srdf 是做什么的？
MoveIt2 SRDF 生成、验证和规划语义工作流。用于创建、编辑、重新生成、检查或验证 .srdf 文件、gen_srdf() 源、MoveIt 规划组、虚拟关节、被动关节、末端执行器、组状态、禁用碰撞、URDF 关联的规划语义或 SRDF 交接以供实时审查。使用 URDF 技能处理机器人结构，SDF 技能处理仿真器描述，以及 cad-viewer 技能处理渲染、实时审查链接和可选的 MoveIt2 控制。
MoveIt2 SRDF 生成、验证和规划语义工作流。用于创建、编辑、重新生成、检查或验证 `.srdf` 文件、`gen_srdf()` 源、MoveIt 规划组、虚拟关节、被动关节、末端执行器、组状态、禁用碰撞、URDF 关联的规划语义或 SRDF 交接以供实时审查。使用 URDF 技能处理机器人结构，SDF 技能处理仿真器描述，以及 cad-viewer 技能处理渲染、实时审查链接和可选的 MoveIt2 控制。
earthtojake/srdf 是一个专注于 MoveIt2 中 SRDF（语义机器人描述格式）生成、验证和规划语义工作流的技能。它适用于创建、编辑、重新生成、检查或验证 `.srdf` 文件及其相关源（如 `gen_srdf()）`、MoveIt 规划组、虚拟关节、被动关节、末端执行器、组状态、禁用碰撞以及 URDF 关联的规划语义。该技能还支持 SRDF 交接，以便进行实时审查。它的主要用途是确保机器人运动规划的语义正确性，特别是与 MoveIt2 框架集成时。该技能在 Cursor、Claude Code 和 Codex 等 AI 代理中运行，通过读取和解析 SRDF 文档来指导生成和验证过程。它与其他技能协同工作：URDF 技能处理机器人结构，SDF 技能处理仿真描述，cad-viewer 技能提供渲染、实时审查链接和可选的 MoveIt2 控制。这使得开发人员能够高效地管理机器人的运动规划语义，减少错误并简化工作流。
npx skills add https://github.com/earthtojake/text-to-cad/tree/main/skills/srdfInstalled? Explore more 生产力与协作 skills: steipete/gemini, steipete/gh-issues, steipete/skill-creator · View all 6 →
MoveIt2 SRDF 生成、验证和规划语义工作流。用于创建、编辑、重新生成、检查或验证 .srdf 文件、gen_srdf() 源、MoveIt 规划组、虚拟关节、被动关节、末端执行器、组状态、禁用碰撞、URDF 关联的规划语义或 SRDF 交接以供实时审查。使用 URDF 技能处理机器人结构，SDF 技能处理仿真器描述，以及 cad-viewer 技能处理渲染、实时审查链接和可选的 MoveIt2 控制。
This repo contains 6 individual skills — each has its own dedicated page.
Create, modify, inspect, and validate STEP-first parametric CAD parts and assemblies. Use for natural-language CAD specs, reference images, 2D technical drawings, STEP/STP generation or direct inspection, Python CAD source, source-level joints, selector references, geometry facts, measurements, mating deltas, snapshots, and secondary STL/3MF/native GLB outputs from CAD geometry.
Start or reuse the CAD Explorer viewer, return review links, and create saved snapshots for explicit CAD and robot-description files. Use when rendering or visually reviewing `.step`, `.stp`, `.glb`, `.stl`, `.3mf`, `.dxf`, `.urdf`, `.srdf`, or `.sdf` files, especially when handed off from CAD, URDF, SRDF, or SDF generation skills.
SDFormat/SDF model and world generation, validation, and simulator handoff. Use for `.sdf` files, SDFormat XML, Python `gen_sdf()` sources, models, worlds, links, joints, poses, frames, inertials, visual/collision geometry, mesh URIs, sensors, lights, physics, plugins, includes, Gazebo, static SDF review, or simulator-specific metadata. Do not use for signed-distance-field geometry.
Review DXF and STEP/STP uploads for SendCutSend.com orders using its ordering guide, catalog, and specs. Use only for SendCutSend.com preflight reports covering upload readiness, selected material/SKU/thickness/service availability, and service-specific checks for laser cutting, CNC routing, bending, tapping, countersinking, hardware insertion, and finishing.
Find, evaluate, and download common purchasable CAD parts from step.parts, including named off-the-shelf actuators, servos, motors, electronics boards, connectors, screws, bolts, nuts, washers, bearings, standoffs, and other catalog components. Use when Codex needs to search the hosted step.parts catalog before creating simplified placeholder geometry, resolve fuzzy part names, standards, aliases, or dimensions, choose a matching part, fetch a canonical .step file, verify checksums, or use the step.parts API/OpenAPI/catalog endpoints for standard part discovery.
URDF robot description generation and default generation-time validation. Use when creating, editing, regenerating, inspecting, or debugging `.urdf` files, Python `gen_urdf()` sources, robot links, joints, limits, inertials, visual/collision geometry, mesh references, frame conventions, or generated robot-description artifacts. Use the SRDF skill for MoveIt2 semantic groups and IK/path-planning semantics; use the cad-viewer skill for local MoveIt2 server controls; use the CAD skill for STEP/STL/3MF/DXF/GLB outputs.
Gemini CLI one-shot prompts, summaries, generation, skills, hooks, MCP, or Gemma routing.
Fetch GitHub issues, select candidates, spawn background fix agents, open PRs, and optionally process PR review comments.
Create, edit, audit, tidy, validate, or restructure AgentSkills and SKILL.md files.
Search, install, update, sync, or publish agent skills with the ClawHub CLI and registry.
Delegate coding work to Codex, Claude Code, or OpenCode as background workers; not simple edits or read-only code lookup.
List, configure, authenticate, call, and inspect MCP servers/tools with mcporter over HTTP or stdio.