grasping-linear-feature
From the author
Fit the full 3D axis of an elongated segmented feature and grasp it with a perpendicular, inclination-aware parallel-jaw pose. Use for handles, rods, shafts, tools, utensils, and other linear parts whose pitch or roll matters; use grasping-short-axis instead when an upright OBB and vertical approach are sufficient.
Install
npx skills add graph-robots/open-robot-skills --skill grasping-linear-feature -a claude-code
Installs to .claude/skills/grasping-linear-feature/ · 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.
- grasping-concave-contourgraph-robots/open-robot-skillsGrasp an awkward rigid part by the waists in its own silhouette — take the alpha shape of its point cloud from above, find where that boundary turns inward, and close the jaws across a pair of those inward runs. Use when a part has no graspable long axis and no pair of parallel walls an OBB would find — pliers and scissors gripped at the joint, a spool at its neck, a gear between two teeth, a bulb socket at its skirt. Use grasping-linear-feature instead for handles, rods and shafts, and grasping-short-axis when an upright box is enough.Other★ 58
- grasping-short-axisgraph-robots/open-robot-skillsDeterministic short-axis-aligned grasp with CuRobo. The grasp pose is computed geometrically (NOT sampled/scored) — the gripper approaches straight down with its finger-opening axis locked to the OBB's SHORTER horizontal axis, so the jaws close ACROSS the narrow dimension of an elongated target. Use for pan/pot handles, bottles, tools, utensils — anywhere the OBB centroid is graspable but orientation is the thing that matters. An optional offset_from_base node slides the grasp outward along the handle, clear of the heavier object body, when a second OBB of that body is wired in. A scored/sampled pose often holds at close but shears out under the lift; the short-axis pose grips the bar squarely so it survives lift + transport.Documents★ 58
- perceiving-deformable-linear-objectsgraph-robots/open-robot-skillsRead a cable's ordered 3D centreline from one RGB-D frame and keep it current across a task — seed it from an unobstructed survey, re-fit it cold whenever the whole rod is in view, and fall back to tracking the carried prior only when the fresh fit comes back short. Use when a manipulation loop needs the current shape of a deformable linear object (a cable, rope, or hose) once per step rather than every frame, from a fixed third-person camera.Productivity★ 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
- 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
- placing-held-featuregraph-robots/open-robot-skillsMove a held object so one of its declared features lands on a target point — a ring onto a hook, a tip into a hole, a plug at a bore. Composes the hand pose from the live object pose and the feature's centre in the object's own frame, recomputed each round so in-jaw slip cannot compound. Use for any goal written as "this object's feature at that place"; do NOT drive the hand to the target directly, which is wrong by the length of the held object.Writing★ 58
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