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urdf-robot-model

Create URDF robot models with valid links, joints, and inertia for ROS 2 and Gazebo.

1|Updated Feb 19, 2026
Search Tags:#simulation#ros2#gazebo#inertia#urdf#xacro#robot-modeling
One-click install
npx skills add https://github.com/ayeshakhalid192007-dev/humanoid-ai-studio --skill urdf-robot-model-ayeshakhalid192007-dev
Or copy as Structured Prompt for Agent▼
Please help me install this Agent Skill.
Skill: urdf-robot-model
Source: https://github.com/ayeshakhalid192007-dev/humanoid-ai-studio/tree/main/.claude/skills/urdf-robot-model
Command: npx skills add https://github.com/ayeshakhalid192007-dev/humanoid-ai-studio --skill urdf-robot-model-ayeshakhalid192007-dev

SYSTEM DOCUMENTATION & REQUIREMENTS

What problem does it solve?

This Skill helps robotics engineers and educators produce URDF robot descriptions that load without errors, simulate with realistic physics, and remain maintainable for ROS 2 and Gazebo-based workflows.

Core Features & Use Cases

  • Correct link composition: Ensure every link includes visual, collision, and inertial elements so the robot appears, collides, and responds to forces correctly.
  • Robust joint definitions: Choose appropriate joint types, set precise origins and axes, and apply limits to achieve the intended kinematics.
  • Physical realism: Compute and apply standard inertia formulas for boxes, cylinders, and spheres and verify that masses and inertia tensors are positive and reasonable.
  • Validation & integration: Use URDF validators and RViz/Gazebo visualization to catch parsing errors and simulation instabilities before deployment.
  • Use Case: Produce a modular xacro-based URDF for a differential-drive educational robot that visualizes correctly in RViz and behaves stably in Gazebo.

Quick Start

Create a modular URDF for a differential-drive robot with proper links, joints, masses, and inertia so it loads in ROS 2 and simulates stably.

Frequently Asked Questions about urdf-robot-model

High-intent search queries and answers about installing and using this skill.

FAQPage Schema
How do I create a URDF robot model that loads without errors in ROS 2 and Gazebo?▼

To create a valid URDF robot model for ROS 2 and Gazebo, ensure every link includes visual, collision, and inertial elements. Joints must have correct types, origins, axes, and limits to achieve the intended kinematics and stable simulation.

Why does my robot fall over or behave unrealistically during Gazebo simulation?▼

Unrealistic Gazebo simulation often results from incorrect inertia values. Apply standard inertia formulas for boxes, cylinders, and spheres, and verify that masses and inertia tensors are positive and reasonable to achieve physical realism.

What is the best way to structure a modular URDF for a differential-drive robot?▼

The best way to structure a modular URDF is using xacro to modularize robot descriptions. This approach produces a maintainable differential-drive model that visualizes correctly in RViz and behaves stably in Gazebo.

How do I debug URDF parsing issues before running ROS 2?▼

Debug URDF parsing issues by using URDF validators and visualizing the model in RViz or Gazebo. This catches parsing errors and simulation instabilities early, ensuring the robot description deploys correctly.

Do I need collision and inertial elements for every link in a URDF file?▼

Yes, every link in a URDF file needs visual, collision, and inertial elements. This ensures the robot appears in visualization, collides properly with its environment, and responds to forces realistically during simulation.

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