anchoring-a-free-end
From the author
Pins 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.
Install
npx skills add graph-robots/open-robot-skills --skill anchoring-a-free-end -a claude-code
Installs to .claude/skills/anchoring-a-free-end/ · 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.
- plugging-a-cable-endgraph-robots/open-robot-skillsCarries a cable's held free end into a terminal port after the last crossing — finds the port by vision as the terminal block furthest from the run's anchored end, takes the delivering hand and its working height from the support-hand planner, stages the carry three sides of a rectangle around the seated crossings at a hand's depth above the bench, drops into the mouth, opens the jaws and retreats along the bench. Use when a routed deformable linear object must terminate in a socket and the hand that anchored its free end is the one that can reach it.Planning★ 58
- planning-held-object-motiongraph-robots/open-robot-skillsPlans the carry and engagement phases for an already-held rigid object: a clearance-first lift, the smallest feasible symmetry-equivalent reorientation, an orientation-locked transit above the fixture, or a direct plan to the approach pose; then a typed engagement or a straight linear insertion, optionally re-observing the held tip from the wrist first. Use when a held object must be brought to a fixture for insertion, hanging, packing, racking, or constrained sorting and an execution skill will run the resulting plans.Planning★ 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.Other★ 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
- 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.Other★ 58
- tipping-over-a-surface-edgegraph-robots/open-robot-skillsTurn a body over on the surface it rests on instead of carrying it — pinch two opposite walls LOOSELY and off centre so the pads act as a pin joint, lift so the surface and gravity stand the body up on its own edge, then press it onto the surface and pull the pins toward you about whichever edge is grounded until it is just past balance, and let go. Use when a rigid grasp cannot transmit the torque a full roll needs (a parallel jaw rolling about its own closing axis), when the body is too big to turn over in hand, or when the arm's envelope cannot follow a held body through the roll.Other★ 58
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