stage-for-manipulation
CommunityStage robots for manipulation tasks, reduce grasp failures.
Authorbensonlee5
Version1.0.0
Installs0
System Documentation
What problem does it solve?
This Skill stages robots for manipulation tasks, ensuring the robot is in the correct starting pose before executing a manipulation policy, reducing grasp failures caused by bad initial poses.
Core Features & Use Cases
- Pre-grasp Verification: Moves the robot into the declared pre-grasp/starting pose and verifies it before the manipulation policy runs.
- Mobile Base Navigation: Optionally navigates a mobile base to ensure the target is within the arm's workspace.
- Collision-Aware Approach: Uses a collision-aware approach skill to move the arm to the pre-grasp.
- Safety-First Execution: Every motion is validated by the C++ safety kernel.
- Use Case: Before executing a pick policy, this Skill ensures the gripper is correctly positioned above the target object, reducing the risk of grasp failure.
Quick Start
Use the stage-for-manipulation skill to stage the robot for a pick operation.
Dependency Matrix
Required Modules
None requiredComponents
scriptsreferences
💻 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: stage-for-manipulation Download link: https://github.com/bensonlee5/openral/archive/main.zip#stage-for-manipulation Please download this .zip file, extract it, and install it in the .claude/skills/ directory.
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