URDF Use this skill for URDF robot-description outputs. Treat URDF work as constrained kinematic modeling, not just XML writing. The main correctness risks are frame placement, joint-axis semantics, unit consistency, mesh scale, and inertial data. Setup Run the command ( where is not on your PATH, or where a project's environment puts its own first; on Windows). If is not found and the CAD app was only just added, its server may still be starting: wait five seconds and run the command again, for up to a minute, before anything else. Otherwise install text-to-cad, outside a sandbox or with its…