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place_held_in_held_container

100 / 100 · Low risk

Fine to try.

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

ATOMIC place of an object held by one arm INTO a container (bowl) held by the other arm. The "holding arm" (carrying the object) moves; the "container arm" (carrying the bowl) STAYS PUT — its gripper is never opened, its EE is never commanded to move. The skill internally tries multiple top-down + tilted quats for the holding arm above the container's current world xy, picks the first IK-feasible one, descends, opens, and verifies the object dropped into the container. Created 2026-06-15 after…

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/'place-held-in-held-container' ] || [ -L ~/.agents/skills/'place-held-in-held-container' ]; then echo 'A skill folder named place-held-in-held-container 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 "$d" checkout --quiet '90c8569705bf4004a4f79e34e650c87ab7f075d4' -- 'roborsi/embodied/skills/base/place_held_in_held_container/robotwin' && mkdir -p ~/.agents/skills && cp -R "$d"/'roborsi/embodied/skills/base/place_held_in_held_container/robotwin' ~/.agents/skills/'place-held-in-held-container' && 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/'place-held-in-held-container' ~/.claude/skills/'place-held-in-held-container' (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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