# Allocator Yz

> Allocator YZ

- Skill: `sapientinc/allocator-yz` (Agent Skill, multi-file: 3 files)
- Install (CLI): `npx skillmds@latest add sapientinc/allocator-yz`
- Raw SKILL.md: https://api.skillmd.com/api/skills/sapientinc/allocator-yz/raw
- Safety review: pending
- Works with: Claude Code, Claude.ai, OpenAI Codex
- Category: Coding & Dev Tools
- Author: sapientinc (https://skillmd.com/u/sapientinc)
- Updated: 2026-09-22
- Page: https://skillmd.com/skills/sapientinc/allocator-yz

---

# Allocator YZ

Own only constrained allocation of pitch/yaw moment demand to gimbal_y/z and
grid_y/z. Use a small QP or weighted least squares with amplitude, rate,
dynamic-pressure authority, moment residual, smoothness, and gimbal translation
reserve. `grid_roll=0`; RCS must never enter the y-z allocation matrix.