text-to-cad cover with blue lettering and a planetary gear CAD assembly.
Project screenshotsAbout this Skill
Define planning semantics on top of a valid URDF. Extract the real link/joint table before authoring SRDF XML, record the planning task and derive disabled collisions from evidence. Validation cross-checks topology and state limits; MoveIt smoke testing is reported separately.
Why we picked it
Useful when planning configuration drifts from robot structure: all names and states are checked against the paired URDF.
What it helps with
- Configure a manipulator or gripper planning group for a known robot in MoveIt.
How to use this Skill
Extract the URDF topology
Validate the URDF and copy its actual robot, link and joint names into the planning ledger.
Define the planning semantics
Set groups, end effectors and named states; use radians and metres and justify each disabled collision pair.
Cross-validate and test
Keep the SRDF beside its matching URDF, run cadgen srdf validate, and run MoveIt smoke checks when available.
Try a first task
Send a concrete brief
Provide the real input files and replace example dimensions or machine details with your own.
Using this validated URDF, create an SRDF for the arm and gripper. Derive group names from the joint table, use radians for named states, and justify the disabled collisions.
Install the shared library
Use the official text-to-cad plugin for your agent, or install the complete Skill folders with the Skills CLI below. Choose one route in each app, then restart it. The plugin includes a CAD server; Skills-only installations use a browser viewer. Keep the bundled references and scripts with each entrypoint.
| Command | What it helps with |
|---|---|
npx skills add earthtojake/text-to-cad#latest | Install the released Skill library; the CLI asks which agents and installation scope to use. |
Scope and limits
SRDF does not define robot geometry or prove collision-safe planning. Actual MoveIt checks depend on the target environment.
Before you use it
- Needs the pinned cadgen runtime and a valid, uniquely matching URDF in the same folder. A MoveIt environment is needed to test actual planning.
Supported agents
Frequently asked questions
Do I install this as a separate product?
This is one task in the shared text-to-cad library. Use the official plugin or the complete Skill installation, then select this workflow for the task.
Is the Skill free?
The upstream code is MIT-licensed. Your agent provider, hardware, materials and any fabrication service can have separate costs.
Sources & references
Original sources are linked below. Practical starting points are editorial suggestions from SkillHey.
