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Grasp planning

Skill a5c-ai/babysitter/library/specializations/robotics-simulation/skills/grasp-planning

Grasp planning and execution for robotic manipulation tasksFrom its SKILL.md

Install
npx -y skills add a5c-ai/babysitter --skill grasp-planning

Assembled from the repository path, not quoted from the project. Check it against their README if it does not work.

SKILL.md

1.5 KB, 257 tokens by cl100k_base, as published. Nobody here has run it

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

What ships with it: 1 file

606 B alongside SKILL.md

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