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 sandraschi/yahboom-mcp --skill yahboom-robots-expertgit clone --depth 1 https://github.com/sandraschi/yahboom-mcpWrote 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/sandraschi/yahboom-mcp/yahboom-robots-expert)<a href="https://agentmods.dev/skills/sandraschi/yahboom-mcp/yahboom-robots-expert"><img src="https://agentmods.dev/badge/skills/sandraschi/yahboom-mcp/yahboom-robots-expert/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/sandraschi/yahboom-mcp/yahboom-robots-expert"><img src="https://agentmods.dev/badge/skills/sandraschi/yahboom-mcp/yahboom-robots-expert.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 | $0.00039 | $0.00932 |
| Opus 5 | $0.00019 | $0.00466 |
| Sonnet 5 | $0.00008 | $0.00186 |
| Haiku 4.5 | $0.00004 | $0.00093 |
Grade A, and why
yahboom-robots-expert 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.
How it starts
The opening of the file, as written. The whole thing — 57 lines — stays where its author put it; the contents beside it link to each section on GitHub.
Yahboom Robots Expert Skill
Use this skill when you need domain expertise on Yahboom Raspbot v2 hardware, ROS 2 setup, mecanum kinematics, or integration architecture—beyond routine operator procedures (see yahboom-operator for day-to-day tool use).
🛠️ Hardware Specifications
- Platform: Yahboom Raspbot v2. Main compute: Raspberry Pi 5 (ARM64). OS: Ubuntu 24.04 + ROS 2 Humble.
- Drive: Four mecanum wheels (32.5 mm radius). Layout: front_left, front_right, back_left, back_right; axles parallel to robot X (forward). Enables holonomic motion: forward/back, strafe left/right, rotate in place.
- Sensors: 2D LIDAR (laser_link), camera (camera_link); IMU and wheel encoders for odometry.
- Power: Onboard battery; monitor via
read_battery/ telemetry. Low battery (< 20%) limits recommended motion duration.
📐 Frames and URDF
- base_footprint: Ground plane (z = 0).
- base_link: Body frame; z offset = +wheel_radius (0.0325 m) above ground. Wheel joints at z = -wheel_radius relative to base_link.
- Wheel positions (joint xyz): x = ±0.08, y = ±0.0745 (half track), z = -0.0325.
- LIDAR: Offset (0, 0, 0.0825) from base_link.
- Camera: Offset (0.105, 0, 0.05).
🤖 ROS 2 Architecture
- ROS 2: Humble on Ubuntu 24.04. Topics/services follow ROS 2 naming (e.g. cmd_vel, odom, scan, image).
- MCP ↔ Robot: yahboom-mcp server talks to a REST bridge (or direct ROS 2 node) on the robot network. Robot IP and bridge port configurable (env or settings).
- Dual mode: Server can run
--mode stdio(MCP only) or--mode dual --port 10892(REST API + MCP). Dashboard (Vite) uses REST on 10892; frontend dev server on 10893.
⚙️ Kinematics and Motion
- Mecanum rollers: rollers at 45°; combined wheel velocities yield body linear and angular velocity.
- Odometry: from encoders + IMU; heading from IMU.
- Trajectory recording: start_recording → run motions → stop_recording(basename).
🌐 Integration and Fleet
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 · 57 lines · 39 tokens per session scan A 1a4fb459c23f
yahboom-robots-expert is a skill published in the GitHub repository sandraschi/yahboom-mcp (4 stars, last pushed 4d ago), licensed MIT. It adds 39 tokens to every session and 932 once invoked, about $0.0002 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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