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Get Started Free →matlab/matlab-model-robot-kinematics
Use whenever a MATLAB robot model (rigidBodyTree) is needed — whether for simulation, visualization, IK, motion planning, pick-and-place, or trajectory generation. Triggers on: any mention of a manipulator by name (UR3, UR5, UR5e, UR10, UR10e, UR16e, UR20, KUKA iiwa, Fanuc, ABB, Panda, Kinova, Sawyer, Baxter), robot modeling verbs (load, create, build, import, simulate, model), tasks implying a robot model (pick, place, lift, reach, move, grasp, plan motion for, animate), kinematics keywords (IK
Passed 20 of 22 test cases with the skill, and 12 of 22 without it.
and 15 more in the full report
8 fixed12 passed either way2 still failing0 broke
Tokens, turns and time describe resource use, not a dollar price.
One of 8 test cases the skill fixed. Same model, same prompt, with and without the skill.
Write a small snippet of MATLAB code that executes inverseKinematics for a target pose and checks whether the algorithm successfully converged before using the output configuration.
| Checked | Without skill | With skill |
|---|---|---|
| The snippet inspects the ExitFlag field from the solver output structure. | Missed | Passed |
| The code tests if ExitFlag is less than or equal to zero to identify failure to converge. | Missed | Passed |
The instructions your model reads when the skill loads.
Build manipulator models correctly and validate every kinematic solution.
inverseKinematics vs generalizedInverseKinematicscontopptraj, cubicpolytraj, trapveltraj) — use a trajectory skillreferences/parallel-robot-guidance.mdinverseDynamics, forwardDynamics) — separate domainChoose the highest-fidelity source available:
| Priority | Source | When to Use | Why |
|---|---|---|---|
| 1 | loadrobot | Robot exists in the library | Includes collision meshes, inertias, visuals |
| 2 | importrobot | User has URDF/Xacro/SDF file | Preserves mesh references |
| 3 | Build from DH | Only DH parameters available | No collision meshes unless added manually |
Critical: A robot without collision meshes will cause downstream motion planning to silently report "collision-free" paths that actually collide. Always prefer sources that include meshes.
If the user says "build a robot" but names a known robot (UR5e, KUKA iiwa, Panda, etc.), suggest loadrobot first.
test cases passed, vs 12 / 22 without
More skills from the same source and nearby in the registry, with their headline benchmark lift.