CAP Tool Usage

Follow AGENTS.md. Use the native mcp__cap__* interface attached to the ASPIRE CAP session. Keep that session as the only environment and camera owner; do not create another robot or camera runtime during a physical task.

For a plainly short-horizon task, execute the shortest dependency-ordered MCP sequence immediately. Skip source inspection, a full planning report, and redundant checks.

ASPIRE action contract

Native MCP schemas are authoritative. The low-level action tools are:

Tool	Target
cap_move_to_pose	target_pose, with arm="left" or "right"
cap_move_synchronized	targets={"left": pose, "right": pose} for jointly planned motion
cap_move_to_joints	target containing six joint angles in radians, with arm
cap_set_gripper	position from 0 closed to 1 open, with arm

An absolute pose includes position: [x, y, z] in metres, frame, and exactly one of rpy_deg: [roll, pitch, yaw] or quaternion_wxyz: [w, x, y, z]. RPY uses degrees and fixed-axis XYZ: R = Rz(yaw) @ Ry(pitch) @ Rx(roll) in the declared frame. Returned poses use WXYZ quaternions. Read measured arm poses with cap_get_robot_state.

For Cartesian or synchronized pose motion with cuRobo configured, select strategy={"ik_solver":"mink","trajectory_planner":"curobo"}. Never disable collision checking to force a failed plan through. Do not use direct joint motion as implicit IK or to bypass a failed collision-aware Cartesian plan.

For a layer turn, derive successive absolute pose targets from the measured cube axis and EEF pose. An offset EEF needs both its position and orientation rotated about that axis. Verify contact and actual sticker motion from returned evidence. Use separate cap_set_gripper calls for intended grip changes. Prefer synchronized motion only when both targets are grounded and neither depends on the other's feedback.

Object-approach tool chain