MoveIt Motion Planning Skill Overview Expert skill for configuring and optimizing MoveIt/MoveIt2 for robotic manipulation, including kinematics solvers, motion planners, and grasp planning pipelines. Capabilities - Generate MoveIt configuration packages with Setup Assistant - Configure kinematics solvers (KDL, IKFast, TracIK, BioIK) - Set up SRDF files with planning groups and end effectors - Configure OMPL planners (RRT, RRT , PRM, BiTRRT) - Implement grasp planning and pick-place pipelines - Configure collision checking (FCL, Bullet) - Set up planning scene and octomap integration - Impleme…