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Rerun Urdf

Rerun Urdf is an agent skill (a SKILL.md file) from rerun-io/rerun. Drive the Rerun URDF API (rerun.urdf.UrdfTree) to ingest a URDF as a Transform3D layer on a robot recording. It works with Claude Code and has 11,642 GitHub stars across a repository of 5 listed skills.

github.com/rerun-io/rerun/skills/rerun-urdf (opens in a new tab)

Data as of from the GitHub API; description from the skill's SKILL.md. Report an error

View on GitHub (opens in a new tab)

Add this skill

Claude

Claude Code loads skills from ~/.claude/skills/ (all projects) or .claude/skills/ (one project):

git clone --depth 1 https://github.com/rerun-io/rerun.git
cp -r rerun/skills/rerun-urdf ~/.claude/skills/rerun-urdf   # personal, or .claude/skills in a project

In the Claude apps, zip the rerun-urdf folder and upload it under Customize > Skills > + > Upload a skill (code execution must be on).

ChatGPT / Codex

Codex reads skills from .agents/skills/ in a repo or ~/.agents/skills/ for every project:

git clone --depth 1 https://github.com/rerun-io/rerun.git
cp -r rerun/skills/rerun-urdf .agents/skills/rerun-urdf   # repo; ~/.agents/skills for all projects

Standalone skills also load in the ChatGPT desktop app.

Cursor

Cursor loads skills from .cursor/skills/ (or ~/.cursor/skills/) and also reads .claude/skills/:

git clone --depth 1 https://github.com/rerun-io/rerun.git
cp -r rerun/skills/rerun-urdf .cursor/skills/rerun-urdf   # project; ~/.cursor/skills for all projects

Source (checked Oct 7, 2026): code.claude.com/docs/en/skills (opens in a new tab), support.claude.com/en/articles/12512180-using-skills-in-claude (opens in a new tab), learn.chatgpt.com/docs/build-skills (opens in a new tab), cursor.com/docs/context/skills (opens in a new tab)

What this skill does

Drive the Rerun URDF API (rerun.urdf.UrdfTree) to ingest a URDF as a Transform3D layer on a robot recording. Read when logging a robot model, running forward kinematics from joint states, composing a fixed chain for sensor extrinsics, or when the transform tree will not connect from the data alone. Builds on rerun-chunk-processing (stream/lens mechanics) and rerun-data-model (entity paths, timeline, base-vs-layer). A URDF gives you a robot's geometry and its kinematic tree.

More skills in rerun-io/rerun

5 skills are listed from this repository.

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FAQ

Rerun Urdf FAQ

Still curious? Email info@appsgit.com.

How do I install the Rerun Urdf skill?

Copy the rerun-urdf folder (the one containing SKILL.md) into ~/.claude/skills/ for Claude Code, .agents/skills/ for Codex or .cursor/skills/ for Cursor. The agent picks it up automatically when a task matches its description.

Is the Rerun Urdf skill free?

Yes. The repository is open source under the Apache-2.0 license.

Is Rerun Urdf maintained?

The repository's most recent commit was on Oct 26, 2026. Its latest release is 0.40.0. appsgit only lists skills from repositories with a commit in the last six months.