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Generates and validates URDF robot descriptions from Python `gen_urdf()` sources. Use for creating, editing, or debugging URDF files, joints, links, and geometry.
npx claudepluginhub earthtojake/text-to-cad --plugin cadHow this skill is triggered — by the user, by Claude, or both
Slash command
/cad:urdfThe summary Claude sees in its skill listing — used to decide when to auto-load this skill
Use this skill for URDF robot-description outputs. Treat URDF work as constrained kinematic modeling, not just XML writing. The main correctness risks are frame placement, joint-axis semantics, unit consistency, mesh scale, inertial data, and generated-artifact drift.
LICENSEagents/openai.yamlreferences/design-ledger.mdreferences/frame-semantics.mdreferences/gen-urdf.mdreferences/generator-contract.mdreferences/urdf-workflow.mdreferences/validation.mdrequirements.txtscripts/packages/cadpy_metadata/pyproject.tomlscripts/packages/cadpy_metadata/src/cadpy_metadata/__init__.pyscripts/packages/cadpy_metadata/src/cadpy_metadata/generator.pyscripts/packages/cadpy_metadata/src/cadpy_metadata/py.typedscripts/urdf/__init__.pyscripts/urdf/__main__.pyscripts/urdf/cli.pyscripts/urdf/source.pyscripts/urdf/tests/__init__.pyscripts/urdf/tests/test_cli.pyscripts/urdf/tests/test_source.pyConvert URDF robot descriptions to MJCF format for MuJoCo simulation. Handles meshes, joints, actuators, and collision geometries.
Creates p5.js generative art with seeded randomness, noise fields, and interactive parameter exploration. Use for algorithmic art, flow fields, or particle systems.
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Use this skill for URDF robot-description outputs. Treat URDF work as constrained kinematic modeling, not just XML writing. The main correctness risks are frame placement, joint-axis semantics, unit consistency, mesh scale, inertial data, and generated-artifact drift.
gen_urdf() as the source of truth. Treat configured .urdf files as generated artifacts.scripts/urdf generator validates generated URDFs by default. Do not use or document a separate validate command.references/design-ledger.md.references/frame-semantics.md.inertial, visual, and collision separately when the target consumer needs them. Frame-only links may intentionally omit mass and geometry.After completing URDF work that creates or modifies a .urdf, you must ALWAYS hand the explicit file path to $cad-viewer when that skill is installed. $cad-viewer must start CAD Viewer if it is not already running and return link(s) to the relevant created or updated file(s); if $cad-viewer is unavailable or startup fails, report that instead of silently omitting the handoff.
gen_urdf() Python source and target .urdf output.scripts/urdf.Run with the Python environment for the project or workspace. Treat python in examples as an interpreter placeholder; if bare python is unavailable, substitute python3, a project virtualenv interpreter, or the configured interpreter path. The URDF generator and lightweight validator use only the Python standard library; downstream consumers such as RViz, Gazebo, or MoveIt may need their own runtime packages.
From this skill directory, the launcher shape is:
python scripts/urdf path/to/source.py
python scripts/urdf path/to/source.py -o path/to/robot.urdf
python scripts/urdf path/to/a.py=out/a.urdf path/to/b.py=out/b.urdf
Plain Python targets write a sibling .urdf beside the source. -o/--output is valid only with one plain target. Use SOURCE.py=OUTPUT.urdf pairs for custom multi-target destinations.
Relative source targets and CLI output overrides are resolved from the current working directory. When running from outside this skill directory, prefix the launcher path so target files still resolve from the intended workspace.
The launcher executes only gen_urdf() and validates the generated URDF output. It does not provide a separate validation-only command.
references/design-ledger.mdreferences/frame-semantics.mdreferences/generator-contract.mdreferences/gen-urdf.mdreferences/urdf-workflow.mdreferences/validation.md