matlab-plan-robot-motion

From the author

Plan manipulator motion and generate trajectories in MATLAB. Use when the task involves moving a robot arm between configurations or poses — whether the user says "trajectory," "motion," "path," "move from A to B," or "plan." This skill applies regardless of whether the user explicitly mentions collisions or obstacles; if geometry exists in the workspace, collision safety is implicit. Triggers on: manipulatorRRT, manipulatorCHOMP, dlCHOMP, contopptraj, trapveltraj, collision-free path, motion planner, RRT, CHOMP, TOPPRA, path shortening, obstacle avoidance for manipulators, time-optimal trajectory, velocity limits, acceleration limits, occupancyMap3D, meshtsdf, collision objects as environment, trajectory between waypoints, joint interpolation, move between poses, constant velocity, trapezoidal profile, feed rate. Also triggers when a user has IK solutions or waypoints and needs to connect them — whether for time-optimal motion, constant-speed welding/cutting, or any other trajectory parameterization.