AgentSkillsCN

MoveIt Motion Planning Skill

深度精通 MoveIt/MoveIt2 的配置与操作规划

SKILL.md
--- frontmatter
name: MoveIt Motion Planning Skill
description: Deep expertise in MoveIt/MoveIt2 configuration and manipulation planning
slug: moveit-planning
category: Motion Planning
allowed-tools:
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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