Jerry
47 lines
2.4 KiB
Markdown
47 lines
2.4 KiB
Markdown
# URDF Generation
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Regenerate explicit URDF outputs from Python sources with top-level `gen_urdf()` functions.
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```bash
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python scripts/urdf path/to/assembly.py
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python scripts/urdf path/to/assembly.py -o path/to/robot.urdf
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python scripts/urdf path/to/a.py=out/a.urdf path/to/b.py=out/b.urdf
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```
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Plain Python targets write a sibling `.urdf` beside the source. `-o`/`--output` is valid only with one plain target. Use `SOURCE.py=OUTPUT.urdf` pairs for custom multi-target destinations.
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`gen_urdf()` must be a top-level zero-argument function returning the root `xml.etree.ElementTree.Element`, a complete URDF XML string, or an accepted envelope whose only field is `xml`. See `references/generator-contract.md`.
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Relative source targets and CLI output paths resolve from the current working directory.
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## Default Validation Behavior
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The generation command validates the generated URDF before accepting the output. There is no separate validation-only command in this skill.
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A generation failure should be treated as a model or source problem, not as a reason to hand-edit the generated `.urdf`. Fix the generator source, then regenerate the explicit target.
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The generation-time validation is intended to catch compact robot-description issues such as:
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- malformed XML or wrong root element;
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- missing or duplicate link and joint names;
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- invalid parent/child references;
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- multiple roots, disconnected graphs, or cycles;
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- suspicious joint limits, axes, origins, geometry, mesh references, or inertials when supported by the runtime.
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## Boundaries
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This tool runs only `gen_urdf()`. It does not regenerate CAD, mesh/export, GLB/topology, render, SDF, SRDF, MoveIt2, or simulator outputs.
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If URDF visual/collision mesh references depend on updated CAD or mesh outputs, regenerate those explicit targets separately with the owning CAD or mesh workflow, then regenerate the affected URDF.
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After creating or modifying generated `.urdf` files, hand explicit paths to `$cad-viewer` for live viewer links when available.
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## Failure Handling
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When generation-time validation fails:
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1. inspect the reported links, joints, mesh references, or inertial fields;
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2. update the source generator, design ledger, or referenced assets;
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3. regenerate the same explicit URDF target;
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4. do not patch the generated `.urdf` directly unless the task is explicitly forensic and the patch will not be treated as source of truth.
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