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Use Guardians Mode on orange objects scanned with Visor
If you use Star-Lord's Visor and scan orange objects, you'll sometimes be presented with clues with how to interact the object. In the attached image it says you can "pierce to provide springboard." Since Gamora's abilities are related to this, engage in Guardian Mode (hold LB or L1) and select Gamora so she can jump and stab the object. Use these clues and select Guardian skills to assist you.