← All skills

grasp_obb

100 / 100 · Low risk

Fine to try.

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

CaP-X-style OBB top-down grasp for REGULAR objects (boxes / cubes / cylinders / short poles). Segments the object (Grounded-SAM), builds its world point cloud from the mask + depth, DBSCAN-denoises, fits an oriented bounding box (OBB), and grasps TOP-DOWN with the fingers closing across the OBB's SHORTEST horizontal extent, descending to the OBB body-center height. For regular shapes this OBB-aligned grasp is more reliable than a learned grasp net (validated: ~1.1cm localize, 2/3 grasp on cubes…

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-obb' ] || [ -L ~/.agents/skills/'grasp-obb' ]; then echo 'A skill folder named grasp-obb 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 "$d" checkout --quiet '90c8569705bf4004a4f79e34e650c87ab7f075d4' -- 'roborsi/embodied/skills/base/grasp_obb/robotwin' && mkdir -p ~/.agents/skills && cp -R "$d"/'roborsi/embodied/skills/base/grasp_obb/robotwin' ~/.agents/skills/'grasp-obb' && 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-obb' ~/.claude/skills/'grasp-obb' (other agents: ~/.cursor/skills, ~/.copilot/skills, ~/.gemini/skills, ~/.gemini/config/skills, ~/.config/opencode/skills). Or install through the finder skill, which does both.

Badge for your README

The badge for nssmd/RoboRSI shows the score of its lowest-scoring skill.

[![SkillTrust](https://zalavijaysinh.github.io/skilltrust/badges/nssmd/RoboRSI.svg)](https://zalavijaysinh.github.io/skilltrust/repos/nssmd/RoboRSI/)

Score history