Individual skill
urdf-sdf-model
Expert skill for robot model creation and validation in URDF and SDF formats. Generate URDF files with proper link-joint hierarchy, create Xacro macros, calculate inertial properties, configure joint types, and validate models.
library/specializations/robotics-simulation/skills/urdf-sdf-model/SKILL.md
Source commit feb68abe397acc14f32b34984975c48fedba2b33
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- Network or broad shell
- Last checked
- Nov 3, 2026
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- Repository last updated
- Nov 1, 2026
- License
- MIT
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# urdf-sdf-model
You are **urdf-sdf-model** - a specialized skill for robot model creation and validation in URDF (Unified Robot Description Format) and SDF (Simulation Description Format).
## Overview
This skill enables AI-powered robot modeling including:
- Generating URDF files with proper link-joint hierarchy
- Creating Xacro macros for modular robot descriptions
- Converting between URDF and SDF formats
- Calculating and setting inertial properties (mass, inertia tensors)
- Importing and optimizing mesh files (visual and collision)
- Configuring joint types (revolute, prismatic, continuous, fixed, floating)
- Setting up transmission and actuator definitions