Moveit planning

Skill a5c-ai/babysitter/library/specializations/robotics-simulation/skills/moveit-planning

Babysitter enforces obedience on agentic workforces and enables them to manage extremely complex tasks and workflows through deterministic, hallucination-free self-orchestration

Install

npx -y skills add a5c-ai/babysitter --skill moveit-planning

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What its author says it does

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Deep expertise in MoveIt/MoveIt2 configuration and manipulation planning

SKILL.md

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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