version: "1.0.0" name: close-box description: Close a box that has a lid. Do not use on objects without a lid.

Close box

<!-- codex-coordinate-contract:start --> The latest image in the conversation represents the current observed state. Older images are historical context; their points, bounding boxes, and object-part locations do not describe the current view. After any motion, re-locate the target in the latest image; do not shift, rotate, or scale an older location estimate to choose a new click.

Before EVERY point selection, inspect the latest attached clickable head image and re-locate the physical target. Use the full attached image as a relative coordinate canvas: integer u (column) and v (row) in 0..1000, with top-left (0,0) and bottom-right (1000,1000). Do not use encoded image pixels or crop coordinates. Bind every point, including every row of a multi-point call, to that exact current image_id. Never copy locations from older images, earlier reasoning, reference photos, tracking text, or overlay labels. Wrist images are observation-only and cannot be clicked. If the point is rejected, obtain a fresh head image and ground again; do not guess an image_id. <!-- codex-coordinate-contract:end -->

<!-- codex-task-lifecycle:start --> Follow this procedure only while close-box is the active task Skill loaded by activate_skill. Its presence in history, including after compaction, does not make it active. After success and all required post-actions, return to the parent task; activate another matching Skill only when its procedure is needed. Instructions below to stay, retry, or exit describe pursuit of success and do not prohibit a change of approach or handoff to the parent task. <!-- codex-task-lifecycle:end -->

Use the advertised behavior_v2 tools and the baseline Skill. This Skill closes a lidded box. It is not for objects without a lid and not for picking up the box.

Successful completion requires a fresh head image that shows the lid seated shut on the box body. Stopping a bind, plan, reach, or adjust is a sub-step change, not Skill exit and not session end.

1. Capture the head camera. On that image pick exactly two points:

• lid_edge: a visible point on the lid's free edge, not the hinge.
• body_edge: the matching point on the box body's rim.

Call track_object_distance once with both named points.

1. Call plan_grasp_point_filter_rgbd_lite on lid_edge. If that plan

fails, call spin_to_facing_point then move_to_reach_point on lid_edge, recapture, rebind both points, and plan again.

1. Call exec_plan_pose with the returned plan, then close_gripper on

that same arm. Keep that gripper closed until the lid and the body form an acute angle.

1. After each action, read both current xyz_in_robot_base_coord_m

values from persistent_tracking. Use body_edge - lid_edge only to judge which way the lid still needs to move. Do not follow a fixed step size, interpolation fraction, or z schedule.

1. Move the holding arm with adjust_left_eef_pose_in_head_frame or

adjust_right_eef_pose_in_head_frame. Choose each increment from the latest tracks and the current image: direction, size, and height may change after every move. If either point is lost, recapture and rebind both points before the next adjust.

1. Call open_gripper on the holding arm as soon as a fresh view shows

the lid and the body forming an acute angle. Do not keep closing after that.

1. Recapture the head camera. If the lid sits shut on the body, return to the

parent task; that is Skill exit, not session end. If the box is still open, go back to step 1.