tracking-objects

Name: tracking-objects
Author: graph-robots

26stars4forks

How to install tracking-objects?

graph-robots/open-robot-skills/tracking-objects

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

Installs into the current project.

Summary

Long-running skill that drives the SAM3 tracker from the

Files · 1

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SKILL.md

1	# tracking-objects
2
3	Long-running tracker skill. Init on first frame, update per tick, close on
4	exit. Used as a parallel sibling to other long-running skills (e.g. a
5	policy) when continuous state estimation is needed.
6
7	The skill is class-based and stateful: the tracker session id and the
8	last good mask/box live on the skill instance, so repeated visits to the
9	same state within one workflow execution can resume the session instead of
10	re-seeding it (pass `close_on_exit: false` to keep the session open across
11	visits; the final visit — or the instance teardown — closes it).
12
13	It is also a streaming skill (`gap.streaming: true`): each update tick
14	publishes a tracker snapshot
15	`{mask, box, confidence, object_present, n_updates}` via `ctx.publish`, so
16	downstream `{"$ref": "<node>"}` consumers see the latest tracked state
17	while the loop is still running.
18
19	## Install
20
21	Depends on the sam3 tool bundle:
22
23	```bash
24	uv sync --extra sam3 # (pip: pip install -e "open-robot-skills[sam3]")
25	```
26
27	## When to use
28
29	- A workflow that needs the live mask + box of an object across many
30	frames (e.g., a supervisor that monitors a target's location while a
31	policy manipulates it).
32	- Wrapped under a `parallel` state with a `join_policy` so the tracker is
33	cooperatively cancelled when the sibling branch finishes (the loop
34	checks `ctx.cancel_token` every tick).
35
36	## Output
37
38	Returns the final mask, box, confidence, and a flag indicating whether
39	the object was visibly present at exit. Intermediate updates are
40	published as streaming snapshots; the return value exposes only the
41	final state.
42
43	## Tool form
44
45	The bundle also exposes the loop as a flat tool —
46	`tracking-objects.track` — for callers that want to invoke it as a single
47	unit (one fresh tracker session per call) rather than as a workflow
48	state.

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