cad-Integration/text-to-cad-main/plugins/cad/skills/srdf/references/implementation-notes.md

SRDF implementation notes

These notes describe the current runtime shape so the documentation does not overstate what the code enforces.

Implemented in the current code

• scripts/srdf generates explicit targets only.
• gen_srdf() must return an envelope with xml and urdf.
• Generated SRDF is validated against the linked URDF before writing.
• The CLI injects or updates local tcad:urdf metadata.
• Group states use joint_values_by_name / jointValuesByName in URDF-native units.
• Deprecated joint_values_by_name_rad / jointValuesByNameRad aliases remain for compatibility.
• Group-state values are checked for group membership, finite values, fixed/mimic status, and URDF limits when available.
• End-effector overlap and adjacency checks are implemented.
• Disabled-collision reasons are required and classified into broad provenance buckets.
• Optional CAD Viewer MoveIt2 controls use protocolVersion: 1.
• Pose targets support quat_xyzw and rpy.
• Position-only IK is explicit in request settings and defaults based on whether orientation is provided.
• Legacy degree fields are converted by joint type so prismatic values remain linear.
• Error responses sanitize absolute paths unless debug errors are enabled.

Not yet fully implemented in code

The following remain process requirements and future code-improvement targets:

• full URDF structural validation shared with the URDF skill;
• virtual joint parsing and validation;
• passive joint parsing and exclusion from active planning variables;
• hard failure for disconnected chain base/tip definitions in every case;
• subgroup cycle detection as a first-class validation error;
• typed SRDF generation helpers;
• structured assumption/warning envelope fields;
• sampled self-collision matrix generation;
• full MoveIt configuration package generation;
• safer generator execution in a subprocess.

Until those are implemented, rely on the planning ledger, MoveIt Setup Assistant, $cad-viewer handoff for visual/MoveIt smoke tests when available, and explicit reporting of skipped checks.