rskill-moveit-look-at
CommunityAutomate robot camera aiming for precise object framing.
System Documentation
What problem does it solve?
This Skill automates the aiming of a robot-mounted camera at a 3-D point, enabling precise object framing for subsequent perception queries or manipulation skills.
Core Features & Use Cases
- Camera Aiming: Automates the process of aiming a robot-mounted camera at a specified 3-D point.
- Collision-Aware Motion: Plans a collision-aware arm motion via MoveIt to point the camera's optical axis at the target point.
- Use Case: After navigating to an approach pose, use this Skill to aim the camera at a specific object for a more accurate perception query or manipulation skill.
Quick Start
Dispatch a look-at goal to aim the wrist camera at a tabletop point: ros2 action send_goal /openral/execute_rskill openral_msgs/action/ExecuteRskill "{rskill_id: 'OpenRAL/rskill-moveit-look-at', deadline_s: 30.0, prompt: 'look at the mug', goal_params_json: '{\"look_at\": {\"target_xyz\": [0.5, 0.0, 0.2], \"camera\": \"wrist\"}}'}"
Dependency Matrix
Required Modules
Components
💻 Claude Code Installation
Recommended: Let Claude install automatically. Simply copy and paste the text below to Claude Code.
Please help me install this Skill: Name: rskill-moveit-look-at Download link: https://github.com/bensonlee5/openral/archive/main.zip#rskill-moveit-look-at Please download this .zip file, extract it, and install it in the .claude/skills/ directory.
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