selecting-reachable-grasp
From the author
Walk 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.
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npx skills add graph-robots/open-robot-skills --skill selecting-reachable-grasp -a claude-code
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Similar skills
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- anchoring-a-free-endgraph-robots/open-robot-skillsPins one end of a cable with the support hand before any crossing is attempted — asks the support-hand planner for the anchor grasp as joint-space legs, refuses it when its worst IK error is past the limit, streams the legs, closes the jaws to the plan's own width and dwells for the fingers' travel, and carries the solved chain and grasp orientation out on the exit so later pay-outs seed from them. Use when a deformable linear object must be held at one end so a sideways pull bends it instead of dragging the whole thing.Planning★ 58
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