Grasp Planning Skill

Overview

Expert skill for planning and executing robotic grasps, including grasp pose generation, quality metrics, and gripper control.

Capabilities

• Configure grasp pose generation (GPD, GraspIt!)
• Implement antipodal grasp detection
• Set up grasp quality metrics
• Configure approach and retreat vectors
• Implement pre-grasp and post-grasp poses
• Set up gripper control and monitoring
• Configure grasp database and learning
• Implement 6-DOF grasp pose estimation
• Set up object affordance detection
• Configure collision-aware grasp selection

Target Processes

• moveit-manipulation-planning.js
• object-detection-pipeline.js
• rl-robot-control.js
• hri-interface.js

Dependencies

• MoveIt grasps
• GPD (Grasp Pose Detection)
• GraspIt!
• moveit_simple_grasps

Usage Context

This skill is invoked when processes require grasp planning for manipulation, pick-and-place operations, or bin picking tasks.

Output Artifacts

• Grasp pose configurations
• Gripper action configurations
• Grasp quality evaluations
• Approach vector definitions
• Grasp database entries
• Collision-aware grasp selections