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Grasp Planning Skill

// Grasp planning and execution for robotic manipulation tasks

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stars:384
forks:73
updated:March 4, 2026
SKILL.mdreadonly
SKILL.md Frontmatter
nameGrasp Planning Skill
descriptionGrasp planning and execution for robotic manipulation tasks
sluggrasp-planning
categoryManipulation
allowed-toolsBash,Read,Write,Edit,Glob,Grep

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