MoveIt Motion Planning Skill
Deep expertise in MoveIt/MoveIt2 configuration and manipulation planning
它会碰到什么
扫了多少2 个文本文件，3 KB
它会碰到什么不碰外部（只输出文字）
命中总数0 处
命中统计严重 0 · 高 0 · 中 0 · 低 0
这一栏是扫描器报的事实，不是结论。命中多不等于有毒（安全工具、规则库、示例脚本本来就会包含危险写法），命中少也不等于干净。它和你手上的凭据、文件、网络有什么关系，需要你自己看。
技能内容
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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该仓技能数2115
原文件路径
library/specializations/robotics-simulation/skills/moveit-planning/SKILL.md