cadSet/text-to-cad/skills/cad-viewer/references/moveit2-server.md

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:

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.