# MoveIt Motion Planning Skill

> Deep expertise in MoveIt/MoveIt2 configuration and manipulation planning

- Skill: `majiayu000/moveit-motion-planning-skill` (Agent Skill, multi-file: 2 files)
- Install (CLI): `npx skillmds add majiayu000/moveit-motion-planning-skill`
- Raw SKILL.md: https://api.skillmd.com/api/skills/majiayu000/moveit-motion-planning-skill/raw
- Safety review: pending
- Works with: Claude Code, Claude.ai, OpenAI Codex
- Category: Coding & Dev Tools
- Author: majiayu000 (https://skillmd.com/u/majiayu000)
- Updated: 2026-09-09
- Page: https://skillmd.com/skills/majiayu000/moveit-motion-planning-skill

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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