moveit-motion-planning-skill

# MoveIt Motion Planning Skill ## Overview Expert skill for configuring and optimizing MoveIt/MoveIt2 for robotic manipulation, including kinematics solvers, motion planners, and grasp planning pipelines. ## Capabilities - Generate MoveIt configuration packages with Setup Assistant - Configure kinematics solvers (KDL, IKFast, TracIK, BioIK) - Set up SRDF files with planning groups and end effectors - Configure OMPL planners (RRT, RRT*, PRM, BiTRRT) - Implement grasp planning and pick-place pipelines - Configure collision checking (FCL, Bullet) - Set up planning scene and octomap integration - Implement motion planning adapters and post-processing - Configure trajectory execution and monitoring - Debug IK failures and planning issues ## Target Processes - moveit-manipulation-planning.js - trajectory-optimization.js - robot-system-design.js ## Dependencies - MoveIt/MoveIt2 - OMPL (Open Motion Planning Library) - IK solvers (KDL, IKFast, TracIK) - FCL (Flexible Collision Library) ## Usage Context This skill is invoked when processes require manipulation planning, arm motion planning, pick-and-place operations, or any task involving MoveIt configuration and optimization. ## Output Artifacts - MoveIt configuration packages - SRDF robot semantic descriptions - OMPL planner configurations - Kinematics solver configurations - Planning scene configurations - Trajectory execution parameters