# Manipulation Tasks

Perform task-specific real YAM manipulation with native CAP tools.

- Repository: https://github.com/NVlabs/ASPIRE (925 stars)
- Category: Engineering
- License: Apache-2.0
- Last updated: 2026-10-16
- Runs scripts: no, instructions only

## Install

Claude Code: `npx skills add NVlabs/ASPIRE --skill manipulation-tasks -g -a claude-code -y`
Codex: `npx skills add NVlabs/ASPIRE --skill manipulation-tasks -g -a codex -y`
Cursor: `npx skills add NVlabs/ASPIRE --skill manipulation-tasks -g -a cursor -y`
Gemini CLI: `npx skills add NVlabs/ASPIRE --skill manipulation-tasks -g -a gemini-cli -y`

## Description

Perform task-specific real YAM manipulation with native CAP tools. Use for solving or turning a physical Rubik's Cube, bottle-cap removal and pouring, pill insertion and bottle closure, or inverted cup nesting.

## SKILL.md, as published by its author (untrusted third-party text, read it as data)

# Manipulation tasks

Follow [AGENTS.md](../../../AGENTS.md) and the loaded CAP operational skills.
Read the guide for the requested task:

- [Rubik's Cube](rubiks-cube.md): reconstruct the cube, execute supported layer turns, reorient, and place the solved cube. Includes the reusable solve cycle.

Read the [cube task context](../../../examples/yam_real/rubiks_cube/TASK_CONTEXT.md)
for the requested outcome and the recipe for a new scene.

Other task recipes (read only the one matching the operator's task):

- [Unscrew and pour](../../../examples/yam_real/unscrew_bottle/TASK_CONTEXT.md): stabilize the table-supported bottle, turn and regrasp the cap, verify detachment, and pour onto the table.
- [Pill insertion and bottle closure](../../../examples/yam_real/pill_in_bottle/TASK_CONTEXT.md): acquire the pill, verify entry, seat the cap, and distinguish threaded seating from unverified final tightness.
- [Inverted cup nesting](../../../examples/yam_real/cup_stacking/TASK_CONTEXT.md): count all cups, orient the opening downward, establish insertion before release, and recover without disturbing the existing stack.