# MoveIt Motion Planning Skill

Deep expertise in MoveIt/MoveIt2 configuration and manipulation planning.

## Purpose

Provides comprehensive capabilities for configuring MoveIt motion planning framework, including kinematics solvers, collision checking, and trajectory planning for robotic manipulators.

## Key Features

- MoveIt configuration package generation
- Kinematics solver setup and tuning
- OMPL planner configuration
- Planning scene management
- Grasp planning integration
- Trajectory execution monitoring

## When to Use

- Setting up new robot arms in MoveIt
- Configuring manipulation planning pipelines
- Implementing pick-and-place operations
- Debugging inverse kinematics issues
- Optimizing motion planning performance
