placing-held-feature
From the author
Move a held object so one of its declared features lands on a target point — a ring onto a hook, a tip into a hole, a plug at a bore. Composes the hand pose from the live object pose and the feature's centre in the object's own frame, recomputed each round so in-jaw slip cannot compound. Use for any goal written as "this object's feature at that place"; do NOT drive the hand to the target directly, which is wrong by the length of the held object.
Install
npx skills add graph-robots/open-robot-skills --skill placing-held-feature -a claude-code
Installs to .claude/skills/placing-held-feature/ · Each command fetches the skill straight from GitHub with the open skills CLI.
Byte-identical to the scanned commit, with the repository’s licence and a SOURCE.txt.
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Similar skills
Closest to this one by what they do and when they are used.
- planning-held-object-motiongraph-robots/open-robot-skillsPlans the carry and engagement phases for an already-held rigid object: a clearance-first lift, the smallest feasible symmetry-equivalent reorientation, an orientation-locked transit above the fixture, or a direct plan to the approach pose; then a typed engagement or a straight linear insertion, optionally re-observing the held tip from the wrist first. Use when a held object must be brought to a fixture for insertion, hanging, packing, racking, or constrained sorting and an execution skill will run the resulting plans.Planning★ 58
- executing-held-object-motiongraph-robots/open-robot-skillsExecutes an ordered, collision-aware pose sequence for an already-grasped rigid object without releasing it - the escape from support, clear-space rotation, fixture transit and orientation-locked local legs of a carry plan, or only the free-space approach waypoint of a placement plan. Use when a held object must be carried or reoriented before insertion, mating, packing, or sorting, and use executing-feature-mating afterwards for the engagement and release.Planning★ 58
- registering-held-objectsgraph-robots/open-robot-skillsReobserves a grasped rigid object from the wrist cameras, estimates its functional feature in the TCP frame, and fits attached collision spheres, retaining the grasp-time transform at low confidence when the object is not seen. Use when a held object must be localized in the hand right after grasping or re-checked at a pre-contact pose before a fixture engagement.Other★ 58
- computing-feature-mating-posesgraph-robots/open-robot-skillsComputes approach, engaged, and mate TCP poses from a held feature in the hand and a fixture feature, resolving free mate symmetries from the current robot pose without executing motion. Use when a held loop must go over a shaft or hook, or a held shaft or tip must enter an aperture, and explicit approach, engaged, and mate poses are needed for planning.Planning★ 58
- perceiving-functional-featuresgraph-robots/open-robot-skillsLocates a language-described functional part of a rigid object or fixture from calibrated RGB-D and fits a typed loop, shaft, tip, aperture, surface, or region feature with a metric centre, axis, and radius, either inside an already-segmented parent or end to end from a described object, protruding shaft, directed tip, or lidded aperture. Use when a manipulation step depends on where a specific part is rather than on the whole object, such as a tool loop to hang, a shaft to hang it on, an insertion tip, or an opening to insert into.Planning★ 58
- grasping-linear-featuregraph-robots/open-robot-skillsFit the full 3D axis of an elongated segmented feature and grasp it with a perpendicular, inclination-aware parallel-jaw pose. Use for handles, rods, shafts, tools, utensils, and other linear parts whose pitch or roll matters; use grasping-short-axis instead when an upright OBB and vertical approach are sufficient.Other★ 58
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