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rskill-moveit-eef-pose

Plan and execute Cartesian end-effector poses with MoveIt's MoveGroup.

Updated Jul 5, 2026
Search Tags:#robotics#moveit#rskill#robotic control#cartesian pose
One-click install
npx skills add https://github.com/bensonlee5/openral --skill rskill-moveit-eef-pose
Or copy as Structured Prompt for Agent▼
Please help me install this Agent Skill.
Skill: rskill-moveit-eef-pose
Source: https://github.com/bensonlee5/openral/tree/main/rskills/rskill-moveit-eef-pose
Command: npx skills add https://github.com/bensonlee5/openral --skill rskill-moveit-eef-pose

SYSTEM DOCUMENTATION & REQUIREMENTS

What problem does it solve?

This Skill automates precise Cartesian end-effector pose planning and execution through MoveIt's MoveGroup, ensuring collision-free motion.

Core Features & Use Cases

  • Collision-Free Cartesian Pose Planning: Plans and executes a precise Cartesian pose goal for the robot's end-effector using MoveIt.
  • MoveIt Integration: Wraps MoveIt's MoveGroup to lower Cartesian pose goals into MoveIt constraints.
  • Use Case: Use this Skill to position a robot arm to a specific pose for picking up objects or performing precise manipulations.

Quick Start

Execute the 'reach' action with the desired end-effector pose: send_goal /openral/execute_rskill ...

Frequently Asked Questions about rskill-moveit-eef-pose

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

FAQPage Schema
How do I plan a collision-free Cartesian pose for a robot arm end-effector?▼

To plan a collision-free Cartesian pose, this Skill automates planning and execution using MoveIt's MoveGroup, lowering pose goals into MoveIt constraints to ensure safe end-effector positioning.

Can I use MoveIt to execute precise end-effector positioning for robotic assembly?▼

Yes, you can use this Skill for precise end-effector positioning in robotic assembly lines, surgical simulations, and research applications by wrapping MoveIt's MoveGroup for Cartesian pose goals.

What's the best way to execute a Cartesian pose goal using MoveGroup?▼

The best way to execute a Cartesian pose goal is by sending a 'reach' action via the ROS action interface, which automates the MoveGroup planning and execution process for the robot arm.

Does this Cartesian pose planning approach require specific ROS action configurations?▼

This Cartesian pose planning approach utilizes ROSActionRskill for executing ROS actions, requiring a configured ROS environment to send the 'reach' action goals to the MoveGroup interface.

Why use Cartesian pose planning instead of standard joint space motion for robotic manipulation?▼

Cartesian pose planning is used over joint space motion when precise end-effector positioning is required, such as picking up objects, by directly lowering Cartesian pose goals into MoveIt constraints.

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