# Rerun Urdf (agent skill)

> 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.

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.

## Key facts

| Fact | Value |
|---|---|
| Repository | https://github.com/rerun-io/rerun |
| Skill path | skills/rerun-urdf/SKILL.md |
| Skill name | rerun-urdf |
| GitHub stars | 11,642 |
| Installs on skills.sh | not listed |
| License | Apache-2.0 |
| Skills in repo | 5 |
| Plugin marketplace | no |
| Official | no |
| Works with | Claude Code |
| Category | Data & analysis |
| Last commit | Oct 26, 2026 |

## Add this skill

### Claude Code

```sh
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 skill folder and upload it under Customize > Skills > + > Upload a skill (code execution must be on).

### ChatGPT / Codex

```sh
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
```

### Cursor

```sh
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
```

Sources (checked 2026-10-07): https://code.claude.com/docs/en/skills, https://support.claude.com/en/articles/12512180-using-skills-in-claude, https://learn.chatgpt.com/docs/build-skills, https://cursor.com/docs/context/skills

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Canonical page: https://appsgit.com/skills/rerun-io-rerun-urdf
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