urdf-templates

zeeshan080's avatarfrom zeeshan080

URDF structure templates and validation patterns for robotics content. Use when creating robot descriptions, validating URDF files, or teaching URDF concepts.

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[Templates and Style Guides]

When & Why to Use This Skill

This Claude skill provides standardized URDF (Unified Robot Description Format) templates and validation patterns specifically designed for robotics engineering. It streamlines the creation of complex robot descriptions, ensures simulation-ready accuracy through rigorous validation of joint limits and inertial properties, and serves as a reliable framework for maintaining consistency across robotics projects.

Use Cases

  • Robot Model Bootstrapping: Quickly generate structured URDF files for mobile robots or humanoid bases using pre-configured XML templates.
  • Safety and Physics Validation: Audit existing robot descriptions to ensure mandatory safety annotations, joint limits, and inertial properties are correctly defined for physics engines.
  • Robotics Education and Training: Use as a structured teaching aid to explain the hierarchical relationship between links, joints, and physical properties in robot modeling.
  • Simulation Compatibility: Prepare robot models for environments like ROS, Gazebo, or MuJoCo by validating collision geometry and realistic mass values.
nameurdf-templates
descriptionURDF structure templates and validation patterns for robotics content. Use when creating robot descriptions, validating URDF files, or teaching URDF concepts.
allowed-toolsRead, Grep

URDF Templates

Instructions

When working with URDF files:

  1. Use the provided templates as starting points
  2. Validate against the checklist in validation.md
  3. Include safety annotations for joint limits
  4. Add comments explaining each section

Template Selection

Robot Type Template Use Case
Mobile Robot mobile-robot.urdf Wheeled robots, differential drive
Humanoid Base humanoid-base.urdf Bipedal robots, upper body

URDF Structure Overview

<robot name="robot_name">
  <!-- Links define physical parts -->
  <link name="base_link">
    <visual>...</visual>
    <collision>...</collision>
    <inertial>...</inertial>
  </link>

  <!-- Joints connect links -->
  <joint name="joint_name" type="revolute">
    <parent link="parent_link"/>
    <child link="child_link"/>
    <limit lower="-1.57" upper="1.57" effort="100" velocity="1.0"/>
  </joint>
</robot>

Safety Requirements

  1. Always specify joint limits - Never leave limits undefined
  2. Include inertial properties - Required for physics simulation
  3. Add collision geometry - Required for safe simulation
  4. Document mass values - Use realistic values

Reference

See validation.md for validation rules. See templates/ for complete templates.