What problem does it solve? URDF files fail silently through wrong frame placement, flipped joint axes, mismatched mesh units, and freehanded inertia values. This Skill turns URDF authoring into a disciplined kinematic modeling workflow with a design ledger, computed inertials, and automated validation. ## Core Features & Use Cases - Direct XML authoring with a design ledger: Embed frame conventions, units, mesh scales, and assumptions as a comment block inside the .urdf file so any engineer can audit it. - Structural validation: Run cadgen urdf validate to check tree topology, joint limits, mimic cycles, geometry, mesh references, and inertial physics in one pass, with --strict, --json, and --packages options. - Snapshot rendering: Render the robot to a PNG still with cadgen urdf snapshot, posing joints via --joint-values to visually verify axis signs. - Use Case: You receive STEP files for a two-link arm. Export per-link meshes, author the URDF with computed cylinder inertias, validate until clean, then sweep each joint in the CAD Viewer to confirm positive-motion direction. ## Quick Start Use the urdf skill to create and validate a URDF robot description for my two-link arm from the meshes in the 3MF folder.
