{"enrichment":{"faq":[{"a":"srdf guides you through SRDF creation by defining the Semantic Robot Description Format\u2014a layer atop URDF that adds planning semantics. Start by specifying your robot's planning groups (arm, gripper, etc.), end effectors, and disabled collision pairs. srdf supports both manual authoring and generation workflows, letting you build from scratch or refine existing configurations for MoveIt2 motion planning.","q":"How do I create an SRDF file for MoveIt?"},{"a":"srdf clarifies that URDF describes robot geometry and kinematics, while SRDF adds planning semantics on top. URDF defines links, joints, and collision shapes; SRDF defines planning groups, end effectors, disabled collisions, group states, and virtual joints. Understanding this boundary helps you know when to edit URDF (geometry) versus SRDF (planning intent) for MoveIt2 workflows.","q":"What is the difference between SRDF and URDF?"},{"a":"srdf streamlines SRDF generation and validation by offering text-driven authoring with real-time correctness checks. You can generate SRDF from scratch, refine it against your URDF, and run MoveIt smoke tests to confirm planning groups, collision matrices, and kinematics are properly configured. The skill supports both manual review and automated validation workflows.","q":"How do I generate and validate SRDF for MoveIt2?"},{"a":"srdf helps you define planning groups by specifying which joints or links belong together (e.g., arm, gripper), and end effectors by linking groups to their parent links and group names. You can also define group states (named joint configurations) and virtual joints for fixed-base robots. These semantic definitions enable MoveIt2 to reason about your robot's structure for motion planning.","q":"How do I define planning groups and end effectors in SRDF?"},{"a":"srdf manages disabled collision pairs\u2014link pairs that should not trigger collision checks during planning. Common pairs include adjacent links, links connected by joints, or intentional contacts like a gripper holding an object. srdf helps you generate and review the collision matrix, ensuring MoveIt2 focuses collision detection on meaningful interactions and avoids false positives.","q":"What is the SRDF disabled collisions setup?"},{"a":"srdf provides validation tools to check SRDF semantics against your URDF structure, ensuring all referenced joints, links, and groups exist. You can perform MoveIt smoke tests to verify planning groups load correctly, collision geometry is valid, and kinematics chains are sound. This validation step catches configuration errors before deploying to MoveIt2.","q":"How do I validate SRDF correctness against URDF?"}],"shadow_tags":["robot-semantics","motion-planning","collision-management","kinematic-config","moveit-workflow","xml-generation","planning-groups","end-effector-setup","validation-framework"],"summary_rewrite":"srdf empowers you to build and refine Semantic Robot Description Format files that power MoveIt2 motion planning workflows. Whether you're defining robot kinematics, collision geometry, or planning groups, this skill streamlines SRDF authoring with text-driven CAD generation and real-time validation."},"files":[{"bytes":6129,"path":"skills/srdf/SKILL.md","sha256":"9e753222fe9cb14fac4fc0046c53490836f11c5a7a05f7361e79fdcd755db0eb","url":"https://skillfed.io/files/earthtojake/text-to-cad/srdf/dff7d313/SKILL.md"}],"id":"earthtojake/text-to-cad/srdf","links":{"html":"https://skillfed.io/earthtojake/text-to-cad/srdf","md":"https://skillfed.io/earthtojake/text-to-cad/srdf.md","repo":"https://github.com/earthtojake/text-to-cad"},"meta":{"agents_supported":[],"first_seen":"2026-07-28","forks":1183,"language":"JavaScript","last_updated":"2026-07-11","license":"MIT","name":"srdf","publisher":"earthtojake","stars":10959},"relations":{"similar":[{"id":"earthtojake/text-to-cad/urdf"},{"id":"earthtojake/text-to-cad/cad-viewer"},{"id":"earthtojake/text-to-cad/sdf"},{"id":"matlab/matlab-agentic-toolkit/matlab-model-robot-kinematics"},{"id":"earthtojake/text-to-cad/cad"},{"id":"earthtojake/text-to-cad/gcode"},{"id":"jaccen/Awesome-Gaussian-Skills/3dgs-articulated-reasoner"},{"id":"earthtojake/text-to-cad/dxf"},{"id":"earthtojake/text-to-cad/step-parts"},{"id":"earthtojake/text-to-cad/bambu-labs"}]},"slug":{"owner":"earthtojake","repo":"text-to-cad","skill":"srdf"},"version":"dff7d313"}