Robot Motion

Use this skill after a robot URDF exists and the task needs local motion behavior: IK, path planning, MoveIt configuration, websocket motion-server debugging, or ROS dependency setup. Any valid repo-local .urdf can be used when gen_motion() names links, joints, frames, and end effectors that exist in that file.

Workflow

1. Start from an existing valid .urdf.
2. Generate motion artifacts from a Python source with zero-arg gen_motion() using scripts/gen_motion_artifacts/cli.py.
3. Verify the local motion environment with scripts/check-motion-server.sh when it may already exist; run scripts/setup.sh only when dependencies are missing or stale.
4. Run the websocket motion server with scripts/run-motion-server.sh.
5. Test protocol, artifact generation, and provider logic before handing off motion behavior.
6. For CAD Explorer handoff of motion-enabled .urdf entries, defer to the CAD skill and keep motion-specific metadata here.

CAD Explorer Handoff

Read .agents/skills/cad/SKILL.md, then only load its references/rendering-and-explorer.md when a task needs an Explorer URL. If unavailable, use cad-skill. Do not duplicate Explorer startup or URL syntax in this skill. Link the repo-local .urdf when motion artifacts or URDF targets were generated or changed, or when the user asks for browser review. Keep motion-specific Explorer metadata and motion-server behavior here.

Commands