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CLAUDE.md

This file provides guidance to Claude Code (claude.ai/code) when working with code in this repository.

Repository Overview

This is a repository of ABB robot models providing plug-and-play USD and URDF assets for use in IsaacSim and other robotics applications. The repository contains 32+ ABB robot models including cobots, industrial robots, SCARA robots, palletizing robots, paint robots, and positioners.

Key Directory Structure

  • library/ - Reeady to use robot assets (URDF, USD, meshes, limits.xml)
  • sources/ - Source ROS packages with original robot descriptions
  • scripts/ - Demo scripts for IsaacSim integration
  • tools/ - Validation and utility scripts
  • isaacsim_typings/ - Type stubs for IsaacSim (git submodule)
  • dev_utils/ - Development utilities for scene generation
  • docs/ - various docs about the project and robot information from the manufacturer
  • tests/ - test suite for ensuring FK matches manuals

Common Development Commands

Environment Setup

# Clone with submodules (required for IsaacSim typings)
git clone --recurse-submodules https://github.com/work-r-labs/robots.git

# Create Python environment
uv venv
uv pip install -r requirements.txt

Unit Tests

uv run pytest

URDF Validation

# Validate a single URDF
uv run tools/validate_urdf.py path/to/robot.urdf

# Validate with verbose output
uv run tools/validate_urdf.py -v path/to/robot.urdf

# Validate all URDFs in repository
bash tools/validate_all_urdfs.sh

Code Formatting

# Format Python code
uv run ruff format

Running IsaacSim Demos

# Basic hello world demo
~/isaacsim/python.sh scripts/hello_world.py library/ABB/CRB15000_10kg_152_v1/CRB15000_10kg_152.urdf

# Interactive inverse kinematics demo (requires PyRoKi)
~/isaacsim/python.sh -m pip install git+https://github.com/chungmin99/pyroki
~/isaacsim/python.sh scripts/ikdemo.py library/ABB/CRB15000_10kg_152_v1/CRB15000_10kg_152.urdf

Architecture

Robot Asset Structure

Each robot model follows this structure:

library/ABB/RobotName_v1/
├── RobotName.urdf           # URDF file
├── RobotName/               # USD directory
│   └── RobotName.usd        # USD file
├── meshes/                  # STL mesh files
│   ├── base_link.stl
│   └── link_*.stl
└── limits.xml               # Joint limits (if available)

IsaacSim Integration

  • Robot models are designed for IsaacSim with proper USD conversion
  • Scripts use SingleArticulation for robot control
  • Inverse kinematics integration through PyRoKi library
  • Spatial transformation utilities in spatial_utils.py

Source to Generated Workflow

  • sources/ contains original ROS packages from ABB
  • library/ contains processed assets ready for use
  • Use git status to see deleted files from sources/ that were processed

Development Notes

Working with Robot Models

  • Always test new robot models with the validation script
  • URDF files should be paired with corresponding USD files
  • Mesh files must be in meshes/ subdirectory relative to URDF
  • Joint limits should be properly defined for articulated robots

IsaacSim Scripts

  • Use ~/isaacsim/python.sh to run scripts with IsaacSim Python
  • Import IsaacSim modules after creating SimulationApp
  • Use SingleArticulation for robot control
  • Always call world.reset() and articulation.initialize() before simulation

Type Checking

  • IsaacSim type stubs are available in isaacsim_typings/ submodule
  • Use typings symlink for IDE support
  • Python environment requires yourdfpy and ruff packages

Important Files

  • tools/validate_all_urdfs.sh - Validates all URDF files in repository
  • tools/validate_urdf.py - URDF validation tool with detailed checks
  • scripts/_ik_demo_utils.py - IK solving utilities using PyRoKi
  • ruff.toml - Code formatting configuration
  • .claude/commands/update-info-table.md - Command to update README robot table

markitdown Usage

markitdown is a command-line tool that converts various file formats to markdown.

Basic Usage

  • markitdown <filename> - Convert file to markdown (output to stdout)
  • markitdown - Read from stdin if no filename provided
  • markitdown file.pdf -o output.md - Save output to file
  • markitdown file.pdf > output.md - Redirect output to file

Key Options

  • -o OUTPUT - Specify output filename
  • -x EXTENSION - Hint file extension when reading from stdin
  • -m MIME_TYPE - Hint MIME type
  • -c CHARSET - Hint charset (e.g. UTF-8)
  • -d - Use Document Intelligence for extraction (requires endpoint)
  • -p - Use 3rd-party plugins
  • --list-plugins - Show available plugins
  • --keep-data-uris - Preserve base64 images in output