How do I install the Executing Held Object Motion skill?

Run npx skillmds@latest add graph-robots/executing-held-object-motion in your terminal (requires Node.js), paste this page's agent-chat prompt into Claude, Cursor, or any MCP-connected agent, or download the SKILL.md file and copy it into your agent's skills directory.

Is Executing Held Object Motion safe to use?

This skill has not completed SkillMD's automated safety review yet. SkillMD never runs a skill's scripts for you; review the SKILL.md before installing.

Which AI agents work with Executing Held Object Motion?

This skill is tagged as working with Claude Code, Claude.ai, OpenAI Codex. SKILL.md is an open format, so most agents that read a skills directory can load it too.

Is Executing Held Object Motion free to use?

Yes. Installing skills from SkillMD is free. This skill is licensed under Apache-2.

Who published Executing Held Object Motion?

graph-robots (@graph-robots) published this skill. Their other Agent Skills are listed on their SkillMD profile.

Executing Held Object Motion by graph-robots

Name: Executing Held Object Motion
Author: graph-robots

Executing Held Object Motion

Executes an ordered, collision-aware pose sequence for an already-grasped rigid object without releasing it - the escape from support, clear-space rotation, fixture transit and orientation-locked local legs of a carry plan, or only the free-space approach waypoint of a placement plan. Use when a held object must be carried or reoriented before insertion, mating, packing, or sorting, and use executing-feature-mating afterwards for the engagement and release.

graph-robots febf8d4 3 files · 8.8 KB Updated Sep 17, 2026

File contents

executing-held-object-motion

Execute motion for a rigid object that is already held. The skill preserves the grasp: it does not open or close the gripper. Its input is an ordered PoseSequence containing clearance, transit, and orientation poses.

When to use

Stand an elongated object upright before putting it through an opening.
Turn a tool from a table grasp into a hanging or fixture-mating orientation.
Align a keyed object before insertion.
Reorient an item before constrained packing or sorting.
Reach only the approach pose of a placement plan so the held object can be re-observed (wrist re-registration) before a tight engagement.

Do not use it for an ordinary bin drop when transporting-objects can lift, translate, descend, and release directly.

Recommended subgraphs

execute_reorientation -> reoriented
execute_approach_only -> reached

execute_reorientation runs the canonical script with reorientation_plan = Ref("in.reorientation_plan"). Each waypoint is a typed record {pose, mode, use_attachment?, max_attempts?, allow_start_contact?, allow_goal_contact?, contact_margin?}. It forwards the plan's world_config and attached_object to every planned leg and never replaces a rejected collision-aware plan with an unchecked move. Use contact_transition only for the initial support escape (a plain Cartesian move); use planned_joint for clear-space rotation/transit and planned_linear for an orientation-locked straight leg. A plan-level time_scale > 1 slows execution by resampling the joint path; every planned leg is executed with a 60-step-per-waypoint budget so a stuck waypoint does not stall the graph. Output: final_pose: Se3Pose, the last waypoint's end-effector pose.

execute_approach_only takes placement_plan: PoseSequence (the plan that executing-feature-mating will finish) and executes only its first waypoint as a collision-aware motion.plan_to_pose leg with the plan's world and attachment, retrying the sampled planner up to three times and tracking the trajectory to 2 mm. It raises when the planner refuses (route to blocked). Output: approach_pose: Se3Pose, the waypoint it reached, so the graph can re-register the held object there and recompute the engagement.

Boundaries

Upstream geometry or perception determines the desired object orientation and sufficient clearance. This skill executes that typed request.
The sequence must describe end-effector poses, not object poses.
The skill never releases the object and never queries cameras, simulation state, task goals, evaluators, or reward.
Full 3-DOF orientation changes require a robot IK backend that honors wrist roll. A position/approach-axis-only backend cannot reliably stand a syringe or long tool upright.

---name: executing-held-object-motiondescription: Executes an ordered, collision-aware pose sequence for an already-grasped rigid object without releasing it - the escape from support, clear-space rotation, fixture transit and orientation-locked local legs of a carry plan, or only the free-space approach waypoint of a placement plan. Use when a held object must be carried or reoriented before insertion, mating, packing, or sorting, and use executing-feature-mating afterwards for the engagement and release.license: Apache-2.0---# executing-held-object-motionExecute motion for a rigid object that is already held. The skill preserves thegrasp: it does not open or close the gripper. Its input is an ordered`PoseSequence` containing clearance, transit, and orientation poses.## When to use- Stand an elongated object upright before putting it through an opening.- Turn a tool from a table grasp into a hanging or fixture-mating orientation.- Align a keyed object before insertion.- Reorient an item before constrained packing or sorting.- Reach only the approach pose of a placement plan so the held object can be re-observed (wrist re-registration) before a tight engagement.Do not use it for an ordinary bin drop when `transporting-objects` can lift,translate, descend, and release directly.## Recommended subgraphs```textexecute_reorientation -> reorientedexecute_approach_only -> reached````execute_reorientation` runs the canonical script with`reorientation_plan = Ref("in.reorientation_plan")`. Each waypoint is atyped record `{pose, mode, use_attachment?, max_attempts?, allow_start_contact?,allow_goal_contact?, contact_margin?}`. It forwards the plan's `world_config`and `attached_object` to every planned leg and never replaces a rejectedcollision-aware plan with an unchecked move. Use `contact_transition` only forthe initial support escape (a plain Cartesian move); use `planned_joint` forclear-space rotation/transit and `planned_linear` for an orientation-lockedstraight leg. A plan-level `time_scale > 1` slows execution by resampling thejoint path; every planned leg is executed with a 60-step-per-waypoint budgetso a stuck waypoint does not stall the graph. Output: `final_pose: Se3Pose`,the last waypoint's end-effector pose.`execute_approach_only` takes `placement_plan: PoseSequence` (the plan that`executing-feature-mating` will finish) and executes only its first waypointas a collision-aware `motion.plan_to_pose` leg with the plan's world andattachment, retrying the sampled planner up to three times and tracking thetrajectory to 2 mm. It raises when the planner refuses (route to `blocked`).Output: `approach_pose: Se3Pose`, the waypoint it reached, so the graph canre-register the held object there and recompute the engagement.## Boundaries- Upstream geometry or perception determines the desired object orientation and sufficient clearance. This skill executes that typed request.- The sequence must describe end-effector poses, not object poses.- The skill never releases the object and never queries cameras, simulation state, task goals, evaluators, or reward.- Full 3-DOF orientation changes require a robot IK backend that honors wrist roll. A position/approach-axis-only backend cannot reliably stand a syringe or long tool upright.

Frequently asked questions