xacro-conversion
OfficialStreamline URDF with reusable Xacro macros.
AuthorRanch-Hand-Robotics
Version1.0.0
Installs0
System Documentation
What problem does it solve?
This Skill automates the conversion of repetitive URDF geometry into efficient and maintainable Xacro macros, reducing code duplication and improving robot model organization.
Core Features & Use Cases
- Identify Duplication: Automatically detects repeated link and joint structures within URDF files.
- Macro Design: Guides the creation of parameterized Xacro macros for components like wheels, legs, or sensors.
- Conversion Workflow: Manages the process of transforming URDF to Xacro, including file renaming and testing.
- Use Case: Convert a URDF with four identical wheel definitions into a single Xacro macro that can be called four times with different positional parameters, significantly shortening the URDF file and making it easier to modify wheel properties.
Quick Start
Convert the attached 'robot.urdf' file to Xacro format, creating reusable macros for duplicated components.
Dependency Matrix
Required Modules
None requiredComponents
references
💻 Claude Code Installation
Recommended: Let Claude install automatically. Simply copy and paste the text below to Claude Code.
Please help me install this Skill: Name: xacro-conversion Download link: https://github.com/Ranch-Hand-Robotics/rde-urdf/archive/main.zip#xacro-conversion Please download this .zip file, extract it, and install it in the .claude/skills/ directory.
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