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