perceiving-objects
From the author
Fast single-path 3D object perception. Runs Grounding-DINO broad detection, a pairwise VLM crop tournament to identify the target box, SAM3 box segmentation, and depth back-projection to a world-frame point cloud, finished by geometry.filter_and_compute_obb for a clean oriented bounding box, mask, and cloud. Multi-camera rigs get a verified wrist-camera fallback gate. Use when a manipulation workflow needs to localize one named object quickly — uncluttered scenes with visually distinct targets, latency-bound loops, or platforms deploying only DINO + VLM + SAM3 + geometry.
Install
npx skills add graph-robots/open-robot-skills --skill perceiving-objects -a claude-code
Installs to .claude/skills/perceiving-objects/ · Each command fetches the skill straight from GitHub with the open skills CLI.
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