srdf
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.
srdf guides you through SRDF creation by defining the Semantic Robot Description Format—a 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.
AI-generated summary based on this skill's SKILL.md
Decision gist · record as of 2026-07-11
srdf guides you through SRDF creation by defining the Semantic Robot Description Format—a 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.
Use it when
- srdf clarifies that URDF describes robot geometry and kinematics, while SRDF adds planning semantics on top.
- srdf streamlines SRDF generation and validation by offering text-driven authoring with real-time correctness checks.
Verify before relying
Read SKILL.md below before installing (20 files). Open directory: indexed for reading, not audited.
Install
earthtojake/text-to-cad/srdf · repository language: JavaScript
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Frequently asked questions
AI-generated answers based on this skill's SKILL.md and metadata
How do I create an SRDF file for MoveIt?
srdf guides you through SRDF creation by defining the Semantic Robot Description Format—a 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.
What is the difference between SRDF and URDF?
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.
How do I generate and validate SRDF for MoveIt2?
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.
How do I define planning groups and end effectors in SRDF?
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.
What is the SRDF disabled collisions setup?
srdf manages disabled collision pairs—link 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.
How do I validate SRDF correctness against URDF?
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.
SKILL.md
Rendered from the published skill. Quoted content, verbatim.
SRDF
Provenance: maintained in earthtojake/text-to-cad. Use the installed local skill files as the runtime source of truth; the repository link is only for provenance and release review.
Use this skill for MoveIt semantic robot descriptions on top of an existing valid URDF. SRDF defines planning semantics; it does not define physical robot structure.
SRDF correctness is a planning semantics problem. The common failure is not invalid XML; it is a plausible SRDF that gives MoveIt the wrong planning group, wrong tool link, wrong default state, unsafe disabled-collision matrix, or wrong
(truncated - see the full file via the links below)
File tree — 15 files
skills/srdf/LICENSE
skills/srdf/SKILL.md
skills/srdf/agents/openai.yaml
skills/srdf/references/disabled-collisions.md
skills/srdf/references/end-effectors.md
skills/srdf/references/gen-srdf.md
skills/srdf/references/generator-contract.md
skills/srdf/references/implementation-notes.md
skills/srdf/references/planning-ledger.md
skills/srdf/references/srdf-workflow.md
skills/srdf/references/validation.md
skills/srdf/requirements.txt
skills/srdf/scripts/packages/cadpy_metadata/pyproject.toml
skills/srdf/scripts/packages/cadpy_metadata/src/cadpy_metadata/__init__.py
skills/srdf/scripts/packages/cadpy_metadata/src/cadpy_metadata/generator.py
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