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check_dual_arm_collision

100 / 100 · Low risk

Fine to try.

By nssmd/RoboRSI (GitHub) · data · 179 stars · scanned at commit 90c8569

URDF-aware sphere collision check between the two arms (including optional attached objects). Uses the BiCoord-shipped collision_aloha_left.yml sphere data for both fl_* and fr_* link chains; cuRobo's per-arm planners are configured with extra_links: null, so they don't see each other — this skill closes that blind spot. Three modes: - `mode="current"`: check the CURRENT both-arm pose (no IK; just FK on whatever qpos each arm is at right now). Cheap diagnostic answering "are my arms touching r…

Works with any agent that supports SKILL.md skills.

What this skill can do

We found nothing in the files we read that matches our rules. That does not prove the skill is safe: see the limits of static scanning.

Install

Paste this into your terminal. It downloads exactly the version we scanned, not whatever is newest.

if [ -e ~/.agents/skills/'check-dual-arm-collision' ] || [ -L ~/.agents/skills/'check-dual-arm-collision' ]; then echo 'A skill folder named check-dual-arm-collision already exists — not replacing it' >&2; false; else d=$(mktemp -d) && git clone --quiet --filter=blob:none --no-checkout 'https://github.com/nssmd/RoboRSI' "$d" && git -C "$d" checkout --quiet '90c8569705bf4004a4f79e34e650c87ab7f075d4' -- 'roborsi/embodied/skills/base/check_dual_arm_collision/robotwin' && mkdir -p ~/.agents/skills && cp -R "$d"/'roborsi/embodied/skills/base/check_dual_arm_collision/robotwin' ~/.agents/skills/'check-dual-arm-collision' && rm -rf "$d"; fi

Codex reads ~/.agents/skills directly. For Claude Code, Cursor, Copilot, Gemini CLI, Antigravity or OpenCode, also link it. For Claude Code: ln -s ~/.agents/skills/'check-dual-arm-collision' ~/.claude/skills/'check-dual-arm-collision' (other agents: ~/.cursor/skills, ~/.copilot/skills, ~/.gemini/skills, ~/.gemini/config/skills, ~/.config/opencode/skills). Or install through the finder skill, which does both.

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