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 roadmap…