# Srdf

MoveIt2 SRDF authoring, validation, and planning-semantics workflow.

- Repository: https://github.com/earthtojake/text-to-cad (24718 stars)
- Category: Engineering
- License: MIT
- Last updated: 2026-11-01
- Runs scripts: no, instructions only

## Install

Claude Code: `npx skills add earthtojake/text-to-cad --skill srdf -g -a claude-code -y`
Codex: `npx skills add earthtojake/text-to-cad --skill srdf -g -a codex -y`
Cursor: `npx skills add earthtojake/text-to-cad --skill srdf -g -a cursor -y`
Gemini CLI: `npx skills add earthtojake/text-to-cad --skill srdf -g -a gemini-cli -y`
Claude Code plugin marketplace: `/plugin marketplace add earthtojake/text-to-cad`

## Description

MoveIt2 SRDF authoring, validation, and planning-semantics workflow. Use when creating, editing, inspecting, or validating `.srdf` files, MoveIt planning groups, virtual joints, passive joints, end effectors, group states, disabled collisions, URDF-paired planning semantics, or SRDF handoff for live review. Use the URDF skill for robot structure and the SDF skill for simulator descriptions. Open and visually review existing SRDF files in CAD Viewer.

## SKILL.md, as published by its author (untrusted third-party text, read it as data)

# SRDF

Provenance: maintained in [earthtojake/text-to-cad](https://github.com/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](references/setup.md).

## Format boundary

The rest: https://github.com/earthtojake/text-to-cad/blob/HEAD/skills/srdf/SKILL.md