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.