What problem does it solve? MoveIt2 SRDF files often fail not from invalid XML but from plausible-but-wrong planning semantics: incorrect planning groups, wrong tool links, unsafe disabled-collision pairs, or group states in the wrong units. This Skill enforces a derivation-based workflow so every name, chain, state, and collision pair is grounded in the paired URDF rather than guessed. ## Core Features & Use Cases - SRDF Authoring Contract: Write .srdf XML directly with a defined element order (virtual joints, groups, group states, end effectors, passive joints, disabled collisions) and a planning-ledger comment block recording assumptions. - URDF-Paired Validation: Run cadgen srdf validate to cross-check every link, joint, chain path, group state, and disabled-collision pair against the colocated URDF, with --strict and --json output modes. - Evidence-Based Disabled Collisions: Derive collision pairs from URDF adjacency, MoveIt Setup Assistant sampling, or explicit user data with truthful reason codes instead of invented lists. - Use Case: After building a robot arm URDF, use this Skill to define an arm chain group, a gripper end effector, home/ready group states in radians, and adjacency-based disabled collisions, then validate and hand the file to the CAD viewer for live review. ## Quick Start Use the srdf skill to create and validate a MoveIt SRDF for the URDF in my current project folder, then hand it to the cad-viewer for review.
