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get_grasp_pose_segmented

100 / 100 · Low risk

Fine to try.

By nssmd/RoboRSI (GitHub) · other · 179 stars · scanned at commit 90c8569

GraspGen with COLOR-BASED point-cloud segmentation. Filters head_camera point cloud to ONLY pixels matching the named color before sending to GraspGen. Solves "GraspGen returns bowl-rim grasps when target is a small colored object in a container" — the bowl rim has more graspable geometry than a 2cm cube, so plain get_grasp_pose picks the bowl. Color masking forces GraspGen to only consider the object's points.

Works with any agent that supports SKILL.md skills.

What this skill can do

We found nothing in the files we read that matches our rules. That does not prove the skill is safe: see the limits of static scanning.

Install

Paste this into your terminal. It downloads exactly the version we scanned, not whatever is newest.

if [ -e ~/.agents/skills/'get-grasp-pose-segmented' ] || [ -L ~/.agents/skills/'get-grasp-pose-segmented' ]; then echo 'A skill folder named get-grasp-pose-segmented already exists — not replacing it' >&2; false; else d=$(mktemp -d) && git clone --quiet --filter=blob:none --no-checkout 'https://github.com/nssmd/RoboRSI' "$d" && git -C "$d" checkout --quiet '90c8569705bf4004a4f79e34e650c87ab7f075d4' -- 'roborsi/embodied/skills/base/get_grasp_pose_segmented/robotwin' && mkdir -p ~/.agents/skills && cp -R "$d"/'roborsi/embodied/skills/base/get_grasp_pose_segmented/robotwin' ~/.agents/skills/'get-grasp-pose-segmented' && rm -rf "$d"; fi

Codex reads ~/.agents/skills directly. For Claude Code, Cursor, Copilot, Gemini CLI, Antigravity or OpenCode, also link it. For Claude Code: ln -s ~/.agents/skills/'get-grasp-pose-segmented' ~/.claude/skills/'get-grasp-pose-segmented' (other agents: ~/.cursor/skills, ~/.copilot/skills, ~/.gemini/skills, ~/.gemini/config/skills, ~/.config/opencode/skills). Or install through the finder skill, which does both.

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