verifying-grasps
From the author
Three independent checks on one grasp attempt -- that the hand arrived where it was sent before the jaws close, that the jaw gap after the close is not the mechanical stop, and that the lifted object is visible above the surface and near the hand. Use when a grasp closed on a small or thin object and the graph must know, before carrying or inserting, whether anything is actually in the gripper.
Install
npx skills add graph-robots/open-robot-skills --skill verifying-grasps -a claude-code
Installs to .claude/skills/verifying-grasps/ · Each command fetches the skill straight from GitHub with the open skills CLI.
Byte-identical to the scanned commit, with the repository’s licence and a SOURCE.txt.
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Similar skills
Closest to this one by what they do and when they are used.
- selecting-reachable-graspgraph-robots/open-robot-skillsWalk a ranked list of candidate grasp poses and take the first the arm can actually reach — IK solves it, the solution lands where it was asked, and (where `sim.clearance` is available) the arm is clear of the scene there. Use after any propose rung. This is the fix for taking candidate 0 on faith and closing the jaws on nothing.Other★ 58
- proposing-side-graspsgraph-robots/open-robot-skillsPropose horizontal (side-entry) grasps swept around an object's oriented box — twelve azimuths ranked by jaw margin. Use when top-down access is blocked by an overhead shelf, a lid or a bin wall, or when the object's vertical dimension is the only one the hand can span. Declines when the object is wider than the jaws from every azimuth.Other★ 58
- proposing-short-axis-graspsgraph-robots/open-robot-skillsPropose top-down grasps whose jaws close ACROSS an elongated object's short axis, derived from its oriented box. Use when the object is longer than it is wide, as the first grasp-proposal rung — a handle, a spanner, a screwdriver, a bar, a laid-down bottle — where closing along the length would put the fingers down the object and meet them on each other. Declines when the short axis is wider than the hand opens, which is the signal to try `proposing-side-grasps` rather than to re-tune this one.Other★ 58
- registering-held-objectsgraph-robots/open-robot-skillsReobserves a grasped rigid object from the wrist cameras, estimates its functional feature in the TCP frame, and fits attached collision spheres, retaining the grasp-time transform at low confidence when the object is not seen. Use when a held object must be localized in the hand right after grasping or re-checked at a pre-contact pose before a fixture engagement.Other★ 58
- verify-thisOutlineDriven/outline-driven-developmentUse when a measurable claim needs before/after proof. Not for fact-checking or done-claim gating: use verify-both-ways or verification-before-completion.Other★ 54
- verifying-a-cable-routegraph-robots/open-robot-skillsJudge a finished cable route from a camera rather than from an evaluator — re-read the cable's centreline from the clear-view camera (tracking the carried prior when the support hand still hides one end), test that rod material lies on the owed side of every station within the seat's reach, and that the hand has left the rod. Use when a routing policy must decide for itself whether every crossing is seated and it is safe to stop, and report margins so a disagreement with a scorer is diagnosable.Testing★ 58
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