perceiving-deformable-linear-objects
From the author
Read 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.
Install
npx skills add graph-robots/open-robot-skills --skill perceiving-deformable-linear-objects -a claude-code
Installs to .claude/skills/perceiving-deformable-linear-objects/ · 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.
- perceiving-routing-fixturesgraph-robots/open-robot-skillsSurvey a cable-routing bench from one overhead RGB-D frame — find every station (spool, cleat) by colour, roundness and height off the work surface, fit the cable's ordered centreline through a text-prompted segmenter, derive the side each crossing owes from the instruction's alternation, and place the physical seat beside each post. Use when a routing plan needs the fixture layout and the starting shape of a deformable linear object, once, before the first move.Planning★ 58
- curvegraph-robots/open-robot-skillsOrdered centrelines of deformable linear objects — skeletonises a cable, rope or hose mask, recovers one traversal order through occlusion breaks and self-crossings (TrackDLO's chain merge), back-projects the ordered pixels through depth onto the object's axis as an arc-length-parameterised polyline, and carries a known centreline onto the next frame with motion imputed for hidden stretches. Use when a workflow needs an ordered centreline of a cable, rope or hose from a mask and a depth frame, or must carry one through occlusion between frames.Productivity★ 58
- seating-a-cable-crossinggraph-robots/open-robot-skillsStreams one planned crossing leg of a cable onto a routing station, lets the rod settle, then LOOKS — segments the rod, fits its centreline and counts how much of the curve lies inside the station's seat box on the side the route requires — and reports the fraction honestly rather than assuming the crossing took. It measures and does not correct. Use when a deformable-linear-object route is laid one crossing at a time and each crossing must be verified by vision before the next is planned.Planning★ 58
- grasping-linear-featuregraph-robots/open-robot-skillsFit 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.Other★ 58
- perceiving-functional-featuresgraph-robots/open-robot-skillsLocates a language-described functional part of a rigid object or fixture from calibrated RGB-D and fits a typed loop, shaft, tip, aperture, surface, or region feature with a metric centre, axis, and radius, either inside an already-segmented parent or end to end from a described object, protruding shaft, directed tip, or lidded aperture. Use when a manipulation step depends on where a specific part is rather than on the whole object, such as a tool loop to hang, a shaft to hang it on, an insertion tip, or an opening to insert into.Planning★ 58
- verifying-a-cable-routegraph-robots/open-robot-skillsJudge a finished cable route from a camera rather than from an evaluator — re-read the cable's centreline from the clear-view camera (tracking the carried prior when the support hand still hides one end), test that rod material lies on the owed side of every station within the seat's reach, and that the hand has left the rod. Use when a routing policy must decide for itself whether every crossing is seated and it is safe to stop, and report margins so a disagreement with a scorer is diagnosable.Testing★ 58
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