SRDF authoring and validation for MoveIt2 robots
Author, validate and smoke-test MoveIt2 SRDF planning semantics — planning groups, end effectors, states, collision matrices
- What
- Author, validate and smoke-test MoveIt2 SRDF planning semantics — planning groups, end effectors, states, collision matrices
- Cost
- Free
- Needs
- Python with the cadgen distribution (python -m pip install -r requirements.txt from the skill), a valid URDF as starting point; playwright chromium for snapshots; optional: a MoveIt environment and the sibling cad-viewer skill for live review
- Install
- Copy the installer prompt below into your Muse — your agent does the rest.
Curated by Skill Harbor — @earthtojake's SRDF skill for MoveIt2: author and edit the `.srdf` XML directly (planning semantics, not robot structure) with a strict workflow — start from a valid URDF, extract the link/joint table first and never type names from memory, define virtual/passive joints, planning groups derived from URDF topology, end effectors with correct group membership, group states in URDF-native units (radians, meters, within URDF limits), and disabled-collision pairs generated from evidence rather than invented — then validate everything with `cadgen srdf validate` (cross-validates names, chains, states and collisions against the paired URDF) and hand the file to the CAD viewer skill for live review. Companion to the sibling URDF, SDF and cad-viewer skills from the same repo. Honest caveats: niche robotics workflow — needs Python with the cadgen distribution (`pip install -r requirements.txt`), a valid URDF as starting point, and a headless browser (playwright chromium) for snapshots; the skill is one piece of a multi-skill authoring suite; MIT-licensed. Skill Harbor never reviews the code, review it yourself before use. Discovered via skills.sh.
Version:
Install
Prerequisites: Python with the cadgen distribution (python -m pip install -r requirements.txt from the skill), a valid URDF as starting point; playwright chromium for snapshots; optional: a MoveIt environment and the sibling cad-viewer skill for live review Install "SRDF authoring and validation for MoveIt2 robots" for me. It teaches MoveIt2 SRDF planning-semantics authoring: extract the URDF link/joint table first, author virtual/passive joints, planning groups from URDF topology, end effectors and group states in URDF-native units, evidence-based disabled-collision pairs, then validate with cadgen srdf validate and hand off to the CAD viewer — by @earthtojake, MIT-licensed. Repository: https://github.com/earthtojake/text-to-cad/blob/main/skills/srdf/SKILL.md 1. Fetch the SKILL.md file (and any helper files) from the repository path into a temporary folder and summarize what it does in one or two sentences. 2. Safety check: review the SKILL.md and scripts for anything suspicious (unexpected network calls, shell commands, credential harvesting). This repo should contain zero secrets in code, credentials only via the secure vault, allowed hosts declared in the SKILL.md. Verify that holds here; STOP on any red flag and tell me. 3. Install it as a skill: copy SKILL.md and its helper files into the agent's skills directory, in a folder named "srdf". 4. Verify with no network calls: frontmatter valid, files in place. 5. Report what was installed, where, and what I still need to do myself (e.g. install the cadgen distribution with pip install -r requirements.txt; prepare a valid URDF; install playwright chromium for snapshots). GitHub is optional: if I have a GitHub account or the gh CLI, you may use it; otherwise public access is fine. Never require it unless it's in the prerequisites above. Rules: don't touch anything outside the temp folder and the install target. If anything looks off, stop and ask me.
Questions
How do I install a build?
Every product page includes a copy-paste install prompt. Paste it into your Muse and it sets the build up for you — no manual configuration.
Where does my money go?
Straight to the seller. Skill Harbor never processes payments: checkout happens on the seller’s own page, usually Stripe.
What does the ✓ next to a creator’s name mean?
It means we confirmed the identity of the person behind the listing. It says nothing about the code itself — always check a build before installing it.