Srdf

Generates, validates, and manages SRDF files for MoveIt2 motion planning on top of existing URDFs. The workflow is opinionated: planning groups come from URDF topology analysis, not guesswork. Joint values use native units (radians and meters), collision disables require evidence, and end effectors can't overlap their parent groups. After creating or editing an SRDF, it hands off to the cad-viewer skill for live review and optional MoveIt2 controls. The hard part isn't XML syntax, it's getting the planning semantics right so MoveIt actually plans correctly. Useful when you need semantic robot descriptions for motion planning and want guard rails against plausible-but-wrong group definitions.

Install to Claude Code

npx -y skills add earthtojake/text-to-cad --skill srdf --agent claude-code