# Cad Explorer

> Start or reuse the CAD Explorer GUI and return review links for explicit CAD and robot-description files. Use when rendering or visually reviewing `.step`, `.stp`, `.stl`, `.3mf`, `.dxf`, `.urdf`, `.srdf`, or `.sdf` files, especially when handed off from CAD, URDF, SRDF, or SDF generation skills.

- Skill: `tuyv/cad-explorer` (Agent Skill, multi-file: 4 files)
- Install (CLI): `npx skillmds@latest add tuyv/cad-explorer`
- Raw SKILL.md: https://api.skillmd.com/api/skills/tuyv/cad-explorer/raw
- Safety review: pending
- Works with: Claude Code, Claude.ai, OpenAI Codex
- Category: Coding & Dev Tools
- Author: tuyv (https://skillmd.com/u/tuyv)
- Updated: 2026-09-17
- Page: https://skillmd.com/skills/tuyv/cad-explorer

---


# CAD Explorer

Use this skill to open generated or modified CAD and robot-description files in CAD Explorer. The expected input is one or more explicit file paths that already exist or were just generated by another skill.

Supported files: `.step`, `.stp`, `.stl`, `.3mf`, `.dxf`, `.urdf`, `.srdf`, `.sdf`.

## Handoff Contract

- Accept explicit file paths from CAD, URDF, SRDF, or SDF workflows.
- Start or reuse CAD Explorer with `dev:ensure`; do not assume a fixed port.
- Return the printed Explorer URL for each requested file.
- If startup fails, report the failure and let the owning skill continue with its non-GUI validation.

## Commands

From this skill directory:

```bash
npm --prefix scripts/explorer run dev:ensure -- --file path/to/model.step
```

When the workspace root is known, pass it explicitly:

```bash
npm --prefix scripts/explorer run dev:ensure -- \
  --workspace-root /path/to/workspace \
  --file path/to/model.step
```

Use foreground Vite only for manual Explorer development:

```bash
npm --prefix scripts/explorer run dev
```

`dev:ensure` probes existing local CAD Explorer servers, reuses one with a matching scan root, or starts a detached Vite server on the first available port. Use the URL it prints.

## MoveIt2 Controls

For SRDF Explorer reviews, start the MoveIt2 server only when the user needs interactive IK or path-planning controls. SRDF generation and plain Explorer links do not require it.

From this skill directory:

```bash
scripts/moveit2_server/setup.sh
scripts/moveit2_server/check-moveit2-server.sh
scripts/moveit2_server/run-moveit2-server.sh
```

The server defaults to `ws://127.0.0.1:8765/ws`. CAD Explorer connects to that URL in local dev unless `EXPLORER_MOVEIT2_WS_URL` or the browser `?moveit2Ws=` query override is set.

For protocol and reporting details, read `references/moveit2-server.md`.

Useful Explorer environment variables:

```text
EXPLORER_PORT
EXPLORER_PORT_END
EXPLORER_ROOT_DIR
EXPLORER_DEFAULT_FILE
EXPLORER_WORKSPACE_ROOT
EXPLORER_GITHUB_URL
EXPLORER_MOVEIT2_WS_URL
```

Keep GUI work lightweight: start the server only when a link/review is needed, prefer `dev:ensure` for agent workflows, and do not stop an existing Explorer server unless the user asks.