grasp-planning-skill

# 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