# Trajectory Guidance

> Trajectory guidance

- Skill: `sapientinc/trajectory-guidance` (Agent Skill, multi-file: 3 files)
- Install (CLI): `npx skillmds@latest add sapientinc/trajectory-guidance`
- Raw SKILL.md: https://api.skillmd.com/api/skills/sapientinc/trajectory-guidance/raw
- Safety review: pending
- Works with: Claude Code, Claude.ai, OpenAI Codex
- Category: Coding & Dev Tools
- Author: sapientinc (https://skillmd.com/u/sapientinc)
- Updated: 2026-09-22
- Page: https://skillmd.com/skills/sapientinc/trajectory-guidance

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# Trajectory guidance

Generate smooth position, velocity, and thrust-direction references; never
direct actuator commands. Explore warm-started low-frequency SCP/SOCP/QP-MPC
or improved reachability-aware analytic guidance with explicit thrust, tilt,
gimbal, glide-cone, and terminal constraints. On solver failure, fall back to
the energy safety cage. Report solver failure and worst latency if applicable.