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probe_ik_workspace

100 / 100 · Low risk

Fine to try.

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

Diagnostic-only IK probe. Given a target world XYZ, test a SET of candidate wrist orientations and z heights to find which combinations cuRobo's IK can actually plan. Use BEFORE concluding "unreachable" — many V5-V19 failures came from agents trying only top-down quat and reporting "all IK fails" when lateral approaches were trivially reachable. Does NOT mutate sim state (cuRobo plan is pure compute).

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