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rskill-moveit-joints

Plan and execute collision-free joint-space motion via MoveIt's MoveGroup action server.

Updated Jul 5, 2026
Search Tags:#robotics#moveit#OpenRAL#joint space motion#robot arm control
One-click install
npx skills add https://github.com/bensonlee5/openral --skill rskill-moveit-joints
Or copy as Structured Prompt for Agent▼
Please help me install this Agent Skill.
Skill: rskill-moveit-joints
Source: https://github.com/bensonlee5/openral/tree/main/rskills/rskill-moveit-joints
Command: npx skills add https://github.com/bensonlee5/openral --skill rskill-moveit-joints

SYSTEM DOCUMENTATION & REQUIREMENTS

💡 This Skill requires moveit2, ros-${ROS_DISTRO}-moveit-resources-panda-moveit-config, and includes scripts (resource) and references (resource) components.

What problem does it solve?

This Skill automates collision-free robot joint space motion planning using MoveIt's MoveGroup, streamlining the process of robot motion for various jointed robot arms.

Core Features & Use Cases

  • Collision-Free Motion Planning: Plans and executes robot joint-space motion to a target configuration.
  • MoveIt Integration: Wraps the MoveIt's MoveGroup action server for robot arm control.
  • Embodiment Support: Supports Franka Panda, UR5e, UR10e, SO-100 follower, OpenArm, Rizon4, Sawyer, WidowX, and more.
  • Use Case: Imagine you have a robot that needs to reach a specific joint configuration. Use this Skill to plan and execute the motion without manual intervention.

Quick Start

Dispatch the motion to the Franka Panda's home pose using the skill 'OpenRAL/rskill-moveit-joints'.

Frequently Asked Questions about rskill-moveit-joints

High-intent search queries and answers about installing and using this skill.

FAQPage Schema
How do I automate collision-free joint space motion planning for a robot arm using MoveIt?▼

You can automate collision-free joint space motion planning by wrapping MoveIt's MoveGroup action server. This allows you to plan and execute robot joint motion to specific target configurations without manual intervention.

What robot arms are supported for joint space motion via MoveGroup?▼

Supported robot embodiments include Franka Panda, UR5e, UR10e, SO-100 follower, OpenArm, Rizon4, Sawyer, and WidowX. Relevant robot configurations are required for operation.

Do I need MoveIt 2 to execute joint space motion planning for my robot?▼

Yes, MoveIt 2 and relevant robot configurations like ros-${ROS_DISTRO}-moveit-resources-panda-moveit-config are required dependencies. The framework wraps the MoveGroup action server for operation.

How do I dispatch a robot arm to its home pose in joint space?▼

You dispatch the motion to the robot's home pose by sending the target configuration to the MoveGroup action server. The framework handles the collision-free planning and execution automatically.

Can I use this joint space motion approach for multiple different robot embodiments?▼

Yes, the approach supports multiple robot embodiments including Franka Panda, UR5e, UR10e, and others. It provides collision-free motion planning via the OpenRAL rSkill framework.

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