A design with components and joints exports as a URDF robot description (file.export to .urdf, the MCP export tool, solidcraft-cli run --out, File > Export URDF...). It writes one binary STL per component in metres, links with mass, centre of mass and inertia from material density, and maps rigid, revolute, slider, cylindrical, pin-slot, planar and ball joints to URDF joints or short chains. Loops, broken joints and loose parts are reported as warnings. Options: mesh_prefix, effort, velocity. Docs in docs/urdf.md.
Corrects the modeling skill: an edge of the face a shell removes is rounded after the shell, a slot along Y is dimensioned horizontally, long shallow arcs measure to about 0.1%, and a boolean retry warning can hide wrong geometry when the volume does not match.
Igor Churmeev