robot-motion
Robot Motion
Use this skill after a robot URDF exists and the task needs local motion behavior: IK, path planning, MoveIt configuration, websocket motion-server debugging, or ROS dependency setup. Any valid repo-local .urdf can be used when gen_motion() names links, joints, frames, and end effectors that exist in that file.
Workflow
- Start from an existing valid
.urdf. - Generate motion artifacts from a Python source with zero-arg
gen_motion()usingscripts/gen_motion_artifacts/cli.py. - Verify the local motion environment with
scripts/check-motion-server.shwhen it may already exist; runscripts/setup.shonly when dependencies are missing or stale. - Run the websocket motion server with
scripts/run-motion-server.sh. - Test protocol, artifact generation, and provider logic before handing off motion behavior.
- For CAD Explorer handoff of motion-enabled
.urdfentries, defer to the CAD skill and keep motion-specific metadata here.
CAD Explorer Handoff
Read .agents/skills/cad/SKILL.md, then only load its references/rendering-and-explorer.md when a task needs an Explorer URL. If unavailable, use cad-skill. Do not duplicate Explorer startup or URL syntax in this skill. Link the repo-local .urdf when motion artifacts or URDF targets were generated or changed, or when the user asks for browser review. Keep motion-specific Explorer metadata and motion-server behavior here.
Commands
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URDF robot description generation and default generation-time validation. Use when creating, editing, regenerating, inspecting, or debugging `.urdf` files, Python `gen_urdf()` sources, robot links, joints, limits, inertials, visual/collision geometry, mesh references, frame conventions, or generated robot-description artifacts. Use the SRDF skill for MoveIt2 semantic groups and IK/path-planning semantics; use the CAD Explorer skill for local MoveIt2 server controls; use the CAD skill for STEP/STL/3MF/DXF/GLB outputs.
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Review DXF and STEP/STP uploads for SendCutSend.com orders using its ordering guide, catalog, and specs. Use only for SendCutSend.com preflight reports covering upload readiness, selected material/SKU/thickness/service availability, and service-specific checks for laser cutting, CNC routing, bending, tapping, countersinking, hardware insertion, and finishing.
1cad-explorer
Start or reuse the CAD Explorer GUI and return review links for explicit CAD and robot-description files. Use when rendering or visually reviewing `.step`, `.stp`, `.stl`, `.3mf`, `.dxf`, `.urdf`, `.srdf`, or `.sdf` files, especially when handed off from CAD, URDF, SRDF, or SDF generation skills.
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