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