sc-insert

分类: 工具与效率 | 上传者: lilyzhng | 下载: 0 | 版本: v1.0（最新）

Pick up a peg and insert into a hole. Uses pose algebra for alignment and iterative refinement for precision.

更新日志: Source: GitHub https://github.com/lilyzhng/SkillClaw

目录结构

当前层级: brains/shared_brain/skills/sc-insert/

📁 scripts/
- 📄 main.py 3.5 KB
📄 SKILL.md 307 B

SKILL.md

---
name: sc-insert
description: Pick up a peg and insert into a hole. Uses pose algebra for alignment and iterative refinement for precision.
---

# Insert

Grasp peg → compute alignment pose via pose algebra → iterative refinement → insert.
Pattern: `goal_pose * offset * obj.pose.inv() * tcp_pose`

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