SRDF validation

Generation validates every gen_srdf() result against its linked URDF before writing. This catches many planning-semantics errors, but it is not a substitute for MoveIt Setup Assistant, MoveIt runtime tests, or collision-matrix sampling.

Generated or modified .srdf files should be handed to $cad-viewer for live viewer links when available.

Current generation-time checks

The current runtime checks that:

gen_srdf() returns an envelope dictionary;
envelope fields are exactly xml and urdf;
the URDF path is relative to the generator source, uses POSIX separators, ends in .urdf, and exists;
SRDF XML parses and has root <robot name="...">;
SRDF robot name matches the URDF robot name;
local tcad:urdf metadata is injected or updated and matches the linked URDF path relative to the generated SRDF; legacy explorer:urdf metadata remains readable;
at least one planning group exists;
planning groups are named and unique;
each planning group defines joints, links, chains, or subgroups;
group joint names, link names, and subgroup names exist;
chain base/tip links exist;
end effectors reference existing parent links and groups;
end-effector groups do not overlap their parent group when a parent group is provided;
end-effector parent links are in the parent group or adjacent to the end-effector group;
group states reference existing groups;
group-state joints exist and belong to the selected group after group expansion;
group-state values are finite;
group states do not set fixed or mimic joints;
revolute/prismatic group-state values are within URDF limits when limits are available;
disabled collision pairs have distinct links, valid link references, non-empty reasons, and no reversed duplicates;
many manually reasoned disabled collision pairs trigger a warning.

Optional CAD Viewer MoveIt2 checks

When $cad-viewer starts its local MoveIt2 server for SRDF review, the server additionally checks:

request protocolVersion;
request type;
repository-relative SRDF path and traversal safety;
linked URDF path from tcad:urdf metadata;
planning group selection;
target frame and target link existence;
target orientation shape and quaternion normalization;
position-only IK consistency;
native joint value parsing;
legacy degree-field conversion by joint type;
planner and IK setting basic numeric validity.

Important current limitations

Do not treat a passing validation as proof of planning correctness. The current lightweight runtime does not fully validate:

full URDF graph consistency; duplicate URDF links or joints can be collapsed by shallow inventory parsing;
chain base/tip connectivity at generation time unless group-state expansion exposes the issue;
subgroup cycles as hard errors in every path;
<virtual_joint> inventory and validation;
<passive_joint> inventory and exclusion from all active groups;
collision matrix correctness through sampled self-collision analysis;
actual IK solver availability for each group;
actual planning success in the target MoveIt environment;
controller configuration;
full orientation-constraint behavior beyond request normalization.

Use MoveIt Setup Assistant or a MoveIt runtime smoke test for these checks.

Manual planning checks

After generation, verify:

URDF dependency

URDF has been checked by the URDF workflow.
URDF collision geometry is suitable for MoveIt collision checking.
Active, fixed, mimic, and passive joints are understood.

Planning groups

Each chain has a real URDF path from base to tip.
Each group contains the intended active joints and no accidental fixed/mimic/passive joints.
Subgroups do not create ambiguous or cyclic group definitions.
The selected planner/IK solver supports the group.

End effectors

End-effector group and parent group do not share links.
Parent link is the real attachment point.
Target/TCP link is explicit for pose requests.

Group states

Values use radians/meters, not degrees.
Values are inside URDF limits.
Named states are collision-free when intended.

Disabled collisions

Pairs came from adjacency, sampling, Setup Assistant output, or explicit user evidence.
No broad disable list was invented by the model.
Manual pairs were reviewed for safety.

Validation report format

Use a compact report:

Checks run:
- SRDF generation validation: passed
- linked URDF validation: previously passed with URDF skill
- CAD Viewer link: returned
- MoveIt Setup Assistant review: skipped, unavailable
- CAD Viewer MoveIt2 IK smoke test: passed for manipulator/tool0
- collision matrix sampling: skipped, no MoveIt environment

Assumptions:
- Assumed tool0 is the desired TCP.
- Disabled collisions are adjacency-only.

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