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