diff --git a/modules/planning/lattice/trajectory_generator/BUILD b/modules/planning/lattice/manipulator/BUILD
similarity index 92%
rename from modules/planning/lattice/trajectory_generator/BUILD
rename to modules/planning/lattice/manipulator/BUILD
index 8533d3e5127fba5d256ff926147c6120f070f9a8..7bf9b609734481344216b6c0b2dc09eb09417385 100644
--- a/modules/planning/lattice/trajectory_generator/BUILD
+++ b/modules/planning/lattice/manipulator/BUILD
@@ -38,7 +38,7 @@ cc_library(
         "//modules/planning/lattice/trajectory1d:piecewise_acceleration_trajectory1d",
         "//modules/planning/lattice/trajectory1d:constant_deceleration_trajectory1d",
         "//modules/planning/lattice/trajectory1d:piecewise_trajectory1d",
-        "//modules/planning/lattice/trajectory_generator:end_condition_sampler",
+        "//modules/planning/lattice/manipulator:end_condition_sampler",
         "//modules/planning/math/curve1d:quartic_polynomial_curve1d",
         "//modules/planning/math/curve1d:quintic_polynomial_curve1d",
         "//modules/planning/proto:lattice_sampling_config_proto",
@@ -77,8 +77,8 @@ cc_library(
         "//modules/planning/common:planning_gflags",
         "//modules/planning/common/trajectory:discretized_trajectory",
         "//modules/planning/lattice/trajectory1d:constant_deceleration_trajectory1d",
-        "//modules/planning/lattice/trajectory_generator:trajectory1d_generator",
-        "//modules/planning/lattice/trajectory_generator:trajectory_combiner",
+        "//modules/planning/lattice/manipulator:trajectory1d_generator",
+        "//modules/planning/lattice/manipulator:trajectory_combiner",
         "//modules/planning/math/curve1d",
     ],
 )
diff --git a/modules/planning/lattice/trajectory_generator/backup_trajectory_generator.cc b/modules/planning/lattice/manipulator/backup_trajectory_generator.cc
similarity index 93%
rename from modules/planning/lattice/trajectory_generator/backup_trajectory_generator.cc
rename to modules/planning/lattice/manipulator/backup_trajectory_generator.cc
index 688045c7611d7418c7c424f02c6498c9afc911d5..b3ea0520a166c05b1155ea1b9aea345f2c3be308 100644
--- a/modules/planning/lattice/trajectory_generator/backup_trajectory_generator.cc
+++ b/modules/planning/lattice/manipulator/backup_trajectory_generator.cc
@@ -14,8 +14,8 @@
  * limitations under the License.
  *****************************************************************************/
 
-#include "modules/planning/lattice/trajectory_generator/backup_trajectory_generator.h"
-#include "modules/planning/lattice/trajectory_generator/trajectory_combiner.h"
+#include "modules/planning/lattice/manipulator/backup_trajectory_generator.h"
+#include "modules/planning/lattice/manipulator/trajectory_combiner.h"
 
 namespace apollo {
 namespace planning {
diff --git a/modules/planning/lattice/trajectory_generator/backup_trajectory_generator.h b/modules/planning/lattice/manipulator/backup_trajectory_generator.h
similarity index 90%
rename from modules/planning/lattice/trajectory_generator/backup_trajectory_generator.h
rename to modules/planning/lattice/manipulator/backup_trajectory_generator.h
index 0957b453f056971651762f98d0cc88030fc50987..3e317585589f5e37b059ab7d8b659984a534a358 100644
--- a/modules/planning/lattice/trajectory_generator/backup_trajectory_generator.h
+++ b/modules/planning/lattice/manipulator/backup_trajectory_generator.h
@@ -18,8 +18,8 @@
  * @file
  **/
 
-#ifndef MODULES_PLANNING_LATTICE_TRAJECTORY_GENERATOR_BACKUP_TRAJECTORY_H_
-#define MODULES_PLANNING_LATTICE_TRAJECTORY_GENERATOR_BACKUP_TRAJECTORY_H_
+#ifndef MODULES_PLANNING_LATTICE_MANIPULATOR_BACKUP_TRAJECTORY_H_
+#define MODULES_PLANNING_LATTICE_MANIPULATOR_BACKUP_TRAJECTORY_H_
 
 #include <array>
 #include <functional>
@@ -31,7 +31,7 @@
 #include "modules/planning/common/planning_gflags.h"
 #include "modules/planning/common/trajectory/discretized_trajectory.h"
 #include "modules/planning/lattice/trajectory1d/constant_deceleration_trajectory1d.h"
-#include "modules/planning/lattice/trajectory_generator/trajectory1d_generator.h"
+#include "modules/planning/lattice/manipulator/trajectory1d_generator.h"
 #include "modules/planning/math/curve1d/curve1d.h"
 
 namespace apollo {
@@ -87,4 +87,4 @@ class BackupTrajectoryGenerator {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_LATTICE_TRAJECTORY_GENERATOR_BACKUP_TRAJECTORY_H_
+#endif  // MODULES_PLANNING_LATTICE_MANIPULATOR_BACKUP_TRAJECTORY_H_
diff --git a/modules/planning/lattice/trajectory_generator/end_condition_sampler.cc b/modules/planning/lattice/manipulator/end_condition_sampler.cc
similarity index 98%
rename from modules/planning/lattice/trajectory_generator/end_condition_sampler.cc
rename to modules/planning/lattice/manipulator/end_condition_sampler.cc
index d18979518501c3f229fece4cf8a70c669aeb10c7..b89fc0a2b0fd3b41257b27f51f96ce5aa0f79a89 100644
--- a/modules/planning/lattice/trajectory_generator/end_condition_sampler.cc
+++ b/modules/planning/lattice/manipulator/end_condition_sampler.cc
@@ -18,7 +18,7 @@
  * @file
  **/
 
-#include "modules/planning/lattice/trajectory_generator/end_condition_sampler.h"
+#include "modules/planning/lattice/manipulator/end_condition_sampler.h"
 
 #include <algorithm>
 #include <utility>
diff --git a/modules/planning/lattice/trajectory_generator/end_condition_sampler.h b/modules/planning/lattice/manipulator/end_condition_sampler.h
similarity index 91%
rename from modules/planning/lattice/trajectory_generator/end_condition_sampler.h
rename to modules/planning/lattice/manipulator/end_condition_sampler.h
index 8dfb938f19b0f9eb75818ff10e26d3837042ed4c..c23ce4cf0c8388c1c9f97c63b84dfc5ccda9b7bc 100644
--- a/modules/planning/lattice/trajectory_generator/end_condition_sampler.h
+++ b/modules/planning/lattice/manipulator/end_condition_sampler.h
@@ -18,8 +18,8 @@
  * @file
  **/
 
-#ifndef MODULES_PLANNING_LATTICE_TRAJECTORY_GENERATOR_END_CONDITION_SAMPLER_H_
-#define MODULES_PLANNING_LATTICE_TRAJECTORY_GENERATOR_END_CONDITION_SAMPLER_H_
+#ifndef MODULES_PLANNING_LATTICE_MANIPULATOR_END_CONDITION_SAMPLER_H_
+#define MODULES_PLANNING_LATTICE_MANIPULATOR_END_CONDITION_SAMPLER_H_
 
 #include <array>
 #include <utility>
@@ -75,4 +75,4 @@ class EndConditionSampler {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // PLANNING_LATTICE_TRAJECTORY_GENERATOR_END_CONDITION_SAMPLER_H_
+#endif  // MODULES_PLANNING_LATTICE_MANIPULATOR_END_CONDITION_SAMPLER_H_
diff --git a/modules/planning/lattice/trajectory_generator/trajectory1d_generator.cc b/modules/planning/lattice/manipulator/trajectory1d_generator.cc
similarity index 98%
rename from modules/planning/lattice/trajectory_generator/trajectory1d_generator.cc
rename to modules/planning/lattice/manipulator/trajectory1d_generator.cc
index 9a0f68dddc3d5125c08385033f3e4a28b250a2c8..738ad7b71cb3eb1cc55b52efa99bc890af14edd4 100644
--- a/modules/planning/lattice/trajectory_generator/trajectory1d_generator.cc
+++ b/modules/planning/lattice/manipulator/trajectory1d_generator.cc
@@ -18,7 +18,7 @@
  * @file
  **/
 
-#include "modules/planning/lattice/trajectory_generator/trajectory1d_generator.h"
+#include "modules/planning/lattice/manipulator/trajectory1d_generator.h"
 
 #include <algorithm>
 #include <cmath>
diff --git a/modules/planning/lattice/trajectory_generator/trajectory1d_generator.h b/modules/planning/lattice/manipulator/trajectory1d_generator.h
similarity index 89%
rename from modules/planning/lattice/trajectory_generator/trajectory1d_generator.h
rename to modules/planning/lattice/manipulator/trajectory1d_generator.h
index bc871a7841a5bf4f0eaa34e2886dd5e7a77c1821..478f517fbe2108594b9ebf1a092f5e68b66864c5 100644
--- a/modules/planning/lattice/trajectory_generator/trajectory1d_generator.h
+++ b/modules/planning/lattice/manipulator/trajectory1d_generator.h
@@ -18,13 +18,13 @@
  * @file
  **/
 
-#ifndef MODULES_PLANNING_LATTICE_TRAJECTORY_GENERATOR_TRAJECTORY1D_GENERATOR_H_
-#define MODULES_PLANNING_LATTICE_TRAJECTORY_GENERATOR_TRAJECTORY1D_GENERATOR_H_
+#ifndef MODULES_PLANNING_LATTICE_MANIPULATOR_TRAJECTORY1D_GENERATOR_H_
+#define MODULES_PLANNING_LATTICE_MANIPULATOR_TRAJECTORY1D_GENERATOR_H_
 
 #include <memory>
 #include <vector>
 
-#include "modules/planning/lattice/trajectory_generator/end_condition_sampler.h"
+#include "modules/planning/lattice/manipulator/end_condition_sampler.h"
 #include "modules/planning/lattice/behavior_decider/path_time_graph.h"
 #include "modules/planning/lattice/behavior_decider/prediction_querier.h"
 #include "modules/planning/math/curve1d/curve1d.h"
@@ -76,4 +76,4 @@ class Trajectory1dGenerator {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // PLANNING_LATTICE_TRAJECTORY_GENERATOR_TRAJECTORY1D_GENERATOR_H_
+#endif  // MODULES_PLANNING_LATTICE_MANIPULATOR_TRAJECTORY1D_GENERATOR_H_
diff --git a/modules/planning/lattice/trajectory_generator/trajectory_combiner.cc b/modules/planning/lattice/manipulator/trajectory_combiner.cc
similarity index 98%
rename from modules/planning/lattice/trajectory_generator/trajectory_combiner.cc
rename to modules/planning/lattice/manipulator/trajectory_combiner.cc
index ab606cee3298c76b0275dbabcad5a5360c10cdd0..645f436745b88172830822872746f13e932265ee 100644
--- a/modules/planning/lattice/trajectory_generator/trajectory_combiner.cc
+++ b/modules/planning/lattice/manipulator/trajectory_combiner.cc
@@ -14,7 +14,7 @@
  * limitations under the License.
  *****************************************************************************/
 
-#include "modules/planning/lattice/trajectory_generator/trajectory_combiner.h"
+#include "modules/planning/lattice/manipulator/trajectory_combiner.h"
 
 #include <algorithm>
 
diff --git a/modules/planning/lattice/trajectory_generator/trajectory_combiner.h b/modules/planning/lattice/manipulator/trajectory_combiner.h
similarity index 84%
rename from modules/planning/lattice/trajectory_generator/trajectory_combiner.h
rename to modules/planning/lattice/manipulator/trajectory_combiner.h
index e69d6c1abc72f72e7966dffef692e20468929046..162d64a36a2699ce10790315cd38709af73f83d2 100644
--- a/modules/planning/lattice/trajectory_generator/trajectory_combiner.h
+++ b/modules/planning/lattice/manipulator/trajectory_combiner.h
@@ -18,8 +18,8 @@
  * @file
  **/
 
-#ifndef MODULES_PLANNING_LATTICE_TRAJECTORY_GENERATOR_TRAJECTORY_COMBINER_H_
-#define MODULES_PLANNING_LATTICE_TRAJECTORY_GENERATOR_TRAJECTORY_COMBINER_H_
+#ifndef MODULES_PLANNING_LATTICE_MANIPULATOR_TRAJECTORY_COMBINER_H_
+#define MODULES_PLANNING_LATTICE_MANIPULATOR_TRAJECTORY_COMBINER_H_
 
 #include <vector>
 
@@ -41,4 +41,4 @@ class TrajectoryCombiner {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // MODULES_PLANNING_LATTICE_TRAJECTORY_GENERATOR_TRAJECTORY_COMBINER_H_
+#endif  // MODULES_PLANNING_LATTICE_MANIPULATOR_TRAJECTORY_COMBINER_H_
diff --git a/modules/planning/lattice/trajectory_generator/trajectory_evaluator.cc b/modules/planning/lattice/manipulator/trajectory_evaluator.cc
similarity index 99%
rename from modules/planning/lattice/trajectory_generator/trajectory_evaluator.cc
rename to modules/planning/lattice/manipulator/trajectory_evaluator.cc
index fce0de94e3ae70d0244e345ef0d57d5addcb1b30..afae49b0c655deaa01974806fb22921c5ab32e94 100644
--- a/modules/planning/lattice/trajectory_generator/trajectory_evaluator.cc
+++ b/modules/planning/lattice/manipulator/trajectory_evaluator.cc
@@ -18,7 +18,7 @@
  * @file
  **/
 
-#include "modules/planning/lattice/trajectory_generator/trajectory_evaluator.h"
+#include "modules/planning/lattice/manipulator/trajectory_evaluator.h"
 
 #include <cmath>
 #include <functional>
diff --git a/modules/planning/lattice/trajectory_generator/trajectory_evaluator.h b/modules/planning/lattice/manipulator/trajectory_evaluator.h
similarity index 94%
rename from modules/planning/lattice/trajectory_generator/trajectory_evaluator.h
rename to modules/planning/lattice/manipulator/trajectory_evaluator.h
index 7c829743ade296595f3adbefd37dd55a60199788..0c3a8b390357ed62ff4b723fd6359515ef2fc722 100644
--- a/modules/planning/lattice/trajectory_generator/trajectory_evaluator.h
+++ b/modules/planning/lattice/manipulator/trajectory_evaluator.h
@@ -18,8 +18,8 @@
  * @file
  **/
 
-#ifndef MODULES_PLANNING_LATTICE_TRAJECTORY_GENERATOR_TRAJECTORY_EVALUATOR_H_
-#define MODULES_PLANNING_LATTICE_TRAJECTORY_GENERATOR_TRAJECTORY_EVALUATOR_H_
+#ifndef MODULES_PLANNING_LATTICE_MANIPULATOR_TRAJECTORY_EVALUATOR_H_
+#define MODULES_PLANNING_LATTICE_MANIPULATOR_TRAJECTORY_EVALUATOR_H_
 
 #include <functional>
 #include <memory>
@@ -126,4 +126,4 @@ class TrajectoryEvaluator {
 }  // namespace planning
 }  // namespace apollo
 
-#endif  // PLANNING_LATTICE_TRAJECTORY_GENERATOR_TRAJECTORY_EVALUATOR_H_
+#endif  // MODULES_PLANNING_LATTICE_MANIPULATOR_TRAJECTORY_EVALUATOR_H_
diff --git a/modules/planning/planner/lattice/BUILD b/modules/planning/planner/lattice/BUILD
index c523482fea032a659771e3dab5450203feb1dbb7..8a54062b3df2fe3478a5f181c6a98aad31f13f37 100644
--- a/modules/planning/planner/lattice/BUILD
+++ b/modules/planning/planner/lattice/BUILD
@@ -20,10 +20,10 @@ cc_library(
         "//modules/planning/constraint_checker:collision_checker",
         "//modules/planning/lattice/behavior_decider",
         "//modules/planning/lattice/behavior_decider:path_time_graph",
-        "//modules/planning/lattice/trajectory_generator:backup_trajectory_generator",
-        "//modules/planning/lattice/trajectory_generator:trajectory1d_generator",
-        "//modules/planning/lattice/trajectory_generator:trajectory_combiner",
-        "//modules/planning/lattice/trajectory_generator:trajectory_evaluator",
+        "//modules/planning/lattice/manipulator:backup_trajectory_generator",
+        "//modules/planning/lattice/manipulator:trajectory1d_generator",
+        "//modules/planning/lattice/manipulator:trajectory_combiner",
+        "//modules/planning/lattice/manipulator:trajectory_evaluator",
         "//modules/planning/lattice/trajectory1d:lattice_trajectory1d",
         "//modules/planning/planner",
         "//modules/planning/proto:planning_proto",
diff --git a/modules/planning/planner/lattice/lattice_planner.cc b/modules/planning/planner/lattice/lattice_planner.cc
index d6f09543758b1dc0a0fceff69a8a3f9951dcc724..c2b0194b0b360b85775bfd398a2f7d075d96a9be 100644
--- a/modules/planning/planner/lattice/lattice_planner.cc
+++ b/modules/planning/planner/lattice/lattice_planner.cc
@@ -37,10 +37,10 @@
 #include "modules/planning/constraint_checker/constraint_checker.h"
 #include "modules/planning/lattice/behavior_decider/path_time_graph.h"
 #include "modules/planning/lattice/behavior_decider/prediction_querier.h"
-#include "modules/planning/lattice/trajectory_generator/backup_trajectory_generator.h"
-#include "modules/planning/lattice/trajectory_generator/trajectory1d_generator.h"
-#include "modules/planning/lattice/trajectory_generator/trajectory_combiner.h"
-#include "modules/planning/lattice/trajectory_generator/trajectory_evaluator.h"
+#include "modules/planning/lattice/manipulator/backup_trajectory_generator.h"
+#include "modules/planning/lattice/manipulator/trajectory1d_generator.h"
+#include "modules/planning/lattice/manipulator/trajectory_combiner.h"
+#include "modules/planning/lattice/manipulator/trajectory_evaluator.h"
 #include "modules/planning/lattice/trajectory1d/lattice_trajectory1d.h"
 
 namespace apollo {
diff --git a/modules/planning/proto/lattice_structure.proto b/modules/planning/proto/lattice_structure.proto
index 1f73c97628a89f81effbcb66310460eb09a4e01b..4b7b351bdff2a8c82b1f2bdaf4607a14d930cb6a 100644
--- a/modules/planning/proto/lattice_structure.proto
+++ b/modules/planning/proto/lattice_structure.proto
@@ -2,9 +2,6 @@ syntax = "proto2";
 
 package apollo.planning;
 
-import "modules/common/proto/pnc_point.proto";
-import "modules/planning/proto/lattice_sampling_config.proto";
-
 message PathTimePoint {
   optional double t = 1;
   optional double s = 2;