perceiving-object-parts
From the author
Hierarchical perception for subpart targeting. Detects a parent object first (DINO+VLM), crops the camera image to the parent's bounding box, then detects and segments the named subpart inside the crop (DINO + SAM3), and uncrops + fuses depth to a world-frame OBB/mask/cloud — plus the parent object's OBB and cloud for downstream placement/collision reasoning. Use when the graspable affordance is a subpart of a larger object — pan handle, drawer pull, mug rim, moka-pot handle, stove burner — where detecting the subpart at full image resolution is unreliable because it occupies few pixels.
Install
npx skills add graph-robots/open-robot-skills --skill perceiving-object-parts -a claude-code
Installs to .claude/skills/perceiving-object-parts/ · Each command fetches the skill straight from GitHub with the open skills CLI.
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