Diagnosing Joint Poses

When To Use

Use this skill when a user asks to set, fix, or validate an initial robot pose from language such as "gripper fingers down", "tool points forward", "camera looks at the object", or "end effector aligns with the target".

Workflow

1. Translate the visual request into a measurable body-axis or target-pose condition.
2. Inspect the actual articulation body_names and joint_names; do not rely only on USD prim names.
3. Measure current body position and orientation from simulation state.
4. Sweep candidate joints one variable at a time, respecting joint limits.
5. Choose the pose that satisfies the axis target while preserving reachability and avoiding self-collision.
6. Patch the task's initial joint positions or reset configuration.
7. Validate with compile checks and a one-env reset or zero-action smoke.
8. Report the measured before/after axis alignment, not just visual appearance.

Validation