Grasping Linear Feature

Organization

graph-robots

grasping-linear-feature

Fit the full 3D axis of an elongated segmented feature and grasp it with a perpendicular, inclination-aware parallel-jaw pose. Use for handles, rods, shafts, tools, utensils, and other linear parts whose pitch or roll matters; use grasping-short-axis instead when an upright OBB and vertical approach are sufficient.

Overview

Publisher	graph-robots
Repository	`open-robot-skills`
Skill name	`grasping-linear-feature`
Stars	58
Forks	8
Bundled files	3
License	Apache-2.0
Links	Skill source Repository

Markdown instructions
A SKILL.md file the model loads on demand, so it only costs tokens when a request actually matches.
Works with any LLM
AI skills are plain Markdown, not provider-specific code, so this works with GPT, Claude, Gemini, Grok, or a local model.
3 bundled files
Scripts, templates, and references the model can read while it works. Files are read-only and never executed.
Open source
Published by graph-robots on GitHub. Read the source before you install it.

Installation

Install the Grasping Linear Feature AI skill in TypingMind to use it with any LLM, or drop it into another agent that reads SKILL.md.

Install in TypingMind

TypingMind installs a skill straight from its GitHub folder — it reads SKILL.md, bundles the resource files, and stores the result locally.

Open the app and go to Plugins → Skills.
Choose "Install from GitHub".
Paste the skill folder URL below and confirm.
https://github.com/graph-robots/open-robot-skills/tree/main/skills/grasping-linear-feature
Enable the skill in any chat where you want it available.

Store

Installed

Skills

Add skills

Import one or more skills from a public GitHub folder or a local .skill or .zip archive, or SKILL.md file.

From GitHub URLFrom .skill, .zip, or SKILL.md

GitHub repo or folder

https://github.com/graph-robots/open-robot-skills/tree/main/skills/grasping-linear-feature

Points to a single skill folder, or any folder that contains multiple skills. Public repos only.

CancelContinue

Plugins → Skills → Add skill → From GitHub URL, then paste the folder URL and press Continue.

Install in another agent

Any agent that reads the Agent Skills format can use this skill — copy the folder into that agent's skills directory.

Claude Code — .claude/skills

git clone --depth 1 https://github.com/graph-robots/open-robot-skills.git /tmp/open-robot-skills
mkdir -p .claude/skills
cp -r /tmp/open-robot-skills/skills/grasping-linear-feature .claude/skills/grasping-linear-feature

Restart Claude Code after copying so it picks up the new skill.

Use it in TypingMind

Enable Grasping Linear Feature in any TypingMind chat and the model takes it from there. Its name and description sit in the system prompt, and the moment a request matches, the model loads the full instructions itself — you never invoke it by hand, and it costs no tokens until it is actually used.

The model loads Grasping Linear Feature on its own as soon as a request matches it.

Works with any AI model

AI skills are plain Markdown instructions rather than provider-specific code, so Grasping Linear Feature is not tied to the model it was written for. Install it once in TypingMind and use it with GPT-5, Claude, Gemini, Grok, DeepSeek, Mistral, Llama, or a local model you run yourself — all on your own API keys.

Loaded only when it is needed
The system prompt carries just the name and description. The instructions are fetched on the first matching request, so an idle skill costs nothing.
Switch models mid-chat
Because the skill is instructions rather than code, changing model does not break it — the next model reads the same SKILL.md.

Skill instructions

This is the SKILL.md content the model loads. Read it before installing — a skill is instructions your model will follow.

Grasping a full-3D linear feature

Use this skill when a segmented graspable part may be inclined in 3D. The point cloud is reduced to a robust principal axis by geometry.fit_linear_feature. The canonical script then builds a gripper frame with its local Y axis along the feature and its local Z approach axis perpendicular to it. The approach is chosen as close to world-down as the perpendicular constraint permits.

Recommended flow:

text
open → fit_axis → compute_grasp → pregrasp → descend → observe → close → grasped

surface_inset moves the fingertip target from the feature center along the approach direction; standoff places the pregrasp back along the same line. Keep both configurable because gripper geometry and point-cloud completeness vary across platforms.

Two strategies, and when each one is honest

axis_aware_grasp_pose.py uses the fitted axis in full 3D. That is right when the cloud actually constrains the axis in 3D — a part seen from more than one side, or one whose inclination the depth image resolves.

axis_grasp_top_down.py is for the case it does not: a single view from above sees the upper surface and nothing else, so the axis's z component is fitted to noise and an approach tilted by it tilts by noise. This script keeps only the XY projection of the axis, approaches straight down, and takes the grasp height from a bin_floor_z the caller passes plus a grasp_z_offset rather than from the cloud — because the cloud's z is the top of the object, not where the pads should meet it. Both scripts return the same three outputs and both command a wrist roll, so both need a backend that solves the roll.

This skill generates and executes a grasp pose; it does not decide which semantic part to grasp or verify object identity. Upstream perception should provide a point cloud containing only the selected linear feature.

Bundled files

The model reads these on demand while the skill is loaded. They are exposed as readable files and are never executed.

Frequently asked questions

What does the Grasping Linear Feature AI skill do?

Why use Grasping Linear Feature on TypingMind?

Because you install it once and use it with any model. Grasping Linear Feature is plain Markdown rather than provider-specific code, so the same skill runs on GPT-5, Claude, Gemini, Grok, or a local model — and you can switch model mid-chat without it breaking. TypingMind runs on your own API keys, so you pay providers directly instead of a per-seat subscription, and your skills and chats stay in your own storage.

How do I install Grasping Linear Feature in TypingMind?

Open Plugins → Skills → Install from GitHub in TypingMind and paste https://github.com/graph-robots/open-robot-skills/tree/main/skills/grasping-linear-feature. TypingMind reads its SKILL.md and bundles its files and installs it as a skill you can enable per chat.

Which AI models can use Grasping Linear Feature?

Any model you connect in TypingMind. AI skills are plain Markdown instructions rather than provider-specific code, so GPT, Claude, Gemini, Grok, and local models can all load this skill when a request matches it.

How many AI models can I use with Grasping Linear Feature?

As many as you like. As long as a model supports skills, you can use Grasping Linear Feature with it — GPT, Claude, Gemini, Grok, DeepSeek, Mistral, Llama and more — all on TypingMind with your own API keys.

Is the Grasping Linear Feature AI skill free?

Yes. It is published on GitHub by graph-robots under the Apache-2.0 license. You only pay your own AI provider for the tokens you use.

What are AI skills?

An AI skill is a reusable instruction bundle that teaches an AI model how to do one specific task. It follows the open Agent Skills format: a SKILL.md file with a name and description, plus any scripts, templates or reference files the model may need. The model reads the instructions only when your request matches the skill, so an installed skill costs nothing until it is used.

How are AI skills different from plugins or MCP servers?

A plugin or MCP server gives a model new tools to call — code that runs somewhere and returns a result. An AI skill gives the model knowledge and process instead: how to approach a task, which steps to follow, what good output looks like. Skills are plain Markdown, so they need no server, no API key and no runtime, and they work with any model.

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Overview

Installation

Install in TypingMind

Install in another agent

Use it in TypingMind

Works with any AI model

Skill instructions

Grasping a full-3D linear feature

Two strategies, and when each one is honest

Bundled files

Frequently asked questions

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