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rskill-moveit-look-at

Aim a robot-mounted camera at a 3-D point using MoveIt motion planning.

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

SYSTEM DOCUMENTATION & REQUIREMENTS

💡 This Skill requires moveit, moveit_resources_panda_moveit_config, and includes scripts (resource) and references (resource) components.

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\"}}'}"

Frequently Asked Questions about rskill-moveit-look-at

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

FAQPage Schema
How do I automate robot camera aiming at a 3D point using MoveIt?▼

Automate robot camera aiming by dispatching a look-at motion planning goal via MoveIt to orient the wrist-mounted camera's optical axis at a specified 3D coordinate.

Do I need a specific MoveIt configuration to aim a robot-mounted camera at an object?▼

Yes, you need a valid MoveIt configuration package for your specific robot and a body-mounted camera to compute collision-aware motion plans for optical axis targeting.

Can MoveIt plan collision-aware motion to point a wrist camera at a tabletop object?▼

Yes, MoveIt can plan collision-aware motion to point a wrist camera at a tabletop object by calculating a trajectory that aligns the camera's optical axis with the target 3D point while avoiding obstacles.

What's the best way to frame an object for robot perception after reaching an approach pose?▼

Automate camera aiming via MoveIt motion planning to point the wrist-mounted camera's optical axis at the target 3D point, ensuring precise object framing for accurate perception queries.

When do I need to automate camera aiming for robot manipulation tasks?▼

You need automated camera aiming when precise optical axis alignment with a 3D point is required for accurate perception queries or manipulation skills after navigating to an approach pose.

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