SRDF

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.

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 appearance alone.

Format boundary

• URDF owns physical robot structure: links, joints, geometry, inertials, limits, mimic joints, transmissions, and robot-state publishing.
• SRDF owns MoveIt semantics: virtual joints, passive joints, planning groups, group states, end effectors, and disabled collision pairs.
• SDF owns simulator/world semantics: physics, sensors, lights, plugins, worlds, and simulation-specific metadata.

Do not place geometry, inertials, joint origins, link poses, mesh references, physical joint limits, transmissions, or ros2_control interfaces in SRDF.

After creating or modifying generated .srdf files, hand the explicit output path to $cad-explorer for rendering/link review when that skill is available. If the user needs interactive IK or path-planning controls, make that part of the $cad-explorer handoff; CAD Explorer owns the local moveit2_server setup and runtime.

Required workflow

1. Start from a valid URDF. Generate or fix the URDF first. The SRDF generator validates against the source-relative .urdf path supplied by gen_srdf().