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Agent skill

Srdf

by autonomous-ai in autonomous-ai/openharness

MoveIt2 SRDF authoring, validation, and planning-semantics workflow.

MITAuto-check passedGame Development

Install Srdf

skills CLI
$ npx skills add autonomous-ai/openharness --skill srdf -a claude-code

Project install by default; add -g for ~/.claude/skills/.

GitHub CLI
$ gh skill install autonomous-ai/openharness srdf --agent claude-code

Project scope by default; add --scope user for a personal install. Needs GitHub CLI 2.90.0 or later (public preview).

Manual copy
$ git clone --depth 1 https://github.com/autonomous-ai/openharness.git skills-src && mkdir -p .claude/skills && cp -r skills-src/store/agents/text-to-cad/skills/srdf .claude/skills/srdf && rm -rf skills-src

Use ~/.claude/skills/ instead of .claude/skills for a personal install. The folder must contain SKILL.md.

Claude Code skills documentation · loads skills from .claude/skills/

Facts

Skill name
srdf
GitHub stars
1.2k
Token cost
~2.3k tokens
SKILL.md length
1,232 words
Files
10 (incl. references)
Skills in repo
100
Repo updated
First seen
Licence
MIT

At a glance

MoveIt2 SRDF authoring, validation, and planning-semantics workflow.

  • Works in 12 steps: Start from a valid URDF. Author or fix… → Extract the URDF table. Before writing… → Identify the planning task. Record… → …
  • Validating .srdf files
  • SKILL.md covers Setup, Format boundary, CAD Viewer Handoff and Required workflow, plus 4 more sections
  • Calls python and git

What it does

Srdf is an agent skill from autonomous-ai/openharness. MoveIt2 SRDF authoring, validation, and planning-semantics workflow. Use when creating, editing, inspecting, or validating .srdf files, MoveIt planning groups, virtual joints, passive joints, end effectors, group states, disabled collisions, URDF-paired planning semantics, or SRDF handoff for live review. Use the URDF skill for robot structure, the SDF skill for simulator descriptions, and the cad-viewer skill for rendering and live review links.

Its SKILL.md is about 2.3k tokens, which your agent loads only when the skill is triggered. The skill folder holds 11 other files, including reference files (for example `agents/openai.yaml`, `references/authoring-contract.md` and `references/disabled-collisions.md`).

It sits in Game Development, covering 3D graphics and WebGL. The repository describes itself as: The ultimate harness for coding agents and beyond. All your agents. All your machines. One command center. Start with code, then follow your curiosity and build across… The licence is MIT.

When your agent uses it

  • Validating .srdf files
  • MoveIt planning groups
  • Disabled collisions
  • URDF-paired planning semantics

Example prompts

  • “/srdf”

Requirements

  • Python 3

Workflow steps

12 steps, taken from the first numbered list in SKILL.md.

  1. Start from a valid URDF. Author or fix the URDF first with $urdf and validate it. The SRDF pairs with that URDF by colocation and robot…
  2. Extract the URDF table. Before writing any SRDF XML, list the URDF's robot name, links, joints (with type, parent, child, limits, mimic…
  3. Identify the planning task. Record whether the goal is arm IK, gripper control, mobile base planning, dual-arm planning, tool use, or…
  4. Create or update the planning ledger. Use references/planning-ledger.md before writing XML; keep a compact copy as a comment block in the…
  5. Pair with the URDF by colocation. Save the .srdf in the same folder as its .urdf, with the same — that is the only linking mechanism. The…
  6. Define virtual and passive joints deliberately. Use them when needed by the robot model.
  7. Define planning groups from URDF topology. Prefer chain groups for serial manipulators when base/tip form a real parent-to-child path in…
  8. Define end effectors after group membership is known. Avoid overlap between an end-effector group and its parent group. Record the actual…
  9. Define group states in URDF-native units. Revolute and continuous values are radians; prismatic values are meters. Do not store degrees in…
  10. Generate disabled collisions from evidence. Use adjacency derived from the URDF joint table, MoveIt Setup Assistant sampling, or explicit…
  11. Validate every created or modified .srdf with cadgen srdf validate; it cross-validates all names, chains, states, and pairs against the…
  12. Run MoveIt smoke tests when available. Use MoveIt Setup Assistant or a project MoveIt launch directly.

What it can do on your machine

Read from SKILL.md and the folder at commit cc4983e. It shows what the files ask for, not the result of running them.

  • Tool permissions

    Pre-approves nothing: there is no allowed-tools line, so your agent's usual permission prompts apply.

    From allowed-tools in the SKILL.md frontmatter.

  • Runs code

    Shell commands in SKILL.md call:

    • python
    • git

    From the folder's file list and the shell code blocks in SKILL.md.

  • Network

    Links to these hosts (documentation or services it may open):

    • github.com

    From URLs in SKILL.md, links to its own repository left out.

  • Credentials

    Names no API keys, tokens, secrets or passwords.

    From names ending in _API_KEY, _TOKEN, _SECRET, _KEY or _PASSWORD in SKILL.md.

Context cost

Srdf loads about 2.3k tokens when it runs, and up to ~6.8k if it reads all its reference files. Until then it costs about 114 tokens; SKILL.md has 1,232 words of instructions outside code blocks.

Always · name and description, kept in context so the agent knows when to use it
~114
When it runs · the whole SKILL.md, loaded when a task matches
~2.3k
With references · SKILL.md plus every file in references/, read only if the agent opens them
~6.8k

Estimates: characters ÷ 4, the usual rule of thumb; real counts depend on the model's tokenizer. Scripts and assets cost tokens only if the agent reads them.

Safety

Auto-check passed

The automated check found no risky patterns in SKILL.md.

Automated static check — not a guarantee. Review scripts before installing. It scans the text of SKILL.md for risky patterns (piping downloads into a shell, reading credential files, hidden Unicode, destructive commands); files beside SKILL.md are not scanned.

SKILL.md

The full file from autonomous-ai/openharness at commit cc4983e, republished under its MIT licence (© autonomous-ai). 1,232 words, ~2,349 tokens.

Download SKILL.mdSave it as .claude/skills/srdf/SKILL.md (or your agent's skills folder). This skill also uses 9 other files; get the full folder from GitHub.
name
srdf
description
MoveIt2 SRDF authoring, validation, and planning-semantics workflow. Use when creating, editing, inspecting, or validating `.srdf` files, MoveIt planning groups, virtual joints, passive joints, end effectors, group states, disabled collisions, URDF-paired planning semantics, or SRDF handoff for live review. Use the URDF skill for robot structure, the SDF skill for simulator descriptions, and the cad-viewer skill for rendering and live review links.

SRDF

Provenance: maintained in earthtojake/text-to-cad. Use the installed local skill files as the runtime source of truth; the repository link is only for provenance and release review.

Use this skill for MoveIt semantic robot descriptions on top of an existing valid URDF. SRDF defines planning semantics; it does not define physical robot structure. The .srdf file is the source of truth: author and edit the XML directly. There is no gen_srdf() contract.

SRDF correctness is a planning semantics problem. The common failure is not invalid XML; it is a plausible SRDF that gives MoveIt the wrong planning group, wrong tool link, wrong default state, unsafe disabled-collision matrix, or wrong joint units. Because language models are weak at spatial and kinematic reasoning, derive planning groups, end effectors, group states, and disabled collisions from the URDF topology, MoveIt Setup Assistant output, sampled collision analysis, or explicit user data. Do not infer them from visual theme alone — and do not type any link or joint name from memory: extract the URDF's link/joint table first and copy names from it.

Setup

This skill's commands are thin entrypoints over the cadgen distribution, which carries the Python build runtime and the JavaScript it executes. Install it once:

bash
python -m pip install -r requirements.txt

Rendering additionally needs a browser, which pip cannot supply:

bash
python -m playwright install chromium

Format boundary

  • URDF owns physical robot structure: links, joints, geometry, inertials, limits, mimic joints, transmissions, and robot-state publishing.
  • SRDF owns MoveIt semantics: virtual joints, passive joints, planning groups, group states, end effectors, and disabled collision pairs.
  • SDF owns simulator/world semantics: physics, sensors, lights, plugins, worlds, and simulation-specific metadata.

Do not place geometry, inertials, joint origins, link poses, mesh references, physical joint limits, transmissions, or ros2_control interfaces in SRDF.

CAD Viewer Handoff

After completing SRDF work that creates or modifies a .srdf, you must ALWAYS hand the explicit file path to $cad-viewer when that skill is installed. $cad-viewer must start CAD Viewer if it is not already running and return link(s) to the relevant created or updated file(s). If $cad-viewer is unavailable or startup fails, report that instead of silently omitting the handoff.

Required workflow

  1. Start from a valid URDF. Author or fix the URDF first with $urdf and validate it. The SRDF pairs with that URDF by colocation and robot name, and every name in the SRDF must exist in it.
  2. Extract the URDF table. Before writing any SRDF XML, list the URDF's robot name, links, joints (with type, parent, child, limits, mimic flags). Copy names from this table only; never type them from memory. See references/srdf-workflow.md.
  3. Identify the planning task. Record whether the goal is arm IK, gripper control, mobile base planning, dual-arm planning, tool use, or local smoke testing.
  4. Create or update the planning ledger. Use references/planning-ledger.md before writing XML; keep a compact copy as a comment block in the .srdf.
  5. Pair with the URDF by colocation. Save the .srdf in the same folder as its .urdf, with the same <robot name> — that is the only linking mechanism. The validator and the viewer both resolve the pairing by scanning the folder for the URDF whose robot name matches; exactly one URDF per robot name per folder. No metadata element links the files. See references/authoring-contract.md.
  6. Define virtual and passive joints deliberately. Use them when needed by the robot model.
  7. Define planning groups from URDF topology. Prefer chain groups for serial manipulators when base/tip form a real parent-to-child path in the URDF tree (the validator verifies this). Use joint/link/subgroup definitions only when they are deliberate.
  8. Define end effectors after group membership is known. Avoid overlap between an end-effector group and its parent group. Record the actual target/TCP link.
  9. Define group states in URDF-native units. Revolute and continuous values are radians; prismatic values are meters. Do not store degrees in SRDF. Values must lie within URDF limits and must not set fixed or mimic joints.
  10. Generate disabled collisions from evidence. Use adjacency derived from the URDF joint table, MoveIt Setup Assistant sampling, or explicit user-provided collision matrices. Do not invent broad disable lists. See references/disabled-collisions.md.
  11. Validate every created or modified .srdf with cadgen srdf validate; it cross-validates all names, chains, states, and pairs against the paired URDF. Fix findings and re-validate until clean.
  12. Run MoveIt smoke tests when available. Use MoveIt Setup Assistant or a project MoveIt launch directly.
  13. Report assumptions and skipped checks. Include incomplete validation, missing MoveIt environment, manually reasoned collision disables, and inferred target links.
Show full SKILL.md (492 more words)Show less

Commands

Run with the Python environment for the project or workspace. Treat python in examples as an interpreter placeholder; if bare python is unavailable, substitute python3, a project virtualenv interpreter, or the configured interpreter path. The validator uses only the Python standard library.

The validator shape is:

bash
cadgen srdf validate path/to/robot.srdf
cadgen srdf validate path/to/robot.srdf --strict
cadgen srdf validate path/to/robot.srdf --json

The validator collects all findings in one pass (severity, code, XML path). It parses the SRDF, resolves the paired URDF (the same-folder .urdf whose robot name matches; none or several is an error), and cross-validates: group/joint/link/subgroup name existence, chain path resolvability, subgroup cycles, virtual/passive joints, end-effector topology, group-state membership/limits/completeness, disabled-collision pairs (including Adjacent-reason truthfulness), and misspelled elements. One run validates ONE file: --strict treats warnings as failures and --json emits the machine-readable findings document. It exits nonzero if the target fails. Relative targets resolve from the current working directory.

Hard rules

  • The SRDF lives in the same folder as its URDF and shares its <robot name>; that colocation-plus-name match is the only pairing mechanism, and exactly one URDF per robot name may exist in the folder.
  • Every link, joint, group, and subgroup name must come from the URDF table or a group defined in the same file.
  • Group states use URDF-native units: radians for revolute/continuous, meters for prismatic.
  • Disabled collision pairs require truthful reasons and provenance.
  • End-effector groups should not share links with their parent planning group.
  • Visual rendering review is useful but cannot prove planning correctness.

Snapshot Tool

cadgen snapshot renders the robot to a PNG still, using the same shared CLI and headless browser runtime every rendering skill uses — so a snapshot matches what the CAD Viewer shows.

bash
cadgen snapshot path/to/robot.srdf review.png

Hand it the .srdf; it routes by suffix and renders the paired URDF's geometry. Pose the robot with --joint-values — {joint: degrees} JSON, joints you do not name staying at the rest pose (the "jointValues" job field is the same thing in a packet). Robots are authored in metres and are framed on the robot scene scale automatically.

Theme settings live under one --theme, mirroring the viewer's Theme tab. The default theme is snapshot — Workbench Light with the ground grid, origin axis and shadows removed, because in a still image those read as geometry. Leave --display off: display settings (mode, clip, exploded, edges) are CAD topology settings, and a robot carries none.

Link meshes are resolved relative to the description, so they must be present: an unhydrated Git LFS pointer fails as "No link mesh loaded for robot". Run git lfs checkout <mesh dir> first.

An SRDF's geometry comes from the URDF beside it, so it has no snapshot door of its own; the polymorphic cadgen snapshot routes one by suffix. The grammar is cadgen snapshot TARGET [OUT] [flags], the same one every format door uses. Use cadgen snapshot --help for the complete current interface.

References

  • Authoring contract (structure, URDF pairing, golden skeleton): references/authoring-contract.md
  • SRDF workflow (URDF table extraction, edit loop): references/srdf-workflow.md
  • Planning ledger: references/planning-ledger.md
  • Validation and verification recipe: references/validation.md
  • End effectors: references/end-effectors.md
  • Disabled collisions: references/disabled-collisions.md

© autonomous-ai, MIT. Rendered from Markdown: HTML in the file is shown as text, images as links, and headings moved down two levels. Raw file

Files

SKILL.md and 9 other files (references) in store/agents/text-to-cad/skills/srdf of autonomous-ai/openharness.

  • SKILL.md
  • LICENSE
  • agents/openai.yaml
  • references/authoring-contract.md
  • references/disabled-collisions.md
  • references/end-effectors.md
  • references/planning-ledger.md
  • references/srdf-workflow.md
  • references/validation.md
  • requirements.txt

Open the folder on GitHubat commit cc4983e

Compare with similar skills

Srdf next to the 5 skills that share the most tags, products or categories with it. Stars are the repository's; “used in” counts other GitHub owners with a copy.

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Web CloneJane-xiaoer/claude-skill-web-clone1k1 repos~2.7kAutomated safety check: PassMIT
Threejs Game Directormajidmanzarpour/threejs-game-skills2.5k—~2.2kAutomated safety check: PassMIT
Game Asset Generatorhtdt/godogen7.1k—~2.8kAutomated safety check: PassMIT
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Categories

Questions about Srdf

What does Srdf do?

MoveIt2 SRDF authoring, validation, and planning-semantics workflow. Srdf is an agent skill from autonomous-ai/openharness. MoveIt2 SRDF authoring, validation, and planning-semantics workflow.

When should I use Srdf?

Srdf fits situations like: validating .srdf files; moveIt planning groups; disabled collisions; URDF-paired planning semantics.

How do I install Srdf in Claude Code?

Run `npx skills add autonomous-ai/openharness --skill srdf -a claude-code`. Or copy the skill folder (store/agents/text-to-cad/skills/srdf in autonomous-ai/openharness) into .claude/skills/srdf in your project. Claude Code loads it when a task matches its description.

How do I install Srdf in Codex?

Run `npx skills add autonomous-ai/openharness --skill srdf -a codex`. Or copy the skill folder (store/agents/text-to-cad/skills/srdf in autonomous-ai/openharness) into .agents/skills/srdf in your project. Codex loads it when a task matches its description.

Can I use Srdf in Cursor, Gemini CLI or GitHub Copilot?

Cursor, Gemini CLI, GitHub Copilot and OpenCode also load SKILL.md folders. With the skills CLI, run `npx skills add autonomous-ai/openharness --skill srdf -a cursor` (or -a gemini-cli, github-copilot or opencode for the others). To copy it by hand, put the folder in .cursor/skills/srdf, .gemini/skills/srdf, .github/skills/srdf and .opencode/skills/srdf in your project.

What does Srdf need to run?

Going by SKILL.md and its folder, Srdf needs the command-line tools its instructions call (python and git). Our summary lists: Python 3.

Does Srdf access the network?

SKILL.md names 1 domain. As links in the text: github.com. This is read from the text; nothing was executed.

Is Srdf safe to install?

Our automated static check of SKILL.md found no risky patterns, such as piping downloads into a shell, reading credential files or hidden Unicode. It is not a guarantee. Review the folder before installing.

What licence does Srdf use?

Srdf is published under the MIT licence (from the LICENSE file in the skill folder). It allows redistribution, so the full SKILL.md is shown on this page.

How many tokens does Srdf use?

About 2.3k tokens (SKILL.md is roughly 9.4k characters). Agents keep only the skill's name and description in context until a task matches; then they load SKILL.md in full. Its references folder adds about 4.5k tokens, read only when the agent opens those files.

What are the alternatives to Srdf?

Skills that share tags, products or a category with Srdf: Image to Three.js Model (img2threejs/img2threejs, 18k stars), Web Clone (Jane-xiaoer/claude-skill-web-clone, 1k stars), Threejs Game Director (majidmanzarpour/threejs-game-skills, 2.5k stars) and Game Asset Generator (htdt/godogen, 7.1k stars). The comparison table on this page puts their stars, adoption, token cost, safety result and licence side by side.

Who maintains Srdf?

autonomous-ai (a GitHub organization) maintains it in autonomous-ai/openharness, which has 1,210 GitHub stars. The repository holds 100 skills in this directory. The repository was last updated on October 10, 2026.

Source: autonomous-ai/openharness on GitHub. Facts on this page come from the repository at the commit we read; the author's words are quoted as theirs.