urdf 是做什么的？
URDF机器人描述生成与默认生成时验证。用于创建、编辑、重新生成、检查或调试 .urdf 文件、Python gen_urdf() 源代码、机器人连杆、关节、限位、惯性参数、视觉/碰撞几何体、网格引用、坐标系约定或生成的机器人描述产物。使用 SRDF 技能处理 MoveIt2 语义组和 IK/路径规划语义；使用 cad-viewer 技能控制本地 MoveIt2 服务器；使用 CAD 技能处理 STEP/STL/3MF/DXF/GLB 输出。
URDF机器人描述生成与默认生成时验证。用于创建、编辑、重新生成、检查或调试 `.urdf` 文件、Python `gen_urdf()` 源代码、机器人连杆、关节、限位、惯性参数、视觉/碰撞几何体、网格引用、坐标系约定或生成的机器人描述产物。使用 SRDF 技能处理 MoveIt2 语义组和 IK/路径规划语义；使用 cad-viewer 技能控制本地 MoveIt2 服务器；使用 CAD 技能处理 STEP/STL/3MF/DXF/GLB 输出。
earthtojake/urdf 是一个专为 AI 代理设计的 URDF 机器人描述生成与验证技能。它允许开发者通过自然语言指令创建、编辑或重新生成 `.urdf` 文件，并自动执行默认的生成时验证，确保机器人描述的语法正确性。该技能支持处理机器人连杆、关节、限位、惯性、视觉/碰撞几何体以及网格引用，同时遵循标准的坐标系约定。它适用于任何支持基于标记的技能调用机制的 AI 代理平台（如 Claude Code、Coder 等）。通过提供简洁的界面，该技能简化了复杂的机器人描述生成流程，并与 MoveIt2 生态中的 SRDF 技能（用于语义组和路径规划）和 CAD 技能（用于导出 STEP/STL/3MF 等格式）无缝协作，从而在机器人开发工作流中实现高效的端到端描述管理。
npx skills add https://github.com/earthtojake/text-to-cad/tree/main/skills/urdfInstalled? Explore more 图像 skills: steipete/songsee, affaan-m/frontend-design, mattpocock/improve-codebase-architecture · View all 6 →
URDF机器人描述生成与默认生成时验证。用于创建、编辑、重新生成、检查或调试 .urdf 文件、Python gen_urdf() 源代码、机器人连杆、关节、限位、惯性参数、视觉/碰撞几何体、网格引用、坐标系约定或生成的机器人描述产物。使用 SRDF 技能处理 MoveIt2 语义组和 IK/路径规划语义；使用 cad-viewer 技能控制本地 MoveIt2 服务器；使用 CAD 技能处理 STEP/STL/3MF/DXF/GLB 输出。
This repo contains 6 individual skills — each has its own dedicated page.
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.
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.
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.
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.
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.
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.
Generate spectrograms and feature-panel visualizations from audio with the songsee CLI.
Create distinctive, production-grade frontend interfaces with high design quality. Use when the user asks to build web components, pages, or applications and the visual direction matters as much as the code quality.
Scan a codebase for deepening opportunities, present them as a visual HTML report, then grill through whichever one you pick.
Add documentation for a new AI provider — usage docs, env vars, Docker config, image resources.
Tests in real browsers via Chrome DevTools MCP. Use when building or debugging anything that runs in a browser. Use when you need to inspect the DOM, capture console errors, analyze network requests, profile performance, or verify visual output with real runtime data. Requires the chrome-devtools MCP server to be configured.
This skill should be used when the user wants to visualize data. It intelligently selects the most suitable chart type from 26 available options, extracts parameters based on detailed specifications, and generates a chart image using a JavaScript script.