geometry

Name: geometry
Author: graph-robots

26stars4forks

How to install geometry?

graph-robots/open-robot-skills/geometry

$npx -y skills add graph-robots/open-robot-skills --skill geometry

Installs into the current project.

Summary

Pure-math 3D geometry toolbox — back-project masks and depth to

Files · 1

View on GitHub

SKILL.md

1	# geometry
2
3	Pure-math perception/planning geometry as in-process typed tools, from
4	mask back-projection through OBB fitting to grasp-candidate generation,
5	plus the two scalar helpers (`geometry.iou`, `geometry.pose_distance`).
6	Fully CPU — no model weights, no GPU.
7
8	## When to use
9
10	- Turning a segmentation mask + depth + camera calibration into world-frame
11	points (`mask_to_world_points`) and an object OBB
12	(`filter_and_compute_obb`).
13	- Deriving grasp poses from an OBB: `top_down_grasp_candidates` for tabletop
14	pick (feed the full list to `curobo.plan_to_grasp_poses` as a goalset),
15	`front_grasp_from_obb` for horizontal interactions (drawer/door handles).
16	- Building the collision world for the planner: `build_world_config` with the
17	target's mask in `object_masks` so the planner can `ignore_obstacle_names`
18	it.
19
20	## Install
21
22	```bash
23	uv sync --extra geometry # open3d + scikit-learn (cv2/scipy come with gap core)
24	# (pip: pip install -e ".[geometry]")
25	```
26
27	The module imports lazily — the bundle loads (and the light tools work)
28	without the extra; only OBB fitting, DBSCAN filtering and world
29	reconstruction need open3d/sklearn/cv2.
30
31	## Gotchas (carried over from the service)
32
33	- OBB `extent` is HALF-extents (gap.types convention, same as the proto).
34	`compute_obb` is upright-only: rotation is around world Z (no 3D tilt), and
35	extents use the 2nd/98th percentile of points, not strict min/max.
36	- Single-camera clouds are 2.5D: only camera-facing surfaces are observed, so
37	OBB centers carry a few cm of depth bias on opaque objects. (The service's
38	rehearsal-sandbox ground-truth snap that compensated for this in-container
39	was deliberately NOT ported — it depended on a `/app` sandbox file.)
40	- `top_down_grasp_candidates` default `z_offset=-0.04`: fingertip 4 cm below
41	the OBB top. With `z_offset=0.0` the fingers close above the object
42	(silent empty grip). Grasp Z is clamped to -0.05 m (table-clearance floor;
43	LIBERO table top is at world z=0).
44	- `mask_to_world_points` keeps only depths in [0.015, 20.0] m (HyRL bounds);
45	invalid/zero-depth pixels are dropped.
46	- `filter_noise` returns the ORIGINAL cloud unchanged when DBSCAN labels
47	everything noise (defensive fallback, mirrors HyRL).
48	- `build_world_config`: table removal only runs when `table_z_threshold != 0`
49	(typical -0.01); robot-point exclusion is Franka-only (simplified DH FK)
50	and skips non-7-DOF joint states; prefer explicit `object_masks` over the
51	`target_obb` projection fallback — masks are pixel-accurate, the OBB
52	projection is a corner-AABB approximation inflated by 2 cm.
53	- `top_down_grasp_from_obb` yaw is NOT derived from the OBB — fingers may
54	close across the wide axis; use the candidate fan when orientation matters.

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geometry

26stars4forks

View on GitHub

How to install geometry?

graph-robots/open-robot-skills/geometry

$npx -y skills add graph-robots/open-robot-skills --skill geometry

Installs into the current project.

Summary

Pure-math 3D geometry toolbox — back-project masks and depth to

Files · 1

View on GitHub

SKILL.md

1	# geometry
2
3	Pure-math perception/planning geometry as in-process typed tools, from
4	mask back-projection through OBB fitting to grasp-candidate generation,
5	plus the two scalar helpers (`geometry.iou`, `geometry.pose_distance`).
6	Fully CPU — no model weights, no GPU.
7
8	## When to use
9
10	- Turning a segmentation mask + depth + camera calibration into world-frame
11	points (`mask_to_world_points`) and an object OBB
12	(`filter_and_compute_obb`).
13	- Deriving grasp poses from an OBB: `top_down_grasp_candidates` for tabletop
14	pick (feed the full list to `curobo.plan_to_grasp_poses` as a goalset),
15	`front_grasp_from_obb` for horizontal interactions (drawer/door handles).
16	- Building the collision world for the planner: `build_world_config` with the
17	target's mask in `object_masks` so the planner can `ignore_obstacle_names`
18	it.
19
20	## Install
21
22	```bash
23	uv sync --extra geometry # open3d + scikit-learn (cv2/scipy come with gap core)
24	# (pip: pip install -e ".[geometry]")
25	```
26
27	The module imports lazily — the bundle loads (and the light tools work)
28	without the extra; only OBB fitting, DBSCAN filtering and world
29	reconstruction need open3d/sklearn/cv2.
30
31	## Gotchas (carried over from the service)
32
33	- OBB `extent` is HALF-extents (gap.types convention, same as the proto).
34	`compute_obb` is upright-only: rotation is around world Z (no 3D tilt), and
35	extents use the 2nd/98th percentile of points, not strict min/max.
36	- Single-camera clouds are 2.5D: only camera-facing surfaces are observed, so
37	OBB centers carry a few cm of depth bias on opaque objects. (The service's
38	rehearsal-sandbox ground-truth snap that compensated for this in-container
39	was deliberately NOT ported — it depended on a `/app` sandbox file.)
40	- `top_down_grasp_candidates` default `z_offset=-0.04`: fingertip 4 cm below
41	the OBB top. With `z_offset=0.0` the fingers close above the object
42	(silent empty grip). Grasp Z is clamped to -0.05 m (table-clearance floor;
43	LIBERO table top is at world z=0).
44	- `mask_to_world_points` keeps only depths in [0.015, 20.0] m (HyRL bounds);
45	invalid/zero-depth pixels are dropped.
46	- `filter_noise` returns the ORIGINAL cloud unchanged when DBSCAN labels
47	everything noise (defensive fallback, mirrors HyRL).
48	- `build_world_config`: table removal only runs when `table_z_threshold != 0`
49	(typical -0.01); robot-point exclusion is Franka-only (simplified DH FK)
50	and skips non-7-DOF joint states; prefer explicit `object_masks` over the
51	`target_obb` projection fallback — masks are pixel-accurate, the OBB
52	projection is a corner-AABB approximation inflated by 2 cm.
53	- `top_down_grasp_from_obb` yaw is NOT derived from the OBB — fingers may
54	close across the wide axis; use the candidate fan when orientation matters.

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6 picks

Type