Convert a rotation between quaternion, Euler (12 sequences, intrinsic/extrinsic), 3x3 matrix, and axis-angle, and report URDF roll-pitch-yaw. Give it in any one representation via from; returns ALL of them.

Generate a correct URDF joint chain from a Denavit-Hartenberg table. Handles standard (trailing 'flange' term) vs modified (Craig) conventions correctly.

Compare two ArduPilot .param files (auto-detects the 3 real-world formats) and report changed / added / removed parameters, with float-epsilon equality.

Compute mass, center of mass, and inertia tensor of a closed STL/OBJ mesh, integrated from the geometry. Coordinates in meters, density in kg/m^3.

Check a URDF for structural problems: kinematic tree, inertia sanity, joint limits, and parser-divergence pitfalls. Returns issues by severity.

Parse a URDF and return its structure — links, joints (type/parent/child/axis), kinematic root links, and degrees of freedom. The 3D viewer's underlying data, for an agent to reason about.

Expand Xacro properties, macros, conditionals, and includes into plain URDF. Provide included files by basename in includes.

Convert a URDF to MuJoCo MJCF XML (correct half-extents, radians, nested body tree).

Convert a Gazebo SDF model to URDF, resolving model-frame poses into correct relative joint origins.

Convert a STEP or IGES CAD file to URDF, computing mass/COM/inertia per solid from the tessellated geometry (via the OCCT CAD kernel). Solids are welded with fixed joints. First call loads a 7.6 MB kernel.

Produce a CycloneDX 1.6 SBOM from a LOCKFILE (package-lock.json, pinned requirements.txt, Cargo.lock, or go.sum). Manifests without resolved versions are refused.

Walk the CRA scoping decision tree (Reg. (EU) 2024/2847). Provide answers as { questionId: optionIndex }; the tool returns either the next question to answer or the final outcome with obligations, dates, and penalties. Informational, not legal advice. Start with no answers to get the first question.