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