URDF

Use this skill for robot description outputs. URDF work is intentionally separate from ordinary CAD generation because the correctness questions are kinematic, XML, and mesh-reference oriented rather than primarily geometric.

Workflow

Treat the Python source that defines gen_urdf() as source of truth. Treat the configured .urdf file as generated.
For the gen_urdf() envelope contract, read references/generator-contract.md.
For robot description edits, read references/urdf-workflow.md.
Edit links, joints, limits, axes, origins, inertials, materials, and mesh filenames deliberately.
Regenerate only the explicit URDF target with scripts/gen_urdf.
Use --summary for a compact robot/link/joint check after regeneration.
For validation expectations, read references/validation.md.
If the URDF references changed CAD mesh outputs, use the cad skill to regenerate the affected STEP/STL/render assets separately.

Commands

Run with the Python environment for the project or workspace. If the environment lacks the URDF validation runtime packages, install this skill's script dependencies from requirements.txt. Invoke the tool as a filesystem script, for example python <urdf-skill>/scripts/gen_urdf .... Relative target paths are resolved from the current working directory; the tool does not prepend a harness root such as models/.