# Urdf

URDF robot description authoring and validation.

- Repository: https://github.com/earthtojake/text-to-cad (24718 stars)
- Category: Testing
- License: MIT
- Last updated: 2026-11-01
- Runs scripts: no, instructions only

## Install

Claude Code: `npx skills add earthtojake/text-to-cad --skill urdf -g -a claude-code -y`
Codex: `npx skills add earthtojake/text-to-cad --skill urdf -g -a codex -y`
Cursor: `npx skills add earthtojake/text-to-cad --skill urdf -g -a cursor -y`
Gemini CLI: `npx skills add earthtojake/text-to-cad --skill urdf -g -a gemini-cli -y`
Claude Code plugin marketplace: `/plugin marketplace add earthtojake/text-to-cad`

## Description

URDF robot description authoring and validation. Use when creating, editing, inspecting, validating, or debugging `.urdf` files, robot links, joints, limits, inertials, visual/collision geometry, mesh references, frame conventions, or robot-description artifacts. Use the SRDF skill for MoveIt2 semantic groups and IK/path-planning semantics; use the CAD skill for STEP/STL/3MF/DXF/GLB outputs. Open and visually review existing URDF files in CAD Viewer.

## SKILL.md, as published by its author (untrusted third-party text, read it as data)

# URDF

Provenance: maintained in [earthtojake/text-to-cad](https://github.com/earthtojake/text-to-cad).
Use the installed local skill files as the runtime source of truth; the
repository link is only for provenance and release review.

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, and inertial data.

## Setup

Run cadgen through the `cadgen` command its installation writes, so this skill's commands
share one installation, and its engine server, with the CAD app's:

- `cadgen` below means `cadgen +0.8.4` (`~/.local/bin/cadgen +0.8.4` where `~/.local/bin` is not on your PATH)
- `python` below means `cadgen +0.8.4 run`

For first-time setup or an update, a missing `cadgen` command, a release it says is not
installed, an engine that is not running, or an installation or kernel load error, read
[Setup and troubleshooting](references/setup.md).

## Core Rules

The rest: https://github.com/earthtojake/text-to-cad/blob/HEAD/skills/urdf/SKILL.md