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