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urdf-sdf-model · a5c-ai | DecimalAI

codingby a5c-ai

urdf-sdf-model

a5c-ai/urdf-sdf-model

Source a5c-ai/babysitter ↗License MIT

Expert skill for robot model creation and validation in URDF and SDF formats. Generate URDF files with proper link-joint hierarchy, create Xacro macros, calculate inertial properties, configure joint types, and validate models.

SkillScore100Maintained

Automatic

Coding pack

Last verified 8/30/2026

What it changes

Passed 24 of 24 test cases with the skill, and 15 of 24 without it.

Without skill63%

With skill100%

Checks it passed that the model alone missed

Includes root key "robotName" with value "chassis_bot".
Uses ${m*(y*y+z*z)/12} for the ixx attribute expression.
Identifies urdf_to_graphviz as the tree generator utility.

and 14 more in the full report

9 fixed15 passed either way0 still failing0 broke

Pass-rate lift: +38 pp
Tokens: +169%
Agent turns: 0%
Response time: -12%

Model gemini-3.6-flashMeasured 8/30/2026v124 of 24 cases passed with skill

Tokens, turns and time describe resource use, not a dollar price.

Use this skill

Save it into your project's skills folder. Claude Code picks it up in its next session.

curl -fsSL --create-dirs -o .claude/skills/a5c-ai-urdf-sdf-model/SKILL.md https://app.decimal.ai/s/a5c-ai-urdf-sdf-model/SKILL.md

Want it pinned and updatable? pip install "decimalai>=0.15", then decimalai skills add a5c-ai-urdf-sdf-model, and start Claude Code with claude --plugin-dir "$(git rev-parse --show-toplevel)/.agents"

1 · One-time — install the CLI (docs ↗)

pip install "decimalai>=0.15"

2 · Get the skill — writes .agents/skills/a5c-ai-urdf-sdf-model/ and pins it in .decimal/skills.lock

decimalai skills add a5c-ai-urdf-sdf-model

No CLI? Get the same file — curl · raw file

curl -fsSL --create-dirs -o .claude/skills/a5c-ai-urdf-sdf-model/SKILL.md https://app.decimal.ai/s/a5c-ai-urdf-sdf-model/SKILL.md

Raw file: /s/a5c-ai-urdf-sdf-model/SKILL.md ↗ · machine-readable summary at /s/a5c-ai-urdf-sdf-model.json ↗

Safety checks: 3 of 3 passed

Code scan CleanIntent PassedContent Clean

See it in action

One of 9 test cases the skill fixed. Same model, same prompt, with and without the skill.

1 of 9

Prompt

A robot model generation script finished creating `chassis.urdf.xacro`. Generate the required execution JSON response object for robot `chassis_bot` indicating success, true for all validation flags, artifacts created, and counts for 3 links, 2 joints, and 1 sensor.

What was checked, without and with the skill
Checked	Without skill	With skill
Includes root key "robotName" with value "chassis_bot".	Missed	Passed
Includes nested object key "validation" containing boolean keys "syntaxValid", "inertiasValid", and "jointsValid".	Missed	Passed
Includes nested object key "statistics" containing keys "links", "joints", and "sensors".	Missed	Passed

case-23 · gemini-3.6-flash · 8/30/2026 · answers are capped and redacted

What's inside

The instructions your model reads when the skill loads.

SKILL.md457 linessingle file

urdf-sdf-model

You are urdf-sdf-model - a specialized skill for robot model creation and validation in URDF (Unified Robot Description Format) and SDF (Simulation Description Format).

Overview

This skill enables AI-powered robot modeling including:

Generating URDF files with proper link-joint hierarchy
Creating Xacro macros for modular robot descriptions
Converting between URDF and SDF formats
Calculating and setting inertial properties (mass, inertia tensors)
Importing and optimizing mesh files (visual and collision)
Configuring joint types (revolute, prismatic, continuous, fixed, floating)
Setting up transmission and actuator definitions
Adding sensor plugins and attachments
Validating models with urdfdom and check_urdf
Visualizing and debugging in RViz

Prerequisites

ROS/ROS2 with urdf packages
xacro for macro processing
urdfdom for validation
Gazebo for SDF validation
Mesh tools (MeshLab, Blender) for mesh optimization

Capabilities

1. URDF Generation

Generate URDF files with proper structure:

<?xml version="1.0"?>
<robot name="my_robot" xmlns:xacro="http://www.ros.org/wiki/xacro">

  <!-- Materials -->
  <material name="blue">
    <color rgba="0.0 0.0 0.8 1.0"/>
  </material>

Track record

Benchmark

24 / 24

test cases passed, vs 15 / 24 without

Adoption

Users: 0
Times used: 0

Safety and source details

SkillSafety

✓ 3 of 3 passed

Code scan15 of 15 checks clean

0 critical · 0 warning · 0 info — scanner v4 — 8/10/2026

View 15 scanner checks

live_secretremote_code_executionreverse_shelldata_exfiltrationssrf_metadataagent_snoopinganti_refusaldestructive_commandsobfuscated_unicodeunicode_homoglyphopaque_blobsuspicious_urltool_overreachtrigger_abuseprompt_injection_phrasing

IntentSafe

LLM judge · does the skill do what it claims

ContentClean

LLM judge · policy & harmful-content review

Source

Imported

a5c-ai / babysitter

library/specializations/robotics-simulation/skills/urdf-sdf-model/SKILL.md

View on GitHub ↗

License MITImported 8/10/2026Version v1

More skills from the same source and nearby in the registry, with their headline benchmark lift.

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See it in action

What's inside

urdf-sdf-model

Overview

Prerequisites

Capabilities

1. URDF Generation

Track record

Benchmark

Adoption

SkillSafety

Source

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