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verify_holding_visual

100 / 100 · Low risk

Fine to try.

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

Confirm a grasp from the gripper's own finger separation (proprioception) after a small confirm-lift. Lifts 8cm so a slipped object falls, then reports holding from the achieved finger joint qpos — NOT vision (the old SAM/VLM pipeline detected the lifted arm as the object and false-positived empty grips). Captures the post-lift image for you to view.

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