## Overview
Zero-Shot Pour Coffee is a manipulation skill that enables robots to pour liquids from arbitrary containers into target vessels without prior calibration. The skill uses vision-based analysis to estimate container geometry and liquid volume, then plans a pouring trajectory that minimizes spillage.
## Features
- **Zero-shot adaptation**: Works with any container/cup combination
- **Spill detection**: Real-time monitoring with automatic recovery
- **Force feedback**: Adjusts pouring speed based on weight sensors
- **Safety first**: Automatic stop if spill is detected
## Requirements
- Robot with at least 6 DOF
- RGB-D camera for visual analysis
- Force/torque sensor on end effector (optional but recommended)
## Usage
```bash
rosclaw skill load pour-coffee
rosclaw skill run pour-coffee --container="mug" --target="cup"
```