Getting it into your agent
One page per mod, every tool's command on it. A separate URL per tool would split the same page into five that compete with each other.
npx skills add grasscaograss/AwesomeWeldoneSkills --skill robot-to-worldgit clone --depth 1 https://github.com/grasscaograss/AwesomeWeldoneSkillsWrote this? Show the measurements
A badge with what this costs and how it scanned, read live from this page, so it follows the numbers instead of freezing them. Markdown for a README, HTML for a documentation site or a project page.
[](https://agentmods.dev/skills/grasscaograss/awesomeweldoneskills/robot-to-world)<a href="https://agentmods.dev/skills/grasscaograss/awesomeweldoneskills/robot-to-world"><img src="https://agentmods.dev/badge/skills/grasscaograss/awesomeweldoneskills/robot-to-world/github.svg" alt="Measured on agentmods" height="20"></a>Or the 80×15 button, for a site that already has a row of RSS and ATOM ones. Only the verdict fits; the numbers stay here.
<a href="https://agentmods.dev/skills/grasscaograss/awesomeweldoneskills/robot-to-world"><img src="https://agentmods.dev/badge/skills/grasscaograss/awesomeweldoneskills/robot-to-world.svg" alt="Reviewed on agentmods" width="80" height="20"></a>What it costs to keep this loaded
Counted locally with the o200k_base tokenizer, which is exact for GPT models; Claude uses its own tokenizer and its counts differ. Treat this as one consistent yardstick across the catalogue rather than a bill. Prices are per million input tokens.
| Model | Per session | Once invoked |
|---|---|---|
| Fable 5.1 | $0.00064 | $0.00732 |
| Opus 5 | $0.00032 | $0.00366 |
| Sonnet 5 | $0.00013 | $0.00146 |
| Haiku 4.5 | $0.00006 | $0.00073 |
Grade A, and why
robot-to-world scanned grade A with 0 findings against 26 rules in 11 categories — prompt injection, anti-refusal, data exfiltration, privilege escalation, supply chain, agent snooping, system-prompt leakage, SSRF and excessive agency — measured 11d ago.
A static scan of the body, not an audit. Every finding is printed with the line that produced it so you can judge whether it matters here. A mod is markdown that instructs an agent; that is exactly why what it instructs is worth reading.
Nothing flagged
None of the 26 patterns this scan looks for appear in this file: no shell pipes, no recursive deletes, no credential paths, no hidden text, no instruction-override or anti-refusal phrasing, no agent-config snooping. That is not a guarantee, it is the absence of the things that are checkable.
What it actually says
Robot → World 坐标逆变换
背景
双机焊接系统中，规划器以世界坐标输出目标点，后处理阶段通过 ApplyExternalAxisTransform 将其转换到机器人坐标系（因旋转轴未与机器人耦合）。本 skill 执行该变换的逆运算。
正向变换（World → Robot）
1. 平移: P' = P + (-ext1, +ext2, 0)
2. 绕 (600, 0) 旋转 angle 度:
Robot A: angle = -(ext3 + 360)°
Robot B: angle = -(ext3 + 180)°
逆变换公式（Robot → World）
1. 绕 (600, 0) 旋转 +angle 度（取正角）:
angle_A = ext3 + 360 （效果等同 ext3）
angle_B = ext3 + 180
dx = x - 600
rx = dx * cos(angle) - y * sin(angle) + 600
ry = dx * sin(angle) + y * cos(angle)
2. 平移: world_x = rx + ext1, world_y = ry - ext2, world_z = z
Z 轴不参与变换。
使用方式
直接计算（Claude 内联）
用户给出若干点（格式：X, Y, Z / E1 / E2 / 旋转角）和臂别，Claude 直接调用 Python 计算并输出结果表格。
脚本方式
# 单组外部轴，多个点
python ~/.claude/skills/robot-to-world/scripts/convert.py \
--arm A \
--ext "2799.992,1599.986,44.372" \
--points "605.031,-113.480,1889.974" "646.348,787.098,1883.850"
# 从 JSON 文件批量转换
python ~/.claude/skills/robot-to-world/scripts/convert.py --file input.json
JSON 格式：
[
{"name": "P1", "x": 605.031, "y": -113.480, "z": 1889.974,
"ext1": 2799.992, "ext2": 1599.986, "ext3": 44.372, "arm": "A"}
]
输入格式约定
用户通常粘贴如下格式：
X: 605.031, Y: -113.480, Z: 1889.974
2799.992 / 1599.986
44.372
解析规则：第一行 XYZ，第二行 E1 / E2，第三行旋转角（ext3）。
What ships with it
3 files beside SKILL.md in the same directory: the scripts, references and assets a skill reads on demand. Not counted in the per-session cost; read them before you install if any of them is executable.
What this file has done since we first saw it
Hashed on every crawl. A supply-chain change to an agent config is a question of when, not whether, so the history is kept rather than the latest state alone.
- 11d ago First seen · 75 lines · 64 tokens per session scan A 5e83e23c61b9
robot-to-world is a skill published in the GitHub repository grasscaograss/AwesomeWeldoneSkills (2 stars, last pushed 1mo ago), licensed Apache-2.0. It adds 64 tokens to every session and 732 once invoked, about $0.0003 per session on Opus 5. A static security scan graded it A with 0 findings. No closer match exists in the catalogue, so it is treated as the original; first seen 2026-08-31.
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