer (para controles del servidor local de MoveIt2) y CAD (para exportación a formatos STEP, STL, 3MF, DXF o GLB).

Compatible con~Claude Code~Codex CLI~Cursor
npx skills add https://github.com/earthtojake/text-to-cad/tree/main/skills/urdf

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Documentación

¿Qué hace urdf?

Generación de descripciones de robots URDF y validación por defecto en tiempo de generación. Úselo al crear, editar, regenerar, inspeccionar o depurar archivos .urdf, fuentes Python gen_urdf(), enlaces de robot, articulaciones, límites, inercias, geometría visual/de colisión, referencias de mallas, convenciones de marcos de referencia o artefactos generados de descripción de robots. Use la habilidad SRDF para grupos semánticos de MoveIt2 y semántica de IK/planificación de trayectorias; use la habilidad cad-viewer para controles del servidor local de MoveIt2; use la habilidad CAD para salidas en formato STEP/STL/3MF/DXF/GLB.

Individual skills in this repo

This repo contains 6 individual skills — each has its own dedicated page.

earthtojake/cad

Create, modify, inspect, and validate STEP-first parametric CAD parts and assemblies. Use for natural-language CAD specs, reference images, 2D technical drawings, STEP/STP generation or direct inspection, Python CAD source, source-level joints, selector references, geometry facts, measurements, mating deltas, snapshots, and secondary STL/3MF/native GLB outputs from CAD geometry.

earthtojake/render

Start or reuse the CAD Explorer viewer, return review links, and create saved snapshots for explicit CAD and robot-description files. Use when rendering or visually reviewing `.step`, `.stp`, `.glb`, `.stl`, `.3mf`, `.dxf`, `.urdf`, `.srdf`, or `.sdf` files, especially when handed off from CAD, URDF, SRDF, or SDF generation skills.

earthtojake/sdf

SDFormat/SDF model and world generation, validation, and simulator handoff. Use for `.sdf` files, SDFormat XML, Python `gen_sdf()` sources, models, worlds, links, joints, poses, frames, inertials, visual/collision geometry, mesh URIs, sensors, lights, physics, plugins, includes, Gazebo, static SDF review, or simulator-specific metadata. Do not use for signed-distance-field geometry.

earthtojake/sendcutsend

Review DXF and STEP/STP uploads for SendCutSend.com orders using its ordering guide, catalog, and specs. Use only for SendCutSend.com preflight reports covering upload readiness, selected material/SKU/thickness/service availability, and service-specific checks for laser cutting, CNC routing, bending, tapping, countersinking, hardware insertion, and finishing.

earthtojake/srdf

MoveIt2 SRDF generation, validation, and planning-semantics workflow. Use when creating, editing, regenerating, inspecting, or validating `.srdf` files, `gen_srdf()` sources, MoveIt planning groups, virtual joints, passive joints, end effectors, group states, disabled collisions, URDF-linked planning semantics, or SRDF handoff for live review. Use the URDF skill for robot structure, the SDF skill for simulator descriptions, and the cad-viewer skill for rendering, live review links, and optional MoveIt2 controls.

earthtojake/step-parts

Find, evaluate, and download common purchasable CAD parts from step.parts, including named off-the-shelf actuators, servos, motors, electronics boards, connectors, screws, bolts, nuts, washers, bearings, standoffs, and other catalog components. Use when Codex needs to search the hosted step.parts catalog before creating simplified placeholder geometry, resolve fuzzy part names, standards, aliases, or dimensions, choose a matching part, fetch a canonical .step file, verify checksums, or use the step.parts API/OpenAPI/catalog endpoints for standard part discovery.

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