proposing-side-grasps

One strategy for the propose stage: horizontal entry, swept around the object.

Why this is its own skill

It is the alternative that exists so a top-down refusal has somewhere to go. proposing-short-axis-grasps declines by measuring a width; it cannot offer a side entry, because approaching horizontally is a different strategy, not a different number. A policy with only one propose rung answers a structural refusal by re-tuning parameters that cannot help.

When to use

• Overhead access is blocked — a shelf plate, a lid, a bin rim above the target.
• The object is flat and wide on top but narrow in profile.
• The top-down rung declined.

When NOT to use

• The object stands against a wall or in a corner and only one azimuth is open. This skill will happily rank a blocked side first; the clearance gate in selecting-reachable-grasp is what makes that safe, so do not use this rung without a selector.
• The graspable feature is a concave interior — a box's silhouette says nothing about concavity.

Recommended subgraph state flow

describe → get_obb → propose → select → END

1. describe — tool: robot.describe_gripper.
2. get_obb — tool: sim.get_object_obb (or geometry.filter_and_compute_obb on the vision body).
3. propose — script: scripts/<sg>/propose_side_grasps.py, inputs target_obb, gripper. Router on route.
4. select — build a pose per candidate with robot.grasp_frame(approach=…, close_heading_deg=…) and walk them with selecting-reachable-grasp. Its clearance gate is what turns "ranked by margin" into "reachable in this scene".

Required end states

End state	Meaning
proposed	Candidates, widest margin first. Continue to select.
declined	Wider than the jaws from every azimuth. The remaining option is a part of the object narrower than its whole box.