Babysitter Kinematics/Dynamics Skill

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

install

source · Clone the upstream repo

git clone https://github.com/a5c-ai/babysitter

Claude Code · Install into ~/.claude/skills/

T=$(mktemp -d) && git clone --depth=1 https://github.com/a5c-ai/babysitter "$T" && mkdir -p ~/.claude/skills && cp -r "$T/library/specializations/robotics-simulation/skills/kinematics-dynamics" ~/.claude/skills/a5c-ai-babysitter-kinematics-dynamics-skill && rm -rf "$T"

manifest: library/specializations/robotics-simulation/skills/kinematics-dynamics/SKILL.md

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