first commit

2026-07-22 13:48:46 +08:00
commit c87751c3dc
2820 changed files with 726976 additions and 0 deletions
@@ -0,0 +1,34 @@
+# SRDF generation command
+
+Regenerate explicit MoveIt SRDF outputs from Python sources with top-level `gen_srdf()` functions.
+
+```bash
+python scripts/srdf path/to/semantic.py
+python scripts/srdf path/to/semantic.py -o path/to/robot.srdf
+python scripts/srdf path/to/a.py=out/a.srdf path/to/b.py=out/b.srdf
+```
+
+Plain Python targets write a sibling `.srdf` beside the source. `-o` / `--output` is valid only with one plain target. Use `SOURCE.py=OUTPUT.srdf` pairs for custom multi-target destinations.
+
+`gen_srdf()` must return an envelope dictionary containing:
+
+- `xml`: complete SRDF `<robot>` XML as an `xml.etree.ElementTree.Element` or XML string;
+- `urdf`: a POSIX relative path from the generator source file to the linked `.urdf`.
+
+## What the command does
+
+The tool:
+
+1. imports the target Python source;
+2. calls `gen_srdf()`;
+3. resolves the linked URDF path relative to the generator source file;
+4. injects or updates local `tcad:urdf` metadata so downstream tools can find the URDF;
+5. parses the generated SRDF;
+6. validates the SRDF against the linked URDF;
+7. writes the requested `.srdf` only after validation passes.
+
+There is no hidden SRDF artifact. The generated `.srdf` is the MoveIt inventory handed to `$cad-viewer` for a live CAD Viewer link and optional MoveIt2 controls.
+
+## Execution safety
+
+The CLI imports generator modules directly. Top-level Python code in the generator file will execute. Use this command only for trusted project sources.