grasping-direct-ik
From the author
Direct IK align-then-descend grasping. The gripper pre-rotates to the grasp orientation at a safe height ABOVE the target before descending straight down, avoiding the twist-while-closing failure mode of a blended rotate+descend. The grasp rotation is rebuilt so the hand's declared closing axis (robot.describe_gripper, composed by robot.grasp_frame) closes across the target's short horizontal axis, and the hover clearance is the hand's own (robot.describe_workspace) unless the workflow pins it. Use when no trajectory planner (curobo) is deployed or the scene is uncluttered enough that a straight-line approach is safe.
Install
npx skills add graph-robots/open-robot-skills --skill grasping-direct-ik -a claude-code
Installs to .claude/skills/grasping-direct-ik/ · Each command fetches the skill straight from GitHub with the open skills CLI.
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Similar skills
Closest to this one by what they do and when they are used.
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