planning-held-object-motion
From the author
Plans 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.
Install
npx skills add graph-robots/open-robot-skills --skill planning-held-object-motion -a claude-code
Installs to .claude/skills/planning-held-object-motion/ · 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.
- 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
- placing-held-featuregraph-robots/open-robot-skillsMove 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.Writing★ 58
- executing-feature-matinggraph-robots/open-robot-skillsExecutes a supplied feature-mating plan for an already-held rigid object - collision-aware planner legs tracked to millimetre precision, Cartesian servo for short corrections and fixture crossings, contact-controlled seating - then releases and retreats along the fixture axis or straight up. Use when the goal is a constrained mate such as a loop over a shaft, a shaft into an aperture, or a handle seated on a support; use transporting-objects for ordinary container drops.Planning★ 58
- anchoring-a-free-endgraph-robots/open-robot-skillsPins one end of a cable with the support hand before any crossing is attempted — asks the support-hand planner for the anchor grasp as joint-space legs, refuses it when its worst IK error is past the limit, streams the legs, closes the jaws to the plan's own width and dwells for the fingers' travel, and carries the solved chain and grasp orientation out on the exit so later pay-outs seed from them. Use when a deformable linear object must be held at one end so a sideways pull bends it instead of dragging the whole thing.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
- transporting-objectsgraph-robots/open-robot-skillsMove the currently-held object to a destination and release. The gripper enters this subgraph holding the object; on exit the object has been placed. For a walled container (basket / bin / box / tote) the default is a straight-Z descent to inside the walls (transport_descend_linear → release); for placement ONTO a surface or into a described sub-region it computes an explicit drop pose (compute_drop → move_above → release). Use after a successful grasp when the destination has a known OBB. When the destination is a sub-region described in natural language (e.g. "the left compartment of the caddy", "to the left of the plate", "the inside of the top drawer"), an optional VLM-grounded perceive_zone state localizes the zone before the drop pose is computed. Heights derive from the perceived container and the live wrist pose rather than a resting tool height, and the top-down orientation from the hand actually on the arm (robot.grasp_frame).Other★ 58
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