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. The .srdf file is the source of truth: author and edit the XML directly.

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 joint units. Because language models are weak at spatial and kinematic reasoning, derive planning groups, end effectors, group states, and disabled collisions from the URDF topology, MoveIt Setup Assistant output, sampled collision analysis, or explicit user data. Do not infer them from visual theme alone, and do not type any link or joint name from memory: extract the URDF's link/joint table first and copy names from it.

Setup

Run cadgen through the cadgen command its installation writes, so this skill's commands share one installation, and its engine server, with the CAD app's:

• cadgen below means cadgen +0.8.4 (~/.local/bin/cadgen +0.8.4 where ~/.local/bin is not on your PATH)
• python below means cadgen +0.8.4 run

For first-time setup or an update, a missing cadgen command, a release it says is not installed, an engine that is not running, or an installation or kernel load error, read Setup and troubleshooting.

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