MoveIt Motion Planning Skill

Deep expertise in MoveIt/MoveIt2 configuration and manipulation planning

509 stars

Best use case

MoveIt Motion Planning Skill is best used when you need a repeatable AI agent workflow instead of a one-off prompt.

Deep expertise in MoveIt/MoveIt2 configuration and manipulation planning

Teams using MoveIt Motion Planning Skill should expect a more consistent output, faster repeated execution, less prompt rewriting.

When to use this skill

You want a reusable workflow that can be run more than once with consistent structure.

When not to use this skill

You only need a quick one-off answer and do not need a reusable workflow.
You cannot install or maintain the underlying files, dependencies, or repository context.

Installation

Claude Code / Cursor / Codex

$curl -o ~/.claude/skills/moveit-planning/SKILL.md --create-dirs "https://raw.githubusercontent.com/a5c-ai/babysitter/main/library/specializations/robotics-simulation/skills/moveit-planning/SKILL.md"

Manual Installation

Download SKILL.md from GitHub
Place it in .claude/skills/moveit-planning/SKILL.md inside your project
Restart your AI agent — it will auto-discover the skill

How MoveIt Motion Planning Skill Compares

Feature / Agent	MoveIt Motion Planning Skill	Standard Approach
Platform Support	Not specified	Limited / Varies
Context Awareness	High	Baseline
Installation Complexity	Unknown	N/A

Frequently Asked Questions

What does this skill do?

Deep expertise in MoveIt/MoveIt2 configuration and manipulation planning

Where can I find the source code?

You can find the source code on GitHub using the link provided at the top of the page.

SKILL.md Source

# 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

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