srdf 是做什麼的？
MoveIt2 SRDF 生成、驗證與規劃語義工作流程。用於創建、編輯、重新生成、檢查或驗證 .srdf 檔案、gen_srdf() 原始碼、MoveIt 規劃群組、虛擬關節、被動關節、末端執行器、群組狀態、停用碰撞、與 URDF 連結的規劃語義，或進行 SRDF 交接以供即時審查。使用 URDF 技能處理機器人結構，使用 SDF 技能處理模擬器描述，並使用 cad-viewer 技能進行渲染、即時審查連結以及可選的 MoveIt2 控制。
MoveIt2 SRDF 生成、驗證與規劃語義工作流程。用於創建、編輯、重新生成、檢查或驗證 `.srdf` 檔案、`gen_srdf()` 原始碼、MoveIt 規劃群組、虛擬關節、被動關節、末端執行器、群組狀態、停用碰撞、與 URDF 連結的規劃語義，或進行 SRDF 交接以供即時審查。使用 URDF 技能處理機器人結構，使用 SDF 技能處理模擬器描述，並使用 cad-viewer 技能進行渲染、即時審查連結以及可選的 MoveIt2 控制。
此技能專注於 MoveIt2 的 SRDF（語義機器人描述格式）生成、驗證與規劃語義工作流程。對於需要創建、編輯或驗證 `.srdf` 檔案及相關原始碼的開發者來說，它特別有用。此技能涵蓋了定義 MoveIt 規劃群組、虛擬關節、被動關節、末端執行器、群組狀態以及停用碰撞等關鍵功能。它與 URDF 技能（處理機器人結構）和 SDF 技能（處理模擬器描述）互相配合，並可與 cad-viewer 技能整合，以進行機器人渲染、即時審查連結和可選的 MoveIt2 控制。通過提供一個統一的流程來管理這些元素，此技能簡化了規劃場景的設定、修改和除錯。
npx skills add https://github.com/earthtojake/text-to-cad/tree/main/skills/srdfInstalled? Explore more 生產力與協作 skills: steipete/gemini, steipete/gh-issues, steipete/skill-creator · View all 6 →
MoveIt2 SRDF 生成、驗證與規劃語義工作流程。用於創建、編輯、重新生成、檢查或驗證 .srdf 檔案、gen_srdf() 原始碼、MoveIt 規劃群組、虛擬關節、被動關節、末端執行器、群組狀態、停用碰撞、與 URDF 連結的規劃語義，或進行 SRDF 交接以供即時審查。使用 URDF 技能處理機器人結構，使用 SDF 技能處理模擬器描述，並使用 cad-viewer 技能進行渲染、即時審查連結以及可選的 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.