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.
npx skills add a5c-ai/babysitter --skill urdf-sdf-model --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.
# 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 - Adding sensor plugins and attachments - Validating models with urdfdom and check_urdf - Visualizing and debugging in RViz ## Prerequisites - ROS/ROS2 with urdf packages - xacro for macro processing - urdfdom for validation - Gazebo for SDF validation - Mesh tools (MeshLab, Blender) for mesh optimization ## Capabilities ### 1. URDF Generation Generate URDF files with proper structure: ```xml <?xml version="1.0"?> <robot name="my_robot" xmlns:xacro="http://www.ros.org/wiki/xacro"> <!-- Materials --> <material name="blue"> <
- Overview
- Prerequisites
- Capabilities
- 1. URDF Generation
- 2. Xacro Macros
- 3. Inertia Calculations
- 4. Joint Types Configuration
- 5. Sensor Attachments
- 6. Model Validation
- 7. SDF Format
- MCP Server Integration
- Best Practices
- Process Integration
- Output Format
Check URDF syntax check_urdf robot.urdf Process Xacro and check xacro robot.urdf.xacro > robot.urdf && check_urdf robot.urdf Visualize URDF tree urdf_to_graphviz robot.urdf View in RViz ros2 launch urdf_tutorial display.launch.py model:=robot.urdf.xacro Convert URDF to SDF gz sdf -p robot.urdf > robot.sdf
What does the urdf-sdf-model skill do?
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.
How do I install it?
Run `npx skills add a5c-ai/babysitter --skill urdf-sdf-model --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 a5c-ai/babysitter, a repository with 1,642 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.