diff --git a/tools/teach_pick_once.py b/tools/teach_pick_once.py
new file mode 100644
index 0000000..e167486
--- /dev/null
+++ b/tools/teach_pick_once.py
@@ -0,0 +1,139 @@
+from pathlib import Path
+import sys
+import time
+
+
+ROOT = Path(__file__).resolve().parents[1]
+if str(ROOT) not in sys.path:
+    sys.path.insert(0, str(ROOT))
+
+CLOSE_SCISSORS_ON_PICK = True
+
+# Fill these before running: [x, y, z, roll, pitch, yaw]
+PRE_PICK_POSE = []
+PICK_POSE = []
+
+control = None
+control_core = None
+
+
+def _load_project():
+    global control, control_core
+    if control is None or control_core is None:
+        import control as control_module
+        import control_core as control_core_module
+
+        control = control_module
+        control_core = control_core_module
+    return control, control_core
+
+
+def _checked_pose(pose, name):
+    if (
+        not isinstance(pose, (list, tuple))
+        or len(pose) != 6
+        or any(not isinstance(value, (int, float)) for value in pose)
+    ):
+        raise ValueError(f"{name} must be [x, y, z, roll, pitch, yaw]")
+    return [float(value) for value in pose]
+
+
+def _pulse_scissors(robot_name, io_index, off_index):
+    project, _ = _load_project()
+    project.control_tool_io(robot_name, off_index, False)
+    project.control_tool_io(robot_name, io_index, True)
+    time.sleep(float(project.GRIPPER_ACTION_DELAY))
+    project.control_tool_io(robot_name, io_index, False)
+
+
+def open_scissors(robot_name):
+    _pulse_scissors(robot_name, control.GRIPPER_OPEN_IO, control.GRIPPER_CLOSE_IO)
+
+
+def close_scissors(robot_name):
+    _pulse_scissors(robot_name, control.GRIPPER_CLOSE_IO, control.GRIPPER_OPEN_IO)
+
+
+def _move_pose_or_fail(arm, pose, reference_joints, description):
+    joints = arm.move_pose(pose, reference_joints, description=description)
+    if joints is None:
+        raise RuntimeError(f"{description} failed")
+    return joints
+
+
+def run_teach_pick_once():
+    arm = None
+    core = None
+
+    try:
+        pre_pick_pose = _checked_pose(PRE_PICK_POSE, "PRE_PICK_POSE")
+        pick_pose = _checked_pose(PICK_POSE, "PICK_POSE")
+        project, core = _load_project()
+        project._sync_config()
+        core.reset_runtime_state()
+        core.placement_manager.reset()
+
+        arm = core.connect_robot_arm()
+        open_scissors(arm.robot_name)
+
+        if not arm.return_home():
+            raise RuntimeError("return Home failed")
+
+        reference_joints = arm.get_joint_positions() or project.HOME_JOINTS
+        pre_joints = _move_pose_or_fail(arm, pre_pick_pose, reference_joints, "move to pre-pick pose")
+        pick_joints = _move_pose_or_fail(arm, pick_pose, pre_joints, "move to pick pose")
+
+        delay = float(project.PICK_POINT_ARRIVAL_DELAY)
+        if delay > 0:
+            print(f"Arrived at pick pose, waiting {delay:.1f}s")
+            time.sleep(delay)
+
+        if CLOSE_SCISSORS_ON_PICK:
+            close_scissors(arm.robot_name)
+        else:
+            print("CLOSE_SCISSORS_ON_PICK=False, skip closing scissors")
+
+        _move_pose_or_fail(arm, pre_pick_pose, pick_joints, "return to pre-pick pose")
+
+        if not arm.return_home():
+            raise RuntimeError("return Home after pick failed")
+
+        place_pose, place_index = project.get_next_placement()
+        reference_joints = arm.get_joint_positions() or project.HOME_JOINTS
+        _move_pose_or_fail(arm, place_pose, reference_joints, f"move to place pose {place_index}")
+        open_scissors(arm.robot_name)
+
+        if not arm.return_home():
+            raise RuntimeError("final return Home failed")
+
+        print("Teach pick flow finished")
+        return True
+    except Exception as exc:
+        print(f"Teach pick flow failed: {exc}")
+        if arm is not None:
+            try:
+                arm.return_home()
+            except Exception as home_exc:
+                print(f"Return Home during cleanup failed: {home_exc}")
+        return False
+    finally:
+        if core is not None:
+            core.release_robot_arm()
+
+
+def _self_test():
+    assert _checked_pose([1, 2, 3, 4, 5, 6], "POSE") == [1.0, 2.0, 3.0, 4.0, 5.0, 6.0]
+    try:
+        _checked_pose([], "POSE")
+    except ValueError:
+        pass
+    else:
+        raise AssertionError("empty pose must fail")
+    assert isinstance(CLOSE_SCISSORS_ON_PICK, bool)
+
+
+if __name__ == "__main__":
+    if "--self-test" in sys.argv:
+        _self_test()
+    else:
+        raise SystemExit(0 if run_teach_pick_once() else 1)