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grasp_flat

100 / 100 · Low risk

Fine to try.

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

EXPERIMENTAL specialized top-down pinch for FLAT / THIN objects flush on the table (phone, bread slice, card, thin lid) that the normal grasps cannot pick — grasp_obb/grasp_top_down descend to the body-center (≈table level for a slab) and close on air above it. Segments the object (Grounded-SAM), fits an OBB, reads the table height from the object cloud floor, opens the gripper WIDE, and descends the fingertips to just above the table (gripping the slab's body near its base) with the descend fl…

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/'grasp-flat' ] || [ -L ~/.agents/skills/'grasp-flat' ]; then echo 'A skill folder named grasp-flat 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 "$d" checkout --quiet '90c8569705bf4004a4f79e34e650c87ab7f075d4' -- 'roborsi/embodied/skills/base/grasp_flat/robotwin' && mkdir -p ~/.agents/skills && cp -R "$d"/'roborsi/embodied/skills/base/grasp_flat/robotwin' ~/.agents/skills/'grasp-flat' && 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/'grasp-flat' ~/.claude/skills/'grasp-flat' (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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