urdf-templates

name	urdf-templates
description	URDF structure templates and validation patterns for robotics content. Use when creating robot descriptions, validating URDF files, or teaching URDF concepts.
allowed-tools	Read, Grep

URDF Templates

Instructions

When working with URDF files:

1. Use the provided templates as starting points
2. Validate against the checklist in validation.md
3. Include safety annotations for joint limits
4. Add comments explaining each section

Template Selection

Robot Type	Template	Use Case
Mobile Robot	mobile-robot.urdf	Wheeled robots, differential drive
Humanoid Base	humanoid-base.urdf	Bipedal robots, upper body

URDF Structure Overview

<robot name="robot_name">
  <!-- Links define physical parts -->
  <link name="base_link">
    <visual>...</visual>
    <collision>...</collision>
    <inertial>...</inertial>
  </link>

  <!-- Joints connect links -->
  <joint name="joint_name" type="revolute">
    <parent link="parent_link"/>
    <child link="child_link"/>
    <limit lower="-1.57" upper="1.57" effort="100" velocity="1.0"/>
  </joint>
</robot>

Safety Requirements

1. Always specify joint limits - Never leave limits undefined
2. Include inertial properties - Required for physics simulation
3. Add collision geometry - Required for safe simulation
4. Document mass values - Use realistic values

Reference

See validation.md for validation rules. See templates/ for complete templates.