grasping-short-axis
De la autor
Deterministic 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.
Instalare
npx skills add graph-robots/open-robot-skills --skill grasping-short-axis -a claude-code
Se instalează în .claude/skills/grasping-short-axis/ · Fiecare comandă descarcă skill-ul direct de pe GitHub cu utilitarul open source skills.
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De ce 76
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Skill-uri similare
Cele mai apropiate de acesta prin ce fac și când sunt folosite.
- 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.Altele★ 58
- grasping-with-plannergraph-robots/open-robot-skillsTop-down grasping via a fast axis-locked linear descend with a collision-aware cuRobo fallback. A single `grasp_descend_linear` node rises, translates over the target, and descends straight down (Z-locked, orientation held) onto the object; if the straight-line solve is infeasible (far-edge reach, no IK for the fixed wrist) it falls back to the cuRobo planner over the candidate fan. Use when the curobo tool bundle is installed and a perceived object (OBB) must be grasped — the default grasping skill whenever cuRobo is deployed, in clean and cluttered scenes alike.Planificare★ 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.Altele★ 58
- 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.Altele★ 58
- grasping-direct-ikgraph-robots/open-robot-skillsDirect IK align-then-descend grasping. The gripper pre-rotates to the grasp orientation at a safe height ABOVE the target before descending straight down, avoiding the twist-while-closing failure mode of a blended rotate+descend. The grasp rotation is rebuilt so the hand's declared closing axis (robot.describe_gripper, composed by robot.grasp_frame) closes across the target's short horizontal axis, and the hover clearance is the hand's own (robot.describe_workspace) unless the workflow pins it. Use when no trajectory planner (curobo) is deployed or the scene is uncluttered enough that a straight-line approach is safe.DevOps★ 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.Altele★ 58
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