urdf 是做什麼的？
URDF 機器人描述生成與預設生成時驗證。用於建立、編輯、重新生成、檢查或除錯 .urdf 檔案、Python gen_urdf() 來源、機器人連桿、關節、極限、慣性、視覺/碰撞幾何、網格參考、框架慣例或生成的機器人描述工件。請使用 SRDF 技能處理 MoveIt2 語義群組和 IK/路徑規劃語義；使用 cad-viewer 技能控制本地 MoveIt2 伺服器；使用 CAD 技能處理 STEP/STL/3MF/DXF/GLB 輸出。
URDF 機器人描述生成與預設生成時驗證。用於建立、編輯、重新生成、檢查或除錯 `.urdf` 檔案、Python `gen_urdf()` 來源、機器人連桿、關節、極限、慣性、視覺/碰撞幾何、網格參考、框架慣例或生成的機器人描述工件。
這個技能專門處理 URDF 機器人描述檔案的生成與驗證。對於使用 ROS 和 MoveIt2 的機器人開發者來說，URDF 是定義機器人運動學與動力學模型的基礎。此技能不僅能協助建立新的 `.urdf` 檔案，還能編輯、重新生成、檢查或除錯現有的 URDF 檔案及其相關的 Python 原始碼 (`gen_urdf()`)。它支援處理機器人的連桿 (links)、關節 (joints)、運動極限 (limits)、慣性參數 (inertials)、視覺與碰撞幾何形狀 (visual/collision geometry)、網格檔案參考 (mesh references) 以及座標框架慣例 (frame conventions)。此外，文件中明確指出其他相關技能的適用場景：若要處理 MoveIt2 的語義群組和 IK/路徑規劃語義，應使用 SRDF 技能；若要控制本地 MoveIt2 伺服器，則使用 cad-viewer 技能；而 CAD 技能則負責輸出 STEP、STL、3MF、DXF、GLB 等 CAD 格式。此技能可與多種 AI 代理工具（如 Claude Code、Cursor、Codex）搭配使用，提升機器人開發流程的效率。
npx skills add https://github.com/earthtojake/text-to-cad/tree/main/skills/urdfInstalled? Explore more 影像 skills: steipete/songsee, affaan-m/frontend-design, mattpocock/improve-codebase-architecture · View all 6 →
URDF 機器人描述生成與預設生成時驗證。用於建立、編輯、重新生成、檢查或除錯 .urdf 檔案、Python gen_urdf() 來源、機器人連桿、關節、極限、慣性、視覺/碰撞幾何、網格參考、框架慣例或生成的機器人描述工件。請使用 SRDF 技能處理 MoveIt2 語義群組和 IK/路徑規劃語義；使用 cad-viewer 技能控制本地 MoveIt2 伺服器；使用 CAD 技能處理 STEP/STL/3MF/DXF/GLB 輸出。
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.