Skill: place-in-cabinet
Author: TidyBot-Services
Description: With an object already grasped, detect the cabinet interior using sensors.find_objects(), move the held object inside the cabinet with arm.move_to_pose, lower it onto the shelf, open the gripper to release it, then retract the arm clear of the cabinet. Use after a grasp-and-lift step when the task is to store an object in a cabinet.