MoveIt Pick — external manipulation skill

Marketplace package for the pick_object capability (external_ros_node → MoveIt MoveGroup).

npx agenticros skills install @agenticros/moveit-pick
# or: chrismatthieu/moveit-pick

AgenticROS does not launch MoveIt. Bring up your MoveIt2 / MoveGroup stack on the robot (or sim), then install this skill.

Until core adds a MoveGroup goal helper, pass an explicit goal object matching moveit_msgs/action/MoveGroup for your planning group and grasp pose.

Mission example

{
  "mission": {
    "name": "pick at pose",
    "steps": [
      {
        "id": "pick",
        "capability": "pick_object",
        "inputs": {
          "goal": {
            "request": {
              "group_name": "arm",
              "num_planning_attempts": 5,
              "allowed_planning_time": 5.0
            }
          }
        }
      }
    ]
  }
}

Shape the goal to your MoveIt config (planning group, end-effector, grasp). The x / y / z input fields are documentation hints only.

Requirements

• MoveIt MoveGroup advertising move_action (moveit_msgs/action/MoveGroup)
• Transport with action support (local DDS / rosbridge preferred; Zenoh depends on bridge config)
• Operator-owned MoveIt bringup (sim-arm MoveIt2 CI is still WIP)

Status

| Item | Status | |------|--------| | Manifest / npm / marketplace | Shipped | | agenticros up sim-arm + MoveIt2 | WIP (joint jogging works; MoveGroup not in sim yet) | | CI demo | Not claimed |