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solve_relational_keypoint

100 / 100 · Low risk

Fine to try.

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

ReKep-style relational keypoint move: ground a keypoint on the HELD object and a keypoint on a TARGET object, lift both to 3D, and compute the end-effector displacement that brings the held keypoint onto the target keypoint (+offset). dry_run by default — returns the target pose without moving. Source: ReKep (Relational Keypoint Constraints, Huang et al. 2024).

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