Agent skill

Coordinate Conversion

Convert between SDF (right-hand) and Unity (left-hand) coordinate systems.

Install Coordinate Conversion

skills CLI

$ npx skills add lge-ros2/cloisim --skill coordinate-conversion -a claude-code

Project install by default; add -g for ~/.claude/skills/.

GitHub CLI

$ gh skill install lge-ros2/cloisim coordinate-conversion --agent claude-code

Project scope by default; add --scope user for a personal install. Needs GitHub CLI 2.90.0 or later (public preview).

Manual copy

$ git clone --depth 1 https://github.com/lge-ros2/cloisim.git skills-src && mkdir -p .claude/skills && cp -r skills-src/.github/skills/coordinate-conversion .claude/skills/coordinate-conversion && rm -rf skills-src

Use ~/.claude/skills/ instead of .claude/skills for a personal install. The folder must contain SKILL.md.

Claude Code skills documentation · loads skills from .claude/skills/

Paste into Claude Code

Install the "coordinate-conversion" agent skill from https://github.com/lge-ros2/cloisim/tree/main/.github/skills/coordinate-conversion into .claude/skills/coordinate-conversion/ in this project. Copy the whole folder (SKILL.md and every file beside it), keep the folder name "coordinate-conversion", then confirm the skill loads.

Claude Code copies the folder itself, the same result as the manual copy. Check what it changed before you commit it.

$skill-installer

$skill-installer install https://github.com/lge-ros2/cloisim/tree/main/.github/skills/coordinate-conversion

Type this inside Codex. $skill-installer <name> installs a curated skill from openai/skills. The installer writes to $CODEX_HOME/skills (default ~/.codex/skills). Restart Codex if the skill does not show up.

skills CLI

$ npx skills add lge-ros2/cloisim --skill coordinate-conversion -a codex

Project install goes to .agents/skills/; add -g for ~/.codex/skills/.

GitHub CLI

$ gh skill install lge-ros2/cloisim coordinate-conversion --agent codex

Project scope by default (.agents/skills/); add --scope user for a personal install.

Manual copy

$ git clone --depth 1 https://github.com/lge-ros2/cloisim.git skills-src && mkdir -p .agents/skills && cp -r skills-src/.github/skills/coordinate-conversion .agents/skills/coordinate-conversion && rm -rf skills-src

Use ~/.agents/skills/ instead of .agents/skills for a personal install.

Codex skills documentation · loads skills from .agents/skills/

Paste into Codex

Install the "coordinate-conversion" agent skill from https://github.com/lge-ros2/cloisim/tree/main/.github/skills/coordinate-conversion into .agents/skills/coordinate-conversion/ in this project. Copy the whole folder (SKILL.md and every file beside it), keep the folder name "coordinate-conversion", then confirm the skill loads.

Codex copies the folder itself, the same result as the manual copy. Check what it changed before you commit it.

skills CLI

$ npx skills add lge-ros2/cloisim --skill coordinate-conversion -a cursor

Project install goes to .agents/skills/; add -g for ~/.cursor/skills/.

GitHub CLI

$ gh skill install lge-ros2/cloisim coordinate-conversion --agent cursor

Project scope by default (.agents/skills/); add --scope user for a personal install.

Manual copy

$ git clone --depth 1 https://github.com/lge-ros2/cloisim.git skills-src && mkdir -p .cursor/skills && cp -r skills-src/.github/skills/coordinate-conversion .cursor/skills/coordinate-conversion && rm -rf skills-src

Use ~/.cursor/skills/ instead of .cursor/skills for a personal install.

Cursor skills documentation · loads skills from .cursor/skills/, .agents/skills/, .claude/skills/, .codex/skills/

Paste into Cursor

Install the "coordinate-conversion" agent skill from https://github.com/lge-ros2/cloisim/tree/main/.github/skills/coordinate-conversion into .cursor/skills/coordinate-conversion/ in this project. Copy the whole folder (SKILL.md and every file beside it), keep the folder name "coordinate-conversion", then confirm the skill loads.

Cursor copies the folder itself, the same result as the manual copy. Check what it changed before you commit it.

gemini skills install

$ gemini skills install https://github.com/lge-ros2/cloisim.git --path .github/skills/coordinate-conversion

--scope user (default) or --scope workspace; --path is the subfolder of the repo that holds the skill; --consent skips the security confirmation prompt.

skills CLI

$ npx skills add lge-ros2/cloisim --skill coordinate-conversion -a gemini-cli

Project install goes to .agents/skills/; add -g for ~/.gemini/skills/.

GitHub CLI

$ gh skill install lge-ros2/cloisim coordinate-conversion --agent gemini-cli

Project scope by default (.agents/skills/); add --scope user for a personal install.

Manual copy

$ git clone --depth 1 https://github.com/lge-ros2/cloisim.git skills-src && mkdir -p .gemini/skills && cp -r skills-src/.github/skills/coordinate-conversion .gemini/skills/coordinate-conversion && rm -rf skills-src

Use ~/.gemini/skills/ instead of .gemini/skills for a personal install, then run /skills reload.

Gemini CLI skills documentation · loads skills from .gemini/skills/, .agents/skills/

Paste into Gemini CLI

Install the "coordinate-conversion" agent skill from https://github.com/lge-ros2/cloisim/tree/main/.github/skills/coordinate-conversion into .gemini/skills/coordinate-conversion/ in this project. Copy the whole folder (SKILL.md and every file beside it), keep the folder name "coordinate-conversion", then confirm the skill loads.

Gemini CLI copies the folder itself, the same result as the manual copy. Check what it changed before you commit it.

GitHub CLI

$ gh skill install lge-ros2/cloisim coordinate-conversion

Installs for Copilot at project scope by default; add --scope user for a personal install. Preview a skill first with gh skill preview. Needs GitHub CLI 2.90.0 or later (public preview).

skills CLI

$ npx skills add lge-ros2/cloisim --skill coordinate-conversion -a github-copilot

Project install goes to .agents/skills/; add -g for ~/.copilot/skills/.

Manual copy

$ git clone --depth 1 https://github.com/lge-ros2/cloisim.git skills-src && mkdir -p .github/skills && cp -r skills-src/.github/skills/coordinate-conversion .github/skills/coordinate-conversion && rm -rf skills-src

Use ~/.copilot/skills/ instead of .github/skills for a personal install. Commit .github/skills so cloud agent and code review can use it.

GitHub Copilot skills documentation · loads skills from .github/skills/, .claude/skills/, .agents/skills/

Paste into GitHub Copilot

Install the "coordinate-conversion" agent skill from https://github.com/lge-ros2/cloisim/tree/main/.github/skills/coordinate-conversion into .github/skills/coordinate-conversion/ in this project. Copy the whole folder (SKILL.md and every file beside it), keep the folder name "coordinate-conversion", then confirm the skill loads.

GitHub Copilot copies the folder itself, the same result as the manual copy. Check what it changed before you commit it.

skills CLI

$ npx skills add lge-ros2/cloisim --skill coordinate-conversion -a opencode

OpenCode documents no install command of its own. Project install goes to .agents/skills/; add -g for ~/.config/opencode/skills/.

GitHub CLI

$ gh skill install lge-ros2/cloisim coordinate-conversion --agent opencode

Project scope by default (.agents/skills/); add --scope user for a personal install.

Manual copy

$ git clone --depth 1 https://github.com/lge-ros2/cloisim.git skills-src && mkdir -p .opencode/skills && cp -r skills-src/.github/skills/coordinate-conversion .opencode/skills/coordinate-conversion && rm -rf skills-src

Use ~/.config/opencode/skills/ instead of .opencode/skills for a personal install.

OpenCode skills documentation · loads skills from .opencode/skills/, .claude/skills/, .agents/skills/

Paste into OpenCode

Install the "coordinate-conversion" agent skill from https://github.com/lge-ros2/cloisim/tree/main/.github/skills/coordinate-conversion into .opencode/skills/coordinate-conversion/ in this project. Copy the whole folder (SKILL.md and every file beside it), keep the folder name "coordinate-conversion", then confirm the skill loads.

OpenCode copies the folder itself, the same result as the manual copy. Check what it changed before you commit it.

Facts

Skill name: coordinate-conversion
GitHub stars: 176
Token cost: ~1.2k tokens
SKILL.md length: 193 words
Files: 1
Skills in repo: 18
Repo updated: Oct 6, 2026
First seen: Oct 7, 2026
Licence: MIT

At a glance

Convert between SDF (right-hand) and Unity (left-hand) coordinate systems.

Works in 5 steps: Never manually swap axes — always use… → Extension methods are available on… → Scale conversion preserves signs for… → …
: implementing pose transforms
SKILL.md covers When to Use, Coordinate Systems, Conversion Formulas and Common Patterns, plus 3 more sections
Instructions only: no scripts, shell commands, URLs or credentials in SKILL.md

What it does

Coordinate Conversion is an agent skill from lge-ros2/cloisim. Convert between SDF (right-hand) and Unity (left-hand) coordinate systems. Use when: implementing pose transforms, converting sensor data between coordinate frames, debugging position/rotation mismatches.

Its SKILL.md is about 1.2k tokens, which your agent loads only when the skill is triggered. It is a single SKILL.md file with no bundled scripts.

It sits in Game Development. The repository describes itself as: Unity 6 based multi-robot simulator for ROS 2, SDFormat/SDF, LiDAR, camera, depth, IMU, GPS, and large-scale robotics simulation. The licence is MIT.

When your agent uses it

: implementing pose transforms
Converting sensor data between coordinate frames
Debugging position/rotation mismatches

Example prompts

“/coordinate-conversion”

Workflow steps

5 steps, taken from the first numbered list in SKILL.md.

Never manually swap axes — always use SDF2Unity / Unity2SDF methods
Extension methods are available on SDFormat.Math.Vector3d, Quaterniond, Pose3d, and cloisim.msgs.Vector3d
Scale conversion preserves signs for mesh scaling but uses absolute values for collider sizing
Protobuf message .Set() extensions handle conversion internally — check whether they expect Unity-space or SDF-space input before calling
Partial classes: SDF2Unity is split across SDF2Unity.cs, SDF2Unity.Material.cs, SDF2Unity.Mesh.cs, SDF2Unity.Model.cs

What it can do on your machine

Read from SKILL.md and the folder at commit f4c1f0b. It shows what the files ask for, not the result of running them.

Tool permissions
Pre-approves nothing: there is no allowed-tools line, so your agent's usual permission prompts apply.
From allowed-tools in the SKILL.md frontmatter.
Runs code
No scripts in the folder and no shell commands in SKILL.md (its code samples are csharp).
From the folder's file list and the shell code blocks in SKILL.md.
Network
No URLs in SKILL.md.
From URLs in SKILL.md, links to its own repository left out.
Credentials
Names no API keys, tokens, secrets or passwords.
From names ending in _API_KEY, _TOKEN, _SECRET, _KEY or _PASSWORD in SKILL.md.

Context cost

Coordinate Conversion loads about 1.2k tokens when it runs. Until then it costs about 57 tokens; SKILL.md has 193 words of instructions outside code blocks.

Always · name and description, kept in context so the agent knows when to use it: ~57
When it runs · the whole SKILL.md, loaded when a task matches: ~1.2k

Estimates: characters ÷ 4, the usual rule of thumb; real counts depend on the model's tokenizer. Scripts and assets cost tokens only if the agent reads them.

Safety

Auto-check passed

The automated check found no risky patterns in SKILL.md.

Automated static check — not a guarantee. Review scripts before installing. It scans the text of SKILL.md for risky patterns (piping downloads into a shell, reading credential files, hidden Unicode, destructive commands); files beside SKILL.md are not scanned.

SKILL.md

The full file from lge-ros2/cloisim at commit f4c1f0b, republished under its MIT licence (© lge-ros2). 193 words, ~1,198 tokens.

Download SKILL.mdSave it as .claude/skills/coordinate-conversion/SKILL.md (or your agent's skills folder).

name: coordinate-conversion
description: Convert between SDF (right-hand) and Unity (left-hand) coordinate systems. Use when: implementing pose transforms, converting sensor data between coordinate frames, debugging position/rotation mismatches.

Coordinate System Conversion Reference

Quick reference for converting between SDF and Unity coordinate systems in CLOiSim.

When to Use

Converting positions, rotations, or scales between SDF and Unity
Debugging pose mismatches after import
Implementing sensor data output in the correct frame
Converting joint axes or velocities

Coordinate Systems

SDF (right-hand): X-forward, Y-left, Z-up Unity (left-hand): X-right, Y-up, Z-forward

Conversion Formulas

SDF → Unity (`SDF2Unity`)

Unity.X = -SDF.Y
Unity.Y =  SDF.Z
Unity.Z =  SDF.X

Position:

csharp

// Static method:
Vector3 pos = SDF2Unity.Position(in double x, in double y, in double z);
// → new Vector3(-(float)y, (float)z, (float)x)

// Extension method:
Vector3 pos = sdfVector3d.ToUnity();
Vector3 pos = protobufVector3d.ToUnity();

Rotation (quaternion):

csharp

// Static method:
Quaternion rot = SDF2Unity.Rotation(in double w, in double x, in double y, in double z);
// → new Quaternion((float)y, (float)-z, (float)-x, (float)w)

// Extension method:
Quaternion rot = sdfQuaterniond.ToUnity();

Pose (position + rotation):

csharp

var (position, rotation) = sdfPose3d.ToUnity();

Scale:

csharp

// Scale preserves absolute values but swaps axes:
Vector3 scale = SDF2Unity.Scalar(in double x, in double y, in double z);
// → Abs of Position mapping

// Signed scale (for mesh scaling):
Vector3 scale = SDF2Unity.Scale(sdfVector3d);

Curve orientation (for roads/splines):

csharp

float angleDeg = SDF2Unity.CurveOrientation(in float radians);
float angleRad = SDF2Unity.CurveOrientationAngle(in float radians);

Unity → SDF (`Unity2SDF`)

SDF.X =  Unity.Z
SDF.Y = -Unity.X
SDF.Z =  Unity.Y

Position:

csharp

SDFormat.Math.Vector3d sdfPos = Unity2SDF.Position(in Vector3 value);
// → new Vector3d(value.z, -value.x, value.y)

Rotation:

csharp

SDFormat.Math.Quaterniond sdfRot = Unity2SDF.Rotation(in Quaternion value);
// → new Quaterniond(value.w, -value.z, value.x, -value.y)

Pose:

csharp

SDFormat.Math.Pose3d sdfPose = Unity2SDF.Pose(in Vector3 pos, in Quaternion rot);

Direction reversal (for road/curve orientation):

csharp

Vector3 reversed = Unity2SDF.Direction.Reverse(in Vector3 value);  // negates
float curveDir = Unity2SDF.Direction.Curve(in float value);        // negates

Joint prismatic direction:

csharp

float val = Unity2SDF.Direction.Joint.Prismatic(in float value, in Vector3 rotation);
// Negates if any rotation axis is 180°

Common Patterns

In Sensor Devices

Sensor data output typically needs Unity→SDF conversion before publishing:

csharp

// Convert Unity position to SDF for protobuf message:
var sdfPosition = Unity2SDF.Position(transform.position);
_msg.Position.Set(sdfPosition.X, sdfPosition.Y, sdfPosition.Z);

// Or use SDF2Unity in reverse for the protobuf Vector3d.Set() extension:
// The Set() methods on protobuf types already expect Unity-space vectors

In SDF Import

During import, always use ToUnity() extension methods:

csharp

var (localPosition, localRotation) = sdfElement.RawPose.ToUnity();
newObject.transform.localPosition = localPosition;
newObject.transform.localRotation = localRotation;

In Joint Axes

Joint axis directions are converted during import:

csharp

var jointAxis = joint.Axis.Xyz.ToUnity().normalized;
// Spring reference angles need orientation conversion:
var springRef = SDF2Unity.CurveOrientation((float)joint.Axis.SpringReference);

Color Conversion

csharp

Color unityColor = sdfColor.ToUnity();
// → new Color(R, G, B, A) — no axis swapping, just type conversion

Color fromString = "0.5 0.5 0.5 1.0".ToColor();

2D Conversions

csharp

Vector2 size = SDF2Unity.Size(sdfVector2d);   // direct mapping (X, Y)
Vector2 point = SDF2Unity.Point(sdfVector2d);  // swapped (Y, X)

Critical Rules

Never manually swap axes — always use SDF2Unity / Unity2SDF methods
Extension methods are available on SDFormat.Math.Vector3d, Quaterniond, Pose3d, and cloisim.msgs.Vector3d
Scale conversion preserves signs for mesh scaling but uses absolute values for collider sizing
Protobuf message .Set() extensions handle conversion internally — check whether they expect Unity-space or SDF-space input before calling
Partial classes: SDF2Unity is split across SDF2Unity.cs, SDF2Unity.Material.cs, SDF2Unity.Mesh.cs, SDF2Unity.Model.cs

Files

Just SKILL.md in .github/skills/coordinate-conversion of lge-ros2/cloisim.

Open the folder on GitHubat commit f4c1f0b

Compare with similar skills

Coordinate Conversion next to the 5 skills that share the most tags, products or categories with it. Stars are the repository's; “used in” counts other GitHub owners with a copy.

Coordinate Conversion compared with similar skills
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Questions about Coordinate Conversion

What does Coordinate Conversion do?

Convert between SDF (right-hand) and Unity (left-hand) coordinate systems. Coordinate Conversion is an agent skill from lge-ros2/cloisim. Convert between SDF (right-hand) and Unity (left-hand) coordinate systems.

When should I use Coordinate Conversion?

Coordinate Conversion fits situations like: : implementing pose transforms; converting sensor data between coordinate frames; debugging position/rotation mismatches.

How do I install Coordinate Conversion in Claude Code?

Run `npx skills add lge-ros2/cloisim --skill coordinate-conversion -a claude-code`. Or copy the skill folder (.github/skills/coordinate-conversion in lge-ros2/cloisim) into .claude/skills/coordinate-conversion in your project. Claude Code loads it when a task matches its description.

How do I install Coordinate Conversion in Codex?

Run `npx skills add lge-ros2/cloisim --skill coordinate-conversion -a codex`. Or copy the skill folder (.github/skills/coordinate-conversion in lge-ros2/cloisim) into .agents/skills/coordinate-conversion in your project. Codex loads it when a task matches its description.

Can I use Coordinate Conversion in Cursor, Gemini CLI or GitHub Copilot?

Cursor, Gemini CLI, GitHub Copilot and OpenCode also load SKILL.md folders. With the skills CLI, run `npx skills add lge-ros2/cloisim --skill coordinate-conversion -a cursor` (or -a gemini-cli, github-copilot or opencode for the others). To copy it by hand, put the folder in .cursor/skills/coordinate-conversion, .gemini/skills/coordinate-conversion, .github/skills/coordinate-conversion and .opencode/skills/coordinate-conversion in your project.

What does Coordinate Conversion need to run?

SKILL.md names no scripts, command-line tools or credentials: Coordinate Conversion is instructions for the agent only.

Does Coordinate Conversion access the network?

SKILL.md contains no URLs. Any network use would come from the scripts or tools the agent runs. This is read from the text; nothing was executed.

Is Coordinate Conversion safe to install?

Our automated static check of SKILL.md found no risky patterns, such as piping downloads into a shell, reading credential files or hidden Unicode. It is not a guarantee. Review the folder before installing.

What licence does Coordinate Conversion use?

Coordinate Conversion is published under the MIT licence (the repository's licence). It allows redistribution, so the full SKILL.md is shown on this page.

How many tokens does Coordinate Conversion use?

About 1.2k tokens (SKILL.md is roughly 4.8k characters). Agents keep only the skill's name and description in context until a task matches; then they load SKILL.md in full.

What are the alternatives to Coordinate Conversion?

Skills that share tags, products or a category with Coordinate Conversion: Image to Three.js Model (img2threejs/img2threejs, 18k stars), Web Clone (Jane-xiaoer/claude-skill-web-clone, 1k stars), Threejs Game Director (majidmanzarpour/threejs-game-skills, 2.4k stars) and Game Asset Generator (htdt/godogen, 7.1k stars). The comparison table on this page puts their stars, adoption, token cost, safety result and licence side by side.

Who maintains Coordinate Conversion?

lge-ros2 (a GitHub organization) maintains it in lge-ros2/cloisim, which has 176 GitHub stars. The repository holds 18 skills in this directory. The repository was last updated on October 6, 2026.

Source: lge-ros2/cloisim on GitHub. Facts on this page come from the repository at the commit we read; the author's words are quoted as theirs.

Install Coordinate Conversion

Facts

At a glance

What it does

When your agent uses it

Example prompts

Workflow steps

What it can do on your machine

Tool permissions

Runs code

Network

Credentials

Context cost

Safety

SKILL.md

Coordinate System Conversion Reference

When to Use

Coordinate Systems

Conversion Formulas

SDF → Unity (SDF2Unity)

Unity → SDF (Unity2SDF)

Common Patterns

In Sensor Devices

In SDF Import

In Joint Axes

Color Conversion

2D Conversions

Critical Rules

Files

Compare with similar skills

Similar skills

More from lge-ros2/cloisim

Related

Questions about Coordinate Conversion

SDF → Unity (`SDF2Unity`)

Unity → SDF (`Unity2SDF`)