| --- |
| name: rskill-moveit-eef-pose |
| description: >- |
| S1 ROS action skill (weightless). Capabilities: reach. Plan and execute a collision-free motion that brings the end-effector link to a target 6-DOF Cartesian pose (position + orientation) via MoveIt's MoveGroup (self + planning-scene collision checked). Use when you have a Cartesian end-effector goal (e.g. a pre-grasp pose); for a joint-space goal use rskill-moveit-joints, and to aim a camera at a point use rskill-moveit-look-at. Discovery view of an OpenRAL rSkill — NOT directly runnable by an agent harness; it runs via rSkill.from_pretrained + the robot HAL. |
| metadata: |
| openral_rskill: true |
| schema_version: 0.1 |
| rskill_id: OpenRAL/rskill-moveit-eef-pose |
| manifest: ./rskill.yaml |
| role: s1 |
| kind: ros_action |
| embodiment_tags: [franka_panda, ur5e, ur10e, so100_follower, openarm, rizon4, sawyer, widowx] |
| actions: [reach] |
| chunk_size: 1 |
| latency_budget: {per_chunk_ms: 2000.0} |
| license_code: Apache-2.0 |
| license_weights: apache-2.0 |
| paper_url: https://moveit.picknik.ai/ |
| --- |
| |
| # rskill-moveit-eef-pose — rSkill discovery view |
|
|
| > **Generated view, not a hand-written skill.** This `SKILL.md` is a discovery-only |
| > mirror of [`rskill.yaml`](./rskill.yaml), produced by `tools/generate_rskill_skillmd.py`. |
| > It lets tools that read the standard agent-skill format find and reason about this |
| > OpenRAL rSkill. The `rskill.yaml` manifest is the single source of truth |
| > (CLAUDE.md §1.3). Do not edit by hand — edit the manifest and regenerate. |
|
|
| ## What it is |
|
|
| An OpenRAL **ROS action skill (weightless)** (`role: s1`, `kind: ros_action`). Plan and execute a collision-free motion that brings the end-effector link to a target 6-DOF Cartesian pose (position + orientation) via MoveIt's MoveGroup (self + planning-scene collision checked). Use when you have a Cartesian end-effector goal (e.g. a pre-grasp pose); for a joint-space goal use rskill-moveit-joints, and to aim a camera at a point use rskill-moveit-look-at. |
|
|
| ## Capabilities |
|
|
| - **Verbs:** reach |
| - **Embodiments:** franka_panda · ur5e · ur10e · so100_follower · openarm · rizon4 · sawyer · widowx |
|
|
| ## Why this is discovery-only |
|
|
| An agent skill is natural-language instructions loaded into an LLM's context. An rSkill |
| is an executable artifact: it carries a typed capability/embodiment contract |
| a runtime, and a license/provenance gate — none of which fit in freeform markdown. So an |
| agent can use this view to *select* the right skill, but cannot *execute* it by loading |
| this file. Execution always goes through the OpenRAL loader and the robot HAL. |
|
|
| ## License |
|
|
| - **Code:** Apache-2.0. This is a weightless rSkill (the manifest *is* the artifact). |
|
|
| ## How to actually run it (not via an agent harness) |
|
|
| ```python |
| from openral_rskill import rSkill |
| |
| skill = rSkill.from_pretrained("OpenRAL/rskill-moveit-eef-pose") |
| # the loader validates embodiment / sensors / runtime / quantization against the target |
| # RobotDescription and enforces the weight-license gate before any weights load. |
| ``` |
|
|
| See [`rskill.yaml`](./rskill.yaml) for the authoritative, validated manifest. |
|
|
