open-robot-skills

Plugin open-robot-skills from marketplace gap in graph-robots/graph-as-policy. Commands read from the repo's manifest — 2 days ago.

Skills (43)

• molmoact-libero

  Run the MolmoAct LIBERO checkpoint

• pi05-libero

  Run the openpi π0.5 LIBERO checkpoint (pi05_libero) as a

• anchoring-a-free-end

  Pins one end of a cable with the support hand before any crossing

• computing-feature-mating-poses

  Computes approach, engaged, and mate TCP poses from a held feature in the hand and a fixture feature, resolving free mate symmetries from the current robot pose without executing motion. Use when a held loop must go over a shaft or hook, or a held shaft or tip must enter an aperture, and explicit ap

• executing-feature-mating

  Executes a supplied feature-mating plan for an already-held rigid object - collision-aware planner legs tracked to millimetre precision, Cartesian servo for short corrections and fixture crossings, contact-controlled seating - then releases and retreats along the fixture axis or straight up. Use whe

• executing-held-object-motion

  Executes an ordered, collision-aware pose sequence for an already-grasped rigid object without releasing it - the escape from support, clear-space rotation, fixture transit and orientation-locked local legs of a carry plan, or only the free-space approach waypoint of a placement plan. Use when a hel

• grasping-concave-contour

  Grasp an awkward rigid part by the waists in its own silhouette — take the alpha shape of its point cloud from above, find where that boundary turns inward, and close the jaws across a pair of those inward runs. Use when a part has no graspable long axis and no pair of parallel walls an OBB would fi

• grasping-direct-ik

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

• grasping-linear-feature

  Fit 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

• grasping-short-axis

  Deterministic short-axis-aligned grasp with CuRobo. The grasp

• grasping-with-planner

  Top-down grasping via a fast axis-locked linear descend with a

• perceiving-deformable-linear-objects

  Read a cable's ordered 3D centreline from one RGB-D frame and keep it current across a task — seed it from an unobstructed survey, re-fit it cold whenever the whole rod is in view, and fall back to tracking the carried prior only when the fresh fit comes back short. Use when a manipulation loop need

• perceiving-functional-features

  Locates a language-described functional part of a rigid object or fixture from calibrated RGB-D and fits a typed loop, shaft, tip, aperture, surface, or region feature with a metric centre, axis, and radius, either inside an already-segmented parent or end to end from a described object, protruding

• perceiving-next-item

  Loop-head perception for pack-all / clean-all-items tasks. From ONE observation it localizes BOTH the destination container (basket, bin, box) AND the next remaining target item, using the pairwise VLM crop tournament with a container-excluding description so the target is never confused with the ba

• perceiving-object-parts

  Hierarchical perception for subpart targeting. Detects a parent object first (DINO+VLM), crops the camera image to the parent's bounding box, then detects and segments the named subpart inside the crop (DINO + SAM3), and uncrops + fuses depth to a world-frame OBB/mask/cloud — plus the parent object'

• perceiving-objects-oneshot

  Lightweight one-shot 3D object perception. Runs Grounding-DINO broad detection, a SINGLE VLM set-of-marks letter pick over the labeled boxes, SAM3 box segmentation, depth back-projection, and geometry.filter_and_compute_obb. No pairwise tournament, no multi-view safe-gate. Returns a clean not_found

• perceiving-objects

  Fast single-path 3D object perception. Runs Grounding-DINO broad detection, a pairwise VLM crop tournament to identify the target box, SAM3 box segmentation, and depth back-projection to a world-frame point cloud, finished by geometry.filter_and_compute_obb for a clean oriented bounding box, mask, a

• perceiving-relational-correspondences

  Perceives multiple source and destination instances and resolves language-conditioned one-to-one or many-to-one correspondences. Use when an instruction relates instances by spatial order, proximity, appearance, labels, or a shared destination and downstream manipulation needs stable candidate IDs,

• perceiving-routing-fixtures

  Survey a cable-routing bench from one overhead RGB-D frame — find every station (spool, cleat) by colour, roundness and height off the work surface, fit the cable's ordered centreline through a text-prompted segmenter, derive the side each crossing owes from the instruction's alternation, and place

• perceiving-sorting-pairs

  Discovers a labelled four-compartment destination from RGB-D and repeatedly perceives one remaining source object with its matching metric destination region, using an identity table the graph supplies for what each label looks like and what its graspable part is called. Use when a workflow must sor

• placing-held-feature

  Move a held object so one of its declared features lands on a

• planning-held-object-motion

  Plans the carry and engagement phases for an already-held rigid object: a clearance-first lift, the smallest feasible symmetry-equivalent reorientation, an orientation-locked transit above the fixture, or a direct plan to the approach pose; then a typed engagement or a straight linear insertion, opt

• plugging-a-cable-end

  Carries a cable's held free end into a terminal port after the

• proposing-short-axis-grasps

  Propose top-down grasps whose jaws close ACROSS an elongated

• proposing-side-grasps

  Propose horizontal (side-entry) grasps swept around an object's

• reconstructing-collision-worlds

  Reconstructs a planner collision world from calibrated RGB-D views alone, excluding the grasp target, the robot, and a perceived fixture mask, dropping depth-edge slivers and invalid-depth sheets, and carving the free space an intentional-contact goal needs as an approach tube along a fixture axis o

• registering-held-objects

  Reobserves a grasped rigid object from the wrist cameras, estimates its functional feature in the TCP frame, and fits attached collision spheres, retaining the grasp-time transform at low confidence when the object is not seen. Use when a held object must be localized in the hand right after graspin

• seating-a-cable-crossing

  Streams one planned crossing leg of a cable onto a routing station,

• selecting-reachable-grasp

  Walk a ranked list of candidate grasp poses and take the first the

• tipping-over-a-surface-edge

  Turn a body over on the surface it rests on instead of carrying

• tracking-objects

  Long-running skill that drives the SAM3 tracker from the

• transporting-objects

  Move the currently-held object to a destination and release. The

• verifying-a-cable-route

  Judge a finished cable route from a camera rather than from an evaluator — re-read the cable's centreline from the clear-view camera (tracking the carried prior when the support hand still hides one end), test that rod material lies on the owed side of every station within the seat's reach, and that

• verifying-grasps

  Three independent checks on one grasp attempt -- that the hand arrived where it was sent before the jaws close, that the jaw gap after the close is not the mechanical stop, and that the lifted object is visible above the surface and near the hand. Use when a grasp closed on a small or thin object an

• verifying-placement

  Confirms from one RGB-D view that a released object went through an aperture, accepting either that it vanished into the container or that its visible centre lies below the rim within the opening's footprint, and routing not_placed when it is still visible above or beside the aperture. Use when an i

• curobo

  NVIDIA cuRobo motion planning — collision-free trajectories to

• curve

  Ordered centrelines of deformable linear objects — skeletonises a

• gemini-er

  Open-vocabulary 2D object detection via the Gemini Robotics-ER

• geometry

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

• grounding-dino

  Grounding DINO zero-shot object detection — natural-language

• molmo

  Visual pointing and Q&A via the Molmo VLM served from a

• sam3

  Segment Anything 3 — text-, point-, and box-prompted instance

• vlm

  Free-form and yes/no visual question answering against a hosted

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