Grasping a full-3D linear feature
SkillProductivityFit the full 3D axis of an elongated segmented feature and grasp it with a perpendicular, inclination-aware parallel-jaw pose. Use for handles, rods, shafts, tools, utensils, and other linear parts whose pitch or roll matters; use grasping-short-axis instead when an upright OBB and vertical approach are sufficient.
Available today. Use it from your connected AI after setup.
No other account needed.
Connect ahel once, and every AI you use reads what you have installed.
Then ask your AI: use the Grasping a full-3D linear feature skill
What this skill tells your AI
The instructions your AI receives, as published by graph-robots/open-robot-skills in skills/grasping-linear-feature/SKILL.md and read by ahel’s review.
Use this skill when a segmented graspable part may be inclined in 3D. The
point cloud is reduced to a robust principal axis by
geometry.fit_linear_feature. The canonical script then builds a gripper
frame with its local Y axis along the feature and its local Z approach axis
perpendicular to it. The approach is chosen as close to world-down as the
perpendicular constraint permits.
Recommended flow:
open → fit_axis → compute_grasp → pregrasp → descend → observe → close → grasped
surface_inset moves the fingertip target from the feature center along the
approach direction; standoff places the pregrasp back along the same line.
Keep both configurable because gripper geometry and point-cloud completeness
vary across platforms.
This skill generates and executes a grasp pose; it does not decide which semantic part to grasp or verify object identity. Upstream perception should provide a point cloud containing only the selected linear feature.
Signals
- GitHub stars
- 41
- Forks
- 7
- Last commit
- Sep 2026
ahel review
S4info
community integration — published by graph-robots, not linear
Automated review, not a security audit. Ruleset v1.
Advanced
- Catalog kind
- skill
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grasping-linear-feature- Source
- github.com/graph-robots/open-robot-skills