| name | motion-control |
| description | Executable robot-dog motion-control MVP for leg IK, gait phase generation,
trajectory contracts, controller parameters, and simulation/firmware handoff.
Use this skill when the user asks for FK/IK, inverse kinematics, gait
generator, trot/walk/bound trajectories, controller parameters, motion-control
code, or a trajectory to feed simulation, MuJoCo, or firmware.
|
motion-control
This skill turns robot-dog kinematics and gait intent into machine-readable
motion artifacts. The MVP implements deterministic 2-link sagittal IK and simple
phase-based gait trajectories. It is a file-contract layer, not a full MPC/WBC
controller.
When To Use
Use this skill for:
- Checking whether foot targets are reachable by the leg geometry.
- Generating initial trot/walk phase tables and joint trajectories.
- Producing
trajectory.json and controller_params.yaml for simulation or firmware.
- Reporting IK blockers before gait/dynamics validation.
Workflow
- Read
<project>/motion_plan.yaml.
- Solve IK targets against link lengths and joint limits.
- Generate a phase-based gait trajectory for the requested gait.
- Write reports and handoff files into
<project>/reports/ and <project>/control/.
Commands
python skills/motion-control/scripts/solve_ik.py skills/motion-control/examples/quadruped_mvp
python skills/motion-control/scripts/generate_gait.py skills/motion-control/examples/quadruped_mvp
Rules
- Keep MVP kinematics deterministic and conservative.
- Treat unreachable required foot targets or joint-limit violations as blockers.
- Keep output trajectory format compatible with simulation/viewer-style
trajectory.json.
- Do not claim this replaces full whole-body control, MPC, state estimation, or real-time firmware.
- Do not import sibling subskill code. Read files only.
References
references/input-contract.md for motion_plan.yaml fields.references/ik-model.md for MVP 2-link IK.references/gait-contract.md for phase and trajectory output.references/output-contract.md for report fields.references/examples.md for sample project layout.
