Guide geometry selection for robot links in URDF files.
npx skills add https://github.com/Ranch-Hand-Robotics/rde-urdf --skill urdf-geometry
Please help me install this Agent Skill. Skill: urdf-geometry Source: https://github.com/Ranch-Hand-Robotics/rde-urdf/tree/main/.github/skills/urdf-geometry Command: npx skills add https://github.com/Ranch-Hand-Robotics/rde-urdf --skill urdf-geometry
This skill helps users select and create appropriate geometry for robot links in URDF files, guiding them through the decision-making process between basic shapes, OpenSCAD models, and mesh files.
<box> is sufficient, or if a custom shape defined in OpenSCAD or an existing mesh file is more appropriate.Use the urdf-geometry skill to help decide on the best way to create a wheel for a robot.
High-intent search queries and answers about installing and using this skill.
URDF robot geometry selection depends on complexity: use basic shapes like `<box>` for simple links, OpenSCAD for parametric custom shapes, and mesh files like STL or DAE for detailed existing models. A decision tree helps determine the most appropriate approach based on your specific link requirements.
URDF geometry optimization involves applying best practices separately to visual and collision elements. Simplified collision geometry improves simulation performance, while detailed visual geometry enhances rendering. This skill provides guidance on balancing both for optimal robot model integration.
OpenSCAD integration for URDF links allows you to create and reference programmatic custom shapes. This approach is ideal when basic shapes are insufficient but you need parametric control over the geometry rather than importing a static mesh file.
Mesh file handling in URDF involves referencing existing STL, DAE, or OBJ files within your robot link definitions. This skill guides proper integration with URDF tooling to ensure mesh files are correctly referenced and optimized for both visual and collision purposes.
A simple `<box>` in URDF is sufficient for robot arm links when the shape is primitive and does not require detailed contours. Using basic shapes reduces computational overhead compared to mesh files, making it preferable for both visual and collision geometry when feasible.
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