matlab-model-robot-kinematics
Use whenever a MATLAB robot model (rigidBodyTree) is needed — whether for simulation, visualization, IK, motion planning, pick-and-place, or trajectory generation. Triggers on: any mention of a manipulator by name (UR3, UR5, UR5e, UR10, UR10e, UR16e, UR20, KUKA iiwa, Fanuc, ABB, Panda, Kinova, Sawyer, Baxter), robot modeling verbs (load, create, build, import, simulate, model), tasks implying a robot model (pick, place, lift, reach, move, grasp, plan motion for, animate), kinematics keywords (IK, FK, inverse kinematics, forward kinematics, joint configuration, end-effector pose, gripper), or w
npx skills add matlab/matlab-agentic-toolkit --skill matlab-model-robot-kinematics --agent claude-code
Same command for any agent — swap --agent for codex, cursor, copilot.
Weekly change comes from our own snapshots, not the repository page — it measures attention, not adoption.
# Robot Modeling & Kinematics Build manipulator models correctly and validate every kinematic solution. ## When to Use - Any task that requires a robot model in MATLAB (even if the goal is downstream: animation, pick-and-place, trajectory, motion planning) - User mentions a specific manipulator by name (UR5e, KUKA iiwa14, Panda, Kinova Gen3, etc.) - Loading, building, or importing a robot model - Simulating, animating, or visualizing a manipulator - Tasks involving lifting, reaching, picking, placing, or grasping - Adding visual meshes or collision geometry - Attaching a gripper to a manipulator - Choosing between `inverseKinematics` vs `generalizedInverseKinematics` - Validating IK/GIK solutions (exit flags, position error, joint continuity) ## When NOT to Use - Collision-free motion planning (RRT, CHOMP, path planning) — use a motion planning skill - Trajectory generation (`contopptraj`, `cubicpolytraj`, `trapveltraj`) — use a trajectory skill - Closed-loop parallel mechanisms (delta, Stewart) — see `references/parallel-robot-guidance.md` - Mobile robot navigation or wheeled platforms — not covered here - Dynamics simulation (`inverseDynamics`, `forwardDynamics`) — separate domai
- When to Use
- When NOT to Use
- Workflow
- Step 1: Determine Model Source
- Step 2: Load or Build the Model
- Step 3: Ensure tool0 Exists with Z = Outward
- Step 4: Configure the Model
- Step 5: Verify the Model with Kinematics
- Step 6: Validate Every IK/GIK Solution (MANDATORY)
- Key Functions
- Patterns
- Visualization
- Using Initial Guess to Improve IK Convergence
- Conventions
What does the matlab-model-robot-kinematics skill do?
Use whenever a MATLAB robot model (rigidBodyTree) is needed — whether for simulation, visualization, IK, motion planning, pick-and-place, or trajectory generation. Triggers on: any mention of a manipulator by name (UR3, UR5, UR5e, UR10, UR10e, UR16e, UR20, KUKA iiwa, Fanuc, ABB, Panda, Kinova, Sawyer, Baxter), robot modeling verbs (load, create, build, import, simulate, model), tasks implying a robot model (pick, place, lift, reach, move, grasp, plan motion for, animate), kinematics keywords (IK, FK, inverse kinematics, forward kinematics, joint configuration, end-effector pose, gripper), or w
How do I install it?
Run `npx skills add matlab/matlab-agentic-toolkit --skill matlab-model-robot-kinematics --agent claude-code` — it drops the skill into your project so the agent can pick it up. Swap the --agent value for codex, cursor or copilot if you use one of those.
Where does this skill come from?
From matlab/matlab-agentic-toolkit, a repository with 868 stars. We read it straight from the repository tree rather than a submitted listing, so what you see here is what is actually published.
Is a popular skill a good skill?
Not necessarily. Stars measure attention, not adoption — a repository can trend for a week and be abandoned. That is why we show the weekly change from our own snapshots next to the total, instead of a single flattering number.