Motion Generation

Purpose

Build obstacle-aware arm and mobile-base motion with the motion_generation controller substrate; cuMotion with RMPflow is the reference arm implementation.

Skill selection and invocation

For obstacle-aware arm demos, invoke motion-generation as the primary skill before scene implementation. A requested video does not make the orchestrator the primary skill. Use manipulation-ik for supporting grasp/contact checks and isaac-sim-remote for live execution.

When the agent runtime exposes a native skill invocation tool (for example, Claude's Skill tool), use it to invoke this skill and the needed supporting skills. Reading their files with shell commands is supplemental reference access, not a substitute for that invocation. On runtimes without such a tool, load the canonical SKILL.md through the supported discovery mechanism and report that native invocation tracing is unavailable; do not fabricate it.