{
  "id": "lib-process:robotics-simulation--trajectory-optimization",
  "_kind": "LibraryProcess",
  "_file": "generated-library/processes.yaml",
  "_cluster": "generated-library",
  "attributes": {
    "displayName": "specializations/robotics-simulation/trajectory-optimization",
    "description": "Trajectory Optimization - Implement trajectory optimization for smooth and efficient robot\nmotion including cost function design, constraint formulation, solver implementation, and feasibility\nvalidation.",
    "libraryPath": "library/specializations/robotics-simulation/trajectory-optimization.js",
    "specialization": "robotics-simulation",
    "references": [
      "- TrajOpt: http://rll.berkeley.edu/trajopt/",
      "- CHOMP: https://github.com/ros-planning/moveit/tree/master/moveit_planners/chomp",
      "- STOMP: https://ros-planning.github.io/moveit_tutorials/doc/stomp_planner/stomp_planner_tutorial.html"
    ],
    "example": "const result = await orchestrate('specializations/robotics-simulation/trajectory-optimization', {\n  robotName: 'robot_arm',\n  optimizationType: 'time-optimal',\n  constraints: ['velocity', 'acceleration', 'jerk', 'collision']\n});",
    "usesAgents": [
      "control-engineer",
      "motion-planning-expert",
      "simulation-test-engineer"
    ]
  },
  "outgoingEdges": [
    {
      "from": "lib-process:robotics-simulation--trajectory-optimization",
      "to": "skill-area:motion-planning",
      "kind": "lib_requires_skill_area",
      "attributes": {
        "weight": 1
      }
    },
    {
      "from": "lib-process:robotics-simulation--trajectory-optimization",
      "to": "skill-area:sensor-fusion",
      "kind": "lib_requires_skill_area",
      "attributes": {
        "weight": 0.7
      }
    },
    {
      "from": "lib-process:robotics-simulation--trajectory-optimization",
      "to": "domain:robotics",
      "kind": "lib_applies_to_domain",
      "attributes": {
        "weight": 1
      }
    },
    {
      "from": "lib-process:robotics-simulation--trajectory-optimization",
      "to": "role:research-engineer",
      "kind": "lib_involves_role",
      "attributes": {
        "weight": 1
      }
    },
    {
      "from": "lib-process:robotics-simulation--trajectory-optimization",
      "to": "workflow:simulation-validation-cycle",
      "kind": "lib_implements_workflow",
      "attributes": {
        "weight": 1
      }
    },
    {
      "from": "lib-process:robotics-simulation--trajectory-optimization",
      "to": "specialization:robotics-simulation",
      "kind": "lib_belongs_to_specialization",
      "attributes": {
        "weight": 1
      }
    },
    {
      "from": "lib-process:robotics-simulation--trajectory-optimization",
      "to": "lib-agent:robotics-simulation--motion-planning-expert",
      "kind": "uses_agent",
      "attributes": {
        "weight": 0.8
      }
    }
  ],
  "incomingEdges": []
}