SDF Simulation Models

Об этом Skill

Write SDF XML directly for models or worlds, using an explicit design ledger for poses, axes, resources and units. Validate the saved document, run Gazebo checks when available, and verify target-specific sensors and plugins. SDF here means SDFormat.

Почему мы его выбрали

Useful when a robot or world must load in a specific simulator: the workflow separates file validation, viewer review and simulator startup.

Для каких задач подходит

• Create or repair a Gazebo model/world with traceable frames and resource references.

How to use this Skill

1. Choose the target simulator

   Record the simulator version, document kind, resource paths and frame conventions.

2. Author explicit frames

   Write XML with deliberate relative_to and expressed_in references, computed inertials and SI units.

3. Validate and load

   Run cadgen sdf validate; run gz sdf --check and simulator startup when available, reporting each skipped check.

Official SDF Simulation Models workflow

Try a first task

1. Send a concrete brief

   Provide the real input files and replace example dimensions or machine details with your own.

   Review this SDF model for Gazebo. Check explicit pose frames, mesh paths, inertials and sensor configuration, validate it, and report which simulator checks actually ran.

Official SDF Simulation Models workflow

Install the shared library

Use the official text-to-cad plugin for your agent, or install the complete Skill folders with the Skills CLI below. Choose one route in each app, then restart it. The plugin includes a CAD server; Skills-only installations use a browser viewer. Keep the bundled references and scripts with each entrypoint.

Official installation and update instructions

Scope and limits

A viewer renders geometry without executing simulator plugins or proving dynamics; validate those in the target simulator.

Official SDF Simulation Models workflow

Перед использованием

• Needs uv and the pinned cadgen runtime. Target Gazebo/libsdformat, simulator plugins and mesh resources are needed for their respective runtime checks.

Поддерживаемые агенты