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grasp_rim

100 / 100 · Low risk

Fine to try.

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

EXPERIMENTAL rim-pinch grasp for THIN-WALLED OPEN CONTAINERS (cup, bowl, bin, basket) whose thin rim the other grasps close on air. Localizes the container's RIM/OPENING FRAME (reuses _perception.container_opening — the top rim band's center + rim height), picks a rim-perimeter point on the arm's side, orients the jaws to close RADIALLY across the thin wall (one jaw dips inside the mouth, one stays outside), descends to grip the wall just below the rim top, closes, lifts, verifies; retries once…

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