Live Demo: https://robot-motion-planner.netlify.app

An AI-powered motion sequence planner that transforms natural language descriptions into precise robot arm trajectories, generating ROS2-compatible trajectory_msgs/JointTrajectory messages for seamless integration with MoveIt2.

• Natural Language Processing: Describe robot actions in plain English
• MoveIt2 Integration: Generate compatible trajectory messages for ROS2
• Real-time Visualization: Interactive 3D pose visualization
• Export Capabilities: YAML and JSON export formats
• Customizable Sequences: Complex multi-step motion sequences
• Real-time Processing: Instant trajectory generation
• Modern UI: Clean, responsive interface

• Frontend: Next.js 14, TypeScript, Tailwind CSS, shadcn/ui, Three.js
• Backend: Firebase Studio, Google Gemini (via Genkit), LangChain
• Robotics: ROS2 Humble, MoveIt2, trajectory_msgs

• Node.js 18+
• Python 3.8+
• ROS2 Humble
• MoveIt2

git clone https://github.com/yourusername/robot-motion-planner.git
cd robot-motion-planner
npm install
cp .env.example .env.local
npm run dev

pip install -r requirements.txt
firebase login
firebase init
firebase deploy

# Install ROS2 Humble and MoveIt2
sudo apt install ros-humble-moveit
# Configure your robot's URDF/XACRO files

You must set the following environment variable for Google GenAI integration:

GEMINI_API_KEY=your_actual_api_key_here

For local development, add this to your .env.local file. For deployment (e.g., Netlify), set it in your site environment variables.

1. Open the web interface at http://localhost:3000
2. Describe your robot action using natural language:

   "Make the robot wave its arm, then point to the left, and finally return to rest position"
   

3. Review the generated trajectory in the 3D visualization
4. Export the trajectory in YAML or JSON format

• "Wave hello" → 3-point trajectory with arm rotation
• "Pick up object from table" → 5-point trajectory with approach, grasp, and retreat
• "Dance sequence" → Complex multi-step trajectory

1. Fork the repository
2. Create a feature branch (git checkout -b feature/amazing-feature)
3. Commit your changes (git commit -m 'Add amazing feature')
4. Push to the branch (git push origin feature/amazing-feature)
5. Open a Pull Request

• Follow TypeScript best practices
• Write comprehensive tests
• Update documentation for new features
• Ensure ROS2 compatibility

This project is licensed under the MIT License - see the LICENSE file for details.

• ROS - Robot Operating System foundation
• MoveIt - Motion planning framework
• Google Gemini - Natural language processing
• Firebase - Backend infrastructure
• Next.js - React framework
• Three.js - 3D graphics library