urdf-model-author

Use when creating or editing the robot's URDF/description — keep link frames, joint axes, and inertials honest and add a ros2_control block, so one description drives TF, MoveIt, simulation, and hardw

SKILL.md

GitHub

When to use. Any change to the robot model. Why: the URDF is the single source every layer reads; frame/axis errors here are the top root cause of sim-to-real divergence.

Procedure.

  1. Define links/joints with correct frames, axes, limits, and realistic inertials.
  2. Add the ros2_control block binding joints to command/state interfaces.
  3. Validate: check_urdf, visualize in RViz, confirm the TF tree and joint motion match reality.
  4. Done when: URDF parses, RViz shows correct geometry/axes, and the same file loads in sim and on hardware.

Knowledge: KNOWLEDGE-LIBRARY.md §B2. Example: the ros2_control URDF snippet there.

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