Import CAD projects and cad-router v1

2026-07-22 19:38:36 +08:00
parent e4e0199bd5
commit af9f630c11
2253 changed files with 1994207 additions and 0 deletions
@@ -0,0 +1,29 @@
+# MoveIt2 Server
+
+Load this only when the user specifically needs CAD Viewer's optional SRDF IK or path-planning controls. Plain SRDF review and normal Viewer links do not require MoveIt2.
+
+## Start
+
+Run from the `cad-viewer` skill directory:
+
+```bash
+npm --prefix scripts/viewer run moveit2:setup
+npm --prefix scripts/viewer run moveit2:check
+npm --prefix scripts/viewer run moveit2:serve
+```
+
+The server defaults to `ws://127.0.0.1:8765/ws`. CAD Viewer connects to that URL when `VIEWER_MOVEIT2_WS_URL` or the browser `?moveit2Ws=` query points at it.
+
+Use the configured ROS 2 / MoveIt2 environment. Do not install ROS 2 or MoveIt2 packages into the repository CAD `.venv`.
+
+## Viewer Controls
+
+Open an `.srdf` file, expand the right-side `MoveIt2` sheet, and use:
+
+- Status: linked SRDF and MoveIt2 server status.
+- Target: planning group, end effector, target frame, and X/Y/Z target coordinates.
+- Solver: IK timeout, attempts, and tolerance.
+- Planning: pipeline, planner ID, plan time, velocity scale, and acceleration scale.
+- Actions: select pose from the model, reset to the current pose, solve pose, or plan to pose.
+
+Report whether the environment check passed, whether pose solving/planning worked, and any viewer/server error text.