urdf-geometry

What problem does it solve?

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.

Core Features & Use Cases

• Geometry Selection Guidance: Provides a decision tree to choose the best geometry type (basic shapes, OpenSCAD, mesh).
• OpenSCAD Integration: Facilitates the creation and referencing of custom shapes using OpenSCAD.
• Mesh File Handling: Guides on using and referencing existing mesh files (STL, DAE, OBJ).
• Best Practices: Offers advice on optimizing geometry for visual and collision purposes.
• Use Case: When defining a new robot arm link, this skill helps determine if a simple <box> is sufficient, or if a custom shape defined in OpenSCAD or an existing mesh file is more appropriate.

Quick Start

Use the urdf-geometry skill to help decide on the best way to create a wheel for a robot.