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preflight-reach

Check robot workspace boundaries and payload constraints before dispatching manipulation skills.

Updated Jul 5, 2026
Search Tags:#pre-check#robotics#reachability#manipulation#robot skill
One-click install
npx skills add https://github.com/bensonlee5/openral --skill preflight-reach
Or copy as Structured Prompt for Agent▼
Please help me install this Agent Skill.
Skill: preflight-reach
Source: https://github.com/bensonlee5/openral/tree/main/rskills/preflight-reach
Command: npx skills add https://github.com/bensonlee5/openral --skill preflight-reach

SYSTEM DOCUMENTATION & REQUIREMENTS

💡 This Skill includes scripts (resource) and references (resource) components.

What problem does it solve?

This Skill helps determine if a target object is reachable for manipulation by a robot, before executing a manipulation skill.

Core Features & Use Cases

  • Reachability Check: Before dispatching a manipulation skill, this Skill checks if the target object is within the robot's reachable workspace.
  • Mobile Base Staging: If the object is not reachable, and a mobile base exists, the Skill stages an approach stand pose to make the object reachable.
  • Manual Handoff: If the robot has a fixed arm or the target is over the payload limit, the Skill does not dispatch and requires manual intervention.
  • Embodiment-Agnostic: It supports any robot with a camera and a vision system.

Quick Start

Ensure object reachability for the next manipulation by executing 'preflight-reach'.

Frequently Asked Questions about preflight-reach

High-intent search queries and answers about installing and using this skill.

FAQPage Schema
How do I check if an object is reachable before robot manipulation?▼

To verify object reachability before robot manipulation, use a preflight check that evaluates the target against the robot's workspace boundaries and payload constraints. This prevents dispatching skills to unreachable targets.

What happens if a target object is outside the robot arm's reachable workspace?▼

If a target is outside the reachable workspace, the system checks for a mobile base to stage an approach pose. If the robot has a fixed arm, it requires manual intervention instead of dispatching the manipulation skill.

Do I need a vision system to perform robot reachability checks?▼

Yes, this embodiment-agnostic reachability check supports any robot equipped with a camera and a vision system. The vision system is required to identify the target object and evaluate its position relative to workspace boundaries.

How does the system handle objects that exceed the robot payload limit during reachability checks?▼

When a target object exceeds the robot's payload limit, the reachability check fails and does not dispatch the manipulation skill. Instead, it requires manual intervention to handle the overweight object safely.

Can I use reachability checks with different robot arm configurations?▼

Yes, the reachability check is embodiment-agnostic and handles various robot arm configurations. It works with any robot that has a camera and vision system, supporting both fixed arms and mobile base setups.

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