cad-Integration/text-to-cad-main/skills/srdf/references/gen-srdf.md

SRDF generation command

Regenerate explicit MoveIt SRDF outputs from Python sources with top-level gen_srdf() functions.

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.