Kinematics/Dynamics Skill

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

509 stars

Best use case

Kinematics/Dynamics Skill is best used when you need a repeatable AI agent workflow instead of a one-off prompt.

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

Teams using Kinematics/Dynamics Skill should expect a more consistent output, faster repeated execution, less prompt rewriting.

When to use this skill

You want a reusable workflow that can be run more than once with consistent structure.

When not to use this skill

You only need a quick one-off answer and do not need a reusable workflow.
You cannot install or maintain the underlying files, dependencies, or repository context.

Installation

Claude Code / Cursor / Codex

$curl -o ~/.claude/skills/kinematics-dynamics/SKILL.md --create-dirs "https://raw.githubusercontent.com/a5c-ai/babysitter/main/library/specializations/robotics-simulation/skills/kinematics-dynamics/SKILL.md"

Manual Installation

Download SKILL.md from GitHub
Place it in .claude/skills/kinematics-dynamics/SKILL.md inside your project
Restart your AI agent — it will auto-discover the skill

How Kinematics/Dynamics Skill Compares

Feature / Agent	Kinematics/Dynamics Skill	Standard Approach
Platform Support	Not specified	Limited / Varies
Context Awareness	High	Baseline
Installation Complexity	Unknown	N/A

Frequently Asked Questions

What does this skill do?

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

Where can I find the source code?

You can find the source code on GitHub using the link provided at the top of the page.

SKILL.md Source

# 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

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