Getting it into your agent
One page per mod, every tool's command on it. A separate URL per tool would split the same page into five that compete with each other.
npx agentmods add skills/graph-robots/open-robot-skills/transporting-objectsnpx skills add graph-robots/open-robot-skills --skill transporting-objectsgit clone --depth 1 https://github.com/graph-robots/open-robot-skillsWrote this? Show the measurements
A badge with what this costs and how it scanned, read live from this page, so it follows the numbers instead of freezing them. Markdown for a README, HTML for a documentation site or a project page.
[](https://agentmods.dev/skills/graph-robots/open-robot-skills/transporting-objects)<a href="https://agentmods.dev/skills/graph-robots/open-robot-skills/transporting-objects"><img src="https://agentmods.dev/badge/skills/graph-robots/open-robot-skills/transporting-objects.svg" alt="Measured on agentmods" height="20"></a>What it costs to keep this loaded
Counted locally with the o200k_base tokenizer, which is exact for GPT models; Claude uses its own tokenizer and its counts differ. Treat this as one consistent yardstick across the catalogue rather than a bill. Prices are per million input tokens.
| Model | Per session | Once invoked |
|---|---|---|
| Fable 5 | $0.00170 | $0.04359 |
| Opus 5 | $0.00085 | $0.02180 |
| Sonnet 5 | $0.00034 | $0.00872 |
| Haiku 4.5 | $0.00017 | $0.00436 |
Grade A, and why
transporting-objects scanned grade A with 0 findings against 26 rules in 11 categories — prompt injection, anti-refusal, data exfiltration, privilege escalation, supply chain, agent snooping, system-prompt leakage, SSRF and excessive agency — measured 4d ago.
A static scan of the body, not an audit. Every finding is printed with the line that produced it so you can judge whether it matters here. A mod is markdown that instructs an agent; that is exactly why what it instructs is worth reading.
Nothing flagged
None of the 26 patterns this scan looks for appear in this file: no shell pipes, no recursive deletes, no credential paths, no hidden text, no instruction-override or anti-refusal phrasing, no agent-config snooping. That is not a guarantee, it is the absence of the things that are checkable.
How it starts
The opening of the file, as written. The whole thing — 375 lines — stays where its author put it; the contents beside it link to each section on GitHub.
transporting-objects
The pick has happened; the gripper is holding the target. This subgraph moves the held object above the destination container and releases it.
When to use
- After a successful grasp (
graspedend state of anygrasping-*skill). - When the destination is a container with a known OBB (cup, bin, basket).
When NOT to use
- Cluttered transport paths where the lifted object risks colliding with
other scene objects in transit — but see the
waypoint_move_carvevariant below, which routes the lift/translate throughcurobo.plan_with_grasped_objectagainst a rebuilt collision world.
Recommended subgraph state flow
Choose the flow by WHERE the object must land.
Default — a walled container (basket / bin / box / tote): 2 states
HARD RULE — pick this path whenever the destination is a container with walls
(a basket, bin, tote, box, or cup) — i.e. essentially every "put/place X in
the " task. Use the 2-state transport_move → release flow below and
do NOT use the compute_drop → move_above → release drop-pose path (that
path releases at/above the rim for a walled container and the object misses).
The drop-pose path in the next section is ONLY for placing onto a surface or
into a named sub-region.
The object must end up INSIDE the walls, so descend straight down into it. This
is the reference VAB packing recipe and needs only container_obb:
transport_move → release
transport_move—type: script,scripts/<sg>/transport_descend_linear.py. Use the canonical script as-is (materialized automatically; do not re-emit it). Inputs:container_obb = Ref("in.container_obb"),place_offset = -0.06(the TCP descends to just above the rim so the held object clears the walls and drops in). It lifts, moves over the container, and does an axis-locked straight-Z descend (curobo.plan_directed_linear, fingertip-frame). Returnsplace_position.release—type: script,scripts/<sg>/place_release.py. Inputplace_position = Ref("transport_move.place_position"). Opens the gripper with a settle so the object lands, then a linear straight-up retract. On success → exitplaced; on failure →blocked.
What ships with it
16 files beside SKILL.md in the same directory: the scripts, references and assets a skill reads on demand. Not counted in the per-session cost; read them before you install if any of them is executable.
- examples/canonical_subgraph.json 832 B
- prompts/vlm_select_box.md 536 B
- prompts/vlm_select_zone.md 900 B
- references/clearance_constants.md 1.8 KB
- references/design_transport.md 1.3 KB
- scripts/approach_above.py 2.4 KB runs code
- scripts/compute_drop_pose.py 9.0 KB runs code
- scripts/descend_release_linear.py 2.8 KB runs code
- scripts/descend_release.py 2.3 KB runs code
- scripts/drop_offset_pose.py 4.9 KB runs code
- scripts/lift_grasped.py 1.6 KB runs code
- scripts/perceive_placement_zone.py 24 KB runs code
- scripts/place_release.py 1.1 KB runs code
- scripts/transport_descend_linear.py 4.9 KB runs code
- scripts/waypoint_move_carve.py 3.1 KB runs code
- scripts/waypoint_move.py 3.3 KB runs code
What this file has done since we first saw it
Hashed on every crawl. A supply-chain change to an agent config is a question of when, not whether, so the history is kept rather than the latest state alone.
- 4d ago First seen · 375 lines · 170 tokens per session scan A 017d08cc3114
transporting-objects is a skill published in the GitHub repository graph-robots/open-robot-skills (39 stars, last pushed 10d ago), licensed Apache-2.0. It adds 170 tokens to every session and 4,359 once invoked, about $0.0009 per session on Opus 5. A static security scan graded it A with 0 findings. No closer match exists in the catalogue, so it is treated as the original; first seen 2026-08-30.
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