motion-controllisted

# 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 1. Read `<project>/motion_plan.yaml`. 2. Solve IK targets against link lengths and joint limits. 3. Generate a phase-based gait trajectory for the requested gait. 4. Write reports and handoff files into `<project>/reports/` and `<project>/control/`. ## Commands ```bash 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-contr