Jerry
35 lines
1.4 KiB
Markdown
35 lines
1.4 KiB
Markdown
# SRDF generation command
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Regenerate explicit MoveIt SRDF outputs from Python sources with top-level `gen_srdf()` functions.
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```bash
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python scripts/srdf path/to/semantic.py
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python scripts/srdf path/to/semantic.py -o path/to/robot.srdf
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python scripts/srdf path/to/a.py=out/a.srdf path/to/b.py=out/b.srdf
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```
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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.
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`gen_srdf()` must return an envelope dictionary containing:
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- `xml`: complete SRDF `<robot>` XML as an `xml.etree.ElementTree.Element` or XML string;
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- `urdf`: a POSIX relative path from the generator source file to the linked `.urdf`.
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## What the command does
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The tool:
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1. imports the target Python source;
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2. calls `gen_srdf()`;
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3. resolves the linked URDF path relative to the generator source file;
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4. injects or updates local `tcad:urdf` metadata so downstream tools can find the URDF;
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5. parses the generated SRDF;
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6. validates the SRDF against the linked URDF;
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7. writes the requested `.srdf` only after validation passes.
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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.
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## Execution safety
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The CLI imports generator modules directly. Top-level Python code in the generator file will execute. Use this command only for trusted project sources.
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