executing-held-object-motion
From the author
Executes 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.
Install
npx skills add graph-robots/open-robot-skills --skill executing-held-object-motion -a claude-code
Installs to .claude/skills/executing-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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Why 76
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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-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
- 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
- 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
- executing-plansjnMetaCode/superpowers-zh当你要在当前会话里亲自担任实现者执行一份实现计划时使用——你的人类伙伴选择了内联执行，或者没有可用的子智能体工具Planning★ 8.4K
- 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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