# Grasp Planning Skill

> Grasp planning and execution for robotic manipulation tasks

- Skill: `a5c-ai/grasp-planning-skill` (Agent Skill, multi-file: 2 files)
- Install (CLI): `npx skillmds@latest add a5c-ai/grasp-planning-skill`
- Raw SKILL.md: https://api.skillmd.com/api/skills/a5c-ai/grasp-planning-skill/raw
- Safety review: pending (external: skill-scanner PASS, skillspector PASS)
- Works with: Claude Code, Claude.ai, OpenAI Codex
- Category: Coding & Dev Tools
- Author: a5c-ai (https://skillmd.com/u/a5c-ai)
- Updated: 2026-09-09
- Page: https://skillmd.com/skills/a5c-ai/grasp-planning-skill

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# 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