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Kinematics/Dynamics Skill

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Robot kinematics and dynamics computation including forward/inverse kinematics and dynamics

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How to use this skill

Bring this guide into your coding agent with a prompt tailored to the tool you use.

  1. Open your project in Codex.
  2. Copy the prompt below and paste it into your agent.
  3. Review the proposed files and risks before you approve installation.
Prompt to paste
I want to install this Agent Skill for this project in Codex.

Source SKILL.md: https://github.com/a5c-ai/babysitter/blob/HEAD/library/specializations/robotics-simulation/skills/kinematics-dynamics/SKILL.md

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First, summarize what it does, its dependencies, license status if identifiable, and any risks. Show the exact files you propose to add under .agents/skills/kinematics-dynamics-skill/. Do not write files or run scripts until I approve.

After I approve, install the complete skill folder, including required referenced files, into that project location. Verify it is discoverable, then tell me its actual invocation name and how to use it. Do not claim it is installed until you have verified it.

Copying this prompt does not install or run the skill. Review third-party files before use. Codex skill guide

Kinematics/Dynamics Skill

Overview

Expert skill for computing robot kinematics and dynamics, including forward/inverse kinematics, Jacobians, and dynamic equations of motion.

Capabilities

  • Implement forward kinematics from DH parameters
  • Set up analytical and numerical inverse kinematics
  • Compute Jacobian matrices for velocity kinematics
  • Implement forward and inverse dynamics
  • Configure mass matrix and Coriolis computation
  • Set up gravity compensation
  • Implement singularity detection and avoidance
  • Configure workspace analysis and limits
  • Set up force/torque sensor integration
  • Implement impedance and admittance control

Target Processes

  • robot-system-design.js
  • moveit-manipulation-planning.js
  • mpc-controller-design.js
  • robot-calibration.js

Dependencies

  • KDL (Kinematics and Dynamics Library)
  • Pinocchio
  • RBDL (Rigid Body Dynamics Library)
  • Eigen

Usage Context

This skill is invoked when processes require kinematic chain analysis, dynamics computation, Jacobian-based control, or force/torque control implementations.

Output Artifacts

  • DH parameter configurations
  • Kinematics solver implementations
  • Dynamics model code
  • Jacobian computation routines
  • Singularity analysis reports
  • Impedance controller configurations