selecting-reachable-grasp
De la autor
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.
Instalare
npx skills add graph-robots/open-robot-skills --skill selecting-reachable-grasp -a claude-code
Se instalează în .claude/skills/selecting-reachable-grasp/ · Fiecare comandă descarcă skill-ul direct de pe GitHub cu utilitarul open source skills.
Identic octet cu octet cu commit-ul scanat, cu licența depozitului și un fișier SOURCE.txt.
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De ce 76
aiqbench calculează scorul de încredere din semnale publice. Nu este un audit de securitate, așa că citește un skill înainte să-l instalezi.
Skill-uri similare
Cele mai apropiate de acesta prin ce fac și când sunt folosite.
- verifying-graspsgraph-robots/open-robot-skillsThree independent checks on one grasp attempt -- that the hand arrived where it was sent before the jaws close, that the jaw gap after the close is not the mechanical stop, and that the lifted object is visible above the surface and near the hand. Use when a grasp closed on a small or thin object and the graph must know, before carrying or inserting, whether anything is actually in the gripper.Altele★ 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-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
- 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.Planificare★ 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.Documente★ 58
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