reconstructing-collision-worlds
From the author
Reconstructs a planner collision world from calibrated RGB-D views alone, excluding the grasp target, the robot, and a perceived fixture mask, dropping depth-edge slivers and invalid-depth sheets, and carving the free space an intentional-contact goal needs as an approach tube along a fixture axis or a corridor through a lid aperture. Use when a held-object motion must be planned against obstacles no simulator or CAD scene supplies, before registering the object and planning the carry.
Install
npx skills add graph-robots/open-robot-skills --skill reconstructing-collision-worlds -a claude-code
Installs to .claude/skills/reconstructing-collision-worlds/ · Each command fetches the skill straight from GitHub with the open skills CLI.
Byte-identical to the scanned commit, with the repository’s licence and a SOURCE.txt.
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