grasping-direct-ik

Name: grasping-direct-ik
Author: graph-robots

26stars4forks

How to install grasping-direct-ik?

graph-robots/open-robot-skills/grasping-direct-ik

$npx -y skills add graph-robots/open-robot-skills --skill grasping-direct-ik

Installs into the current project.

Summary

Direct IK align-then-descend grasping. The gripper pre-rotates to

Files · 1

View on GitHub

SKILL.md

1	# grasping-direct-ik
2
3	Direct-IK grasp: rotate the gripper to grasp orientation at a safe height
4	above the target, then descend straight down, then close. No trajectory
5	planner — works on platforms where CuRobo is not deployed, or in
6	uncluttered scenes where planning is overkill.
7
8	## When to use
9
10	- The `curobo` tool bundle is not deployed (no collision-aware planner
11	available).
12	- The scene is uncluttered enough that a straight-line approach is safe.
13
14	## When NOT to use
15
16	- Cluttered scenes where the arm must thread between obstacles. Prefer
17	`grasping-with-planner` if available.
18
19	## Recommended subgraph state flow
20
21	The subgraph state machine the agent generates should look like (6 states):
22
23	```text
24	open → compute_grasp → compute_align → rotate_align → descend → close → grasped
25	```
26
27	(`grasped` is the success-marker `noop` from `sg.add_exit("grasped")`,
28	with an edge to `END`.)
29
30	State details:
31
32	1. `open` — `type: tool`, `tool: "robot.open_gripper"`, `inputs: { settle_steps: 40 }`.
33	2. `compute_grasp` — `type: tool`, `tool: "geometry.top_down_grasp_candidates"`,
34	`inputs: { obb: Ref("in.target_obb") }`.
35	3. `compute_align` — `type: script`, file
36	`scripts/<sg>/compute_align_pose.py` (from this bundle's
37	`canonical_scripts`). Inputs:
38	`grasp_pose = Ref("compute_grasp.candidates.poses.0")`,
39	`target_obb = Ref("in.target_obb")`. Returns `align_pose`.
40	4. `rotate_align` — `type: tool`, `tool: "robot.go_to_pose"`,
41	`inputs: { pose: Ref("compute_align.align_pose") }`.
42	5. `descend` — `type: tool`, `tool: "robot.go_to_pose"`,
43	`inputs: { pose: Ref("compute_grasp.candidates.poses.0") }`.
44	6. `close` — `type: tool`, `tool: "robot.close_gripper"`, `inputs: { settle_steps: 60 }`.
45	Edge directly from `close` to the `grasped` success marker; the
46	subgraph's `on_error: "failed"` catches any raise from earlier steps.
47	Whether the gripper actually closed on the object is checked by the
48	`target_held` postcondition checkpoint (see `## Checkpoints`), NOT by
49	a re-check-and-raise node (none such exists).
50
51	```json
52	"edges": [ ..., ["close", "grasped"], ["grasped", "END"] ],
53	"conditional_edges": {},
54	"exit": { "router_field": null, "success_values": ["grasped"] },
55	"on_error": "failed"
56	```
57
58	The lift onto a safe carry height is handled by the next
59	`transporting-objects` subgraph (its `waypoint_move` script lifts before
60	lateral motion); do NOT add a lift step here.
61
62	## Hard rules
63
64	1. Use `geometry.top_down_grasp_candidates` (returns
65	`candidates: {poses: list[Se3Pose]}`), not
66	`geometry.top_down_grasp_from_obb` (single bare pose). The align-pose
67	construction in step 3 assumes `compute_grasp.candidates.poses.0` exists.
68	2. The `align_pose` descends straight down with the gripper pre-rotated.
69	Do NOT skip the `compute_align` + `rotate_align` states — a direct
70	`robot.go_to_pose` to the grasp pose blends rotation and descent and
71	twist

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grasping-direct-ik

26stars4forks

View on GitHub

How to install grasping-direct-ik?

graph-robots/open-robot-skills/grasping-direct-ik

$npx -y skills add graph-robots/open-robot-skills --skill grasping-direct-ik

Installs into the current project.

Summary

Direct IK align-then-descend grasping. The gripper pre-rotates to

Files · 1

View on GitHub

SKILL.md

1	# grasping-direct-ik
2
3	Direct-IK grasp: rotate the gripper to grasp orientation at a safe height
4	above the target, then descend straight down, then close. No trajectory
5	planner — works on platforms where CuRobo is not deployed, or in
6	uncluttered scenes where planning is overkill.
7
8	## When to use
9
10	- The `curobo` tool bundle is not deployed (no collision-aware planner
11	available).
12	- The scene is uncluttered enough that a straight-line approach is safe.
13
14	## When NOT to use
15
16	- Cluttered scenes where the arm must thread between obstacles. Prefer
17	`grasping-with-planner` if available.
18
19	## Recommended subgraph state flow
20
21	The subgraph state machine the agent generates should look like (6 states):
22
23	```text
24	open → compute_grasp → compute_align → rotate_align → descend → close → grasped
25	```
26
27	(`grasped` is the success-marker `noop` from `sg.add_exit("grasped")`,
28	with an edge to `END`.)
29
30	State details:
31
32	1. `open` — `type: tool`, `tool: "robot.open_gripper"`, `inputs: { settle_steps: 40 }`.
33	2. `compute_grasp` — `type: tool`, `tool: "geometry.top_down_grasp_candidates"`,
34	`inputs: { obb: Ref("in.target_obb") }`.
35	3. `compute_align` — `type: script`, file
36	`scripts/<sg>/compute_align_pose.py` (from this bundle's
37	`canonical_scripts`). Inputs:
38	`grasp_pose = Ref("compute_grasp.candidates.poses.0")`,
39	`target_obb = Ref("in.target_obb")`. Returns `align_pose`.
40	4. `rotate_align` — `type: tool`, `tool: "robot.go_to_pose"`,
41	`inputs: { pose: Ref("compute_align.align_pose") }`.
42	5. `descend` — `type: tool`, `tool: "robot.go_to_pose"`,
43	`inputs: { pose: Ref("compute_grasp.candidates.poses.0") }`.
44	6. `close` — `type: tool`, `tool: "robot.close_gripper"`, `inputs: { settle_steps: 60 }`.
45	Edge directly from `close` to the `grasped` success marker; the
46	subgraph's `on_error: "failed"` catches any raise from earlier steps.
47	Whether the gripper actually closed on the object is checked by the
48	`target_held` postcondition checkpoint (see `## Checkpoints`), NOT by
49	a re-check-and-raise node (none such exists).
50
51	```json
52	"edges": [ ..., ["close", "grasped"], ["grasped", "END"] ],
53	"conditional_edges": {},
54	"exit": { "router_field": null, "success_values": ["grasped"] },
55	"on_error": "failed"
56	```
57
58	The lift onto a safe carry height is handled by the next
59	`transporting-objects` subgraph (its `waypoint_move` script lifts before
60	lateral motion); do NOT add a lift step here.
61
62	## Hard rules
63
64	1. Use `geometry.top_down_grasp_candidates` (returns
65	`candidates: {poses: list[Se3Pose]}`), not
66	`geometry.top_down_grasp_from_obb` (single bare pose). The align-pose
67	construction in step 3 assumes `compute_grasp.candidates.poses.0` exists.
68	2. The `align_pose` descends straight down with the gripper pre-rotated.
69	Do NOT skip the `compute_align` + `rotate_align` states — a direct
70	`robot.go_to_pose` to the grasp pose blends rotation and descent and
71	twist

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6 picks

Type