# Motion Planning Skill

Sampling-based and optimization-based motion planning algorithms.

## Purpose

Provides expert capabilities for implementing motion planning algorithms for both mobile robots and manipulators, including sampling-based and optimization-based approaches.

## Key Features

- OMPL planner configuration
- Hybrid A* for vehicles
- Trajectory optimization (TrajOpt, CHOMP)
- Kinodynamic planning
- Path smoothing
- Roadmap-based planning

## When to Use

- Selecting motion planning algorithms
- Configuring OMPL planners
- Implementing custom planning solutions
- Optimizing trajectories for constraints
- Building multi-query planners
