38 lines
2.0 KiB
Markdown
38 lines
2.0 KiB
Markdown
# SRDF implementation notes
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These notes describe the current runtime shape so the documentation does not overstate what the code enforces.
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## Implemented in the current code
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- `scripts/srdf` generates explicit targets only.
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- `gen_srdf()` must return an envelope with `xml` and `urdf`.
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- Generated SRDF is validated against the linked URDF before writing.
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- The CLI injects or updates local `tcad:urdf` metadata.
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- Group states use `joint_values_by_name` / `jointValuesByName` in URDF-native units.
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- Deprecated `joint_values_by_name_rad` / `jointValuesByNameRad` aliases remain for compatibility.
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- Group-state values are checked for group membership, finite values, fixed/mimic status, and URDF limits when available.
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- End-effector overlap and adjacency checks are implemented.
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- Disabled-collision reasons are required and classified into broad provenance buckets.
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- Optional CAD Viewer MoveIt2 controls use `protocolVersion: 1`.
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- Pose targets support `quat_xyzw` and `rpy`.
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- Position-only IK is explicit in request settings and defaults based on whether orientation is provided.
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- Legacy degree fields are converted by joint type so prismatic values remain linear.
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- Error responses sanitize absolute paths unless debug errors are enabled.
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## Not yet fully implemented in code
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The following remain process requirements and future code-improvement targets:
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- full URDF structural validation shared with the URDF skill;
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- virtual joint parsing and validation;
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- passive joint parsing and exclusion from active planning variables;
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- hard failure for disconnected chain base/tip definitions in every case;
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- subgroup cycle detection as a first-class validation error;
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- typed SRDF generation helpers;
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- structured assumption/warning envelope fields;
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- sampled self-collision matrix generation;
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- full MoveIt configuration package generation;
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- safer generator execution in a subprocess.
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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.
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