Motion Planning Skill

SkillDev tools

Sampling-based and optimization-based motion planning algorithms

Instructions available. Your AI can read the instructions. Execution depends on the setup they require.

Account requirements not reviewed. Check the skill instructions before use; ahel provides instructions and does not run this skill.

Add ahel to your AI once: Claude, ChatGPT, Cursor, Claude Code or Codex. Then ask it to use this.

Then ask your AI: use the Motion Planning Skill skill

What this skill tells your AI

The instructions your AI receives, as published by a5c-ai/babysitter in library/specializations/robotics-simulation/skills/motion-planning/SKILL.md and read by ahel’s review.

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

Signals

GitHub stars: 2k
Forks: 112
Last commit: Sep 2026

Advanced

Item type: skill
Key: motion-planning-skill
Source: github.com/a5c-ai/babysitter

github.com/a5c-ai/babysitter