graph-robots 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:
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.
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.