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Motion Planning Skill

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Sampling-based and optimization-based motion planning algorithms

QUICK START

How to use this skill

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  1. Open your project in Codex.
  2. Copy the prompt below and paste it into your agent.
  3. Review the proposed files and risks before you approve installation.
Prompt to paste
I want to install this Agent Skill for this project in Codex.

Source SKILL.md: https://github.com/a5c-ai/babysitter/blob/HEAD/library/specializations/robotics-simulation/skills/motion-planning/SKILL.md

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First, summarize what it does, its dependencies, license status if identifiable, and any risks. Show the exact files you propose to add under .agents/skills/motion-planning-skill/. Do not write files or run scripts until I approve.

After I approve, install the complete skill folder, including required referenced files, into that project location. Verify it is discoverable, then tell me its actual invocation name and how to use it. Do not claim it is installed until you have verified it.

Copying this prompt does not install or run the skill. Review third-party files before use. Codex skill guide

Motion Planning Skill

Overview

Expert skill for implementing and configuring motion planning algorithms, including sampling-based planners (OMPL) and optimization-based trajectory planners.

Capabilities

  • Configure OMPL planners (RRT, RRT*, RRT-Connect, PRM, FMT*)
  • Implement hybrid A* for car-like robots
  • Set up lattice-based planners
  • Configure trajectory optimization (TrajOpt, CHOMP, STOMP)
  • Implement time-optimal trajectory planning
  • Set up path smoothing algorithms
  • Configure state space and validity checking
  • Implement kinodynamic planning
  • Set up multi-query planning with roadmaps
  • Configure asymptotically optimal planners

Target Processes

  • path-planning-algorithm.js
  • trajectory-optimization.js
  • moveit-manipulation-planning.js
  • nav2-navigation-setup.js

Dependencies

  • OMPL (Open Motion Planning Library)
  • MoveIt
  • TrajOpt
  • FCL (Flexible Collision Library)

Usage Context

This skill is invoked when processes require path planning algorithm selection, trajectory optimization, or custom motion planning solutions.

Output Artifacts

  • OMPL planner configurations
  • State space definitions
  • Validity checker implementations
  • Trajectory optimization setups
  • Path smoothing configurations
  • Planning benchmark results