SRDF planning ledger
Create or update this ledger before writing SRDF XML. The ledger makes planning assumptions explicit and helps prevent plausible but incorrect MoveIt configurations.
URDF dependency
| Field |
Value |
| URDF path |
|
| SRDF output path |
|
| Robot name |
|
| URDF validated? |
yes/no; tool/check |
| Root link |
|
| Active joints |
|
| Fixed joints |
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| Mimic joints |
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| Passive joints |
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| Links used for collision checking |
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| Known URDF limitations |
|
Planning task
| Field |
Value |
| Main task |
IK / plan-to-pose / gripper / mobile base / dual arm / other |
| Primary planning group |
|
| Expected end-effector or TCP |
|
| Required solver or planner |
|
| Position-only IK? |
yes/no; reason |
| Orientation constraints? |
yes/no; representation |
Virtual joints
| Name |
Type |
Parent frame |
Child link |
Required? |
Rationale |
|
fixed / planar / floating |
|
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Virtual joints describe the robot root pose relative to an external frame. Use fixed for fixed-base manipulators when the planning setup needs a world attachment; use planar/floating only when the robot model requires that planning freedom.
Passive joints
| Joint |
URDF type |
Reason passive |
Affected groups |
Notes |
|
|
|
|
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Passive joints are unactuated. They should not be treated as controllable planning variables.
Planning groups
| Group |
Representation |
Members |
Base link |
Tip link |
Active joints |
Excluded joints |
Purpose |
Solver expectation |
|
joints / links / chain / subgroups |
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For serial arms, prefer a chain only when the URDF graph has a real path from base link to tip link. For subgroup groups, check for cycles and duplicate semantics.
End effectors
| Name |
End-effector group |
Parent group |
Parent link |
Target/TCP link |
Overlap checked? |
Adjacent? |
Notes |
|
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The end-effector group should normally not share links with its parent group. The target/TCP link should be explicit when it differs from the inferred group tip.
Group states
| State |
Group |
Joint values |
Unit check |
Limit check |
Purpose |
|
|
revolute/continuous rad; prismatic m |
|
|
|
Do not store degrees in SRDF group states. Do not set fixed or mimic joints in group states.
Disabled collisions
| Link 1 |
Link 2 |
Reason |
Source |
Evidence |
Risk note |
|
|
Adjacent / Never / Always / Default / Manual |
Setup Assistant / sampled / adjacency / user |
|
|
Do not infer disabled collisions from visual impression. Each pair needs a reason and provenance.
MoveIt smoke tests
| Test |
Group |
Target link |
Target pose/state |
Expected result |
Actual result |
Notes |
| IK solve |
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| Plan-to-pose |
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| Named state |
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| Collision check |
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Assumptions to report
List every guessed or inferred value:
- planning group membership;
- chain base/tip;
- target/TCP link;
- virtual joint attachment;
- passive joint classification;
- group-state value;
- disabled collision pair;
- solver or planner setting;
- orientation/position-only IK assumption;
- skipped MoveIt validation.
