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 w1ne/kernelCAD-web --skill kernelcad-kinematicgit clone --depth 1 https://github.com/w1ne/kernelCAD-webWrote 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/w1ne/kernelcad-web/kernelcad-kinematic)<a href="https://agentmods.dev/skills/w1ne/kernelcad-web/kernelcad-kinematic"><img src="https://agentmods.dev/badge/skills/w1ne/kernelcad-web/kernelcad-kinematic/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/w1ne/kernelcad-web/kernelcad-kinematic"><img src="https://agentmods.dev/badge/skills/w1ne/kernelcad-web/kernelcad-kinematic.svg" alt="Reviewed on agentmods" width="80" height="20"></a>- NVIDIA SkillSpector pass
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 | $0.00065 | $0.05509 |
| Opus 5.5 | $0.00026 | $0.02204 |
| Sonnet 5.5 | $0.00013 | $0.01102 |
| Haiku 4.5 | $0.00006 | $0.00551 |
Grade A, and why
kernelcad-kinematic 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 5d 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 — 271 lines — stays where its author put it; the contents beside it link to each section on GitHub.
kernelcad-kinematic — feasibility gates for moving assemblies
Units (read this first)
Joint angles throughout the kinematic API are degrees for revolute joints
and millimetres for prismatic joints. This matches the unit convention
used by arm.mate(..., 'revolute', { limitsDeg }), arm.mate(..., 'prismatic', { limitsMm }),
and arm.solvedModel({poses}) — there is no degree-vs-radian split anywhere
on the user-facing surface.
That includes the IK seed: kinematic.checkReachable({ seed: { shoulder: 60 } })
means 60 degrees, not 60 radians and not 60 of anything else. Authors porting
code from URDF / MoveIt / ROS — where radians are conventional — must convert
(deg = rad * 180 / Math.PI) before passing values to this API.
A small seed value like 0.3 is interpreted as 0.3°, which is effectively
zero — fine as a "near rest pose" hint, but not the ~17° you'd get if you
were thinking in radians.
When to load
Load this skill whenever the user asks any of:
- "Will this arm hit itself?" / "Does this mechanism clear across its motion?"
- "Can this robot reach this point?" / "Is this target in the workspace?"
- "Will these mounting holes line up?" / "Are the bolt patterns compatible?"
- "Will this bracket hold this load?" / "What's the safety factor?"
Do NOT load this skill for static CAD authoring (use kernelcad-authoring) or
for visualization (use the renderer). This skill is feasibility-checking only.
The 6 entry points
All six live under the kinematic.* namespace exposed to every .kcad.ts
script. The same surface is reachable from host code via import * as kinematic from 'src/kinematic'. Every entry returns a Promise<…Result> envelope carrying
source: 'local'.
| Call | Question answered | Key diagnostics |
|---|---|---|
kinematic.checkMountingHoleConsistency(arm) |
Do fastener holes match across all mates? | kinematic.mounting-hole.diameter-mismatch (K9) |
kinematic.checkSweptCollision(arm, opts) |
Does any link pair penetrate across the swept range? | kinematic.collision.swept (K1), kinematic.collision.swept.sample-density-warning (K2) |
kinematic.checkReachable(arm, opts) |
Can the end-effector reach this target? | kinematic.unreachable (K3, axis-discriminated), kinematic.reachability.iteration-cap-hit (K4), kinematic.solver.unsupported-config (K5) |
kinematic.checkLoadCapacity(arm, loads, opts) |
Will any beam-shaped element exceed yield under these loads? | kinematic.load-exceeds-yield (K6), kinematic.load.beam-not-applicable (K7), kinematic.no-material-declared (K8) |
kinematic.checkStaticHold(arm, opts) |
Can the declared actuator hold this joint against gravity? | assembly.joint.static-hold.exceeded, assembly.joint.static-hold.margin-low, kinematic.static-hold.no-actuator-declared |
kinematic.sweepTolerance({ code|file, params, gates }) |
Does the mechanism still pass the standard gates across a param's tolerance range? | kinematic.sweep-tolerance.combo-cap-exceeded (plus whatever the swept gates emit per combo) |
What ships with it
8 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.
- cookbook/01-swept-collision-shoulder.kcad.ts 2.4 KB runs code
- cookbook/02-reachable-with-seed.kcad.ts 4.5 KB runs code
- cookbook/03-cantilever-beam-stress.kcad.ts 2.0 KB runs code
- cookbook/04-scissor-jack-swept.kcad.ts 1.9 KB runs code
- cookbook/05-clamshell-hinge-swept.kcad.ts 2.1 KB runs code
- cookbook/06-over-center-latch-reachable.kcad.ts 3.6 KB runs code
- cookbook/07-static-hold-servo-arm.kcad.ts 2.2 KB runs code
- cookbook/08-sweep-tolerance-clearance.kcad.ts 1.6 KB runs code
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.
- 5d ago Changed · +4 lines e209bb0ccb00
- 7d ago Changed f1862412c6c8
- 8d ago Changed · +1 lines ef7738cb13f3
- 14d ago Changed 56fa7e4cb7cc
- 22d ago Changed · +4 lines da4bb95684ad
- 1mo ago Changed · +44 lines b4ee50c32e94
- 1mo ago First seen · 218 lines · 65 tokens per session scan A 3f755f94bb21
kernelcad-kinematic is a skill published in the GitHub repository w1ne/kernelCAD-web (33 stars, last pushed today), licensed MIT. It adds 65 tokens to every session and 5,509 once invoked, about $0.0003 per session on Opus 5.5. 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 2026-08-30.
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