Grasp Planning Skill

Grasp planning and execution for robotic manipulation tasks

509 stars

Best use case

Grasp Planning Skill is best used when you need a repeatable AI agent workflow instead of a one-off prompt.

Grasp planning and execution for robotic manipulation tasks

Teams using Grasp Planning Skill should expect a more consistent output, faster repeated execution, less prompt rewriting.

When to use this skill

You want a reusable workflow that can be run more than once with consistent structure.

When not to use this skill

You only need a quick one-off answer and do not need a reusable workflow.
You cannot install or maintain the underlying files, dependencies, or repository context.

Installation

Claude Code / Cursor / Codex

$curl -o ~/.claude/skills/grasp-planning/SKILL.md --create-dirs "https://raw.githubusercontent.com/a5c-ai/babysitter/main/library/specializations/robotics-simulation/skills/grasp-planning/SKILL.md"

Manual Installation

Download SKILL.md from GitHub
Place it in .claude/skills/grasp-planning/SKILL.md inside your project
Restart your AI agent — it will auto-discover the skill

How Grasp Planning Skill Compares

Feature / Agent	Grasp Planning Skill	Standard Approach
Platform Support	Not specified	Limited / Varies
Context Awareness	High	Baseline
Installation Complexity	Unknown	N/A

Frequently Asked Questions

What does this skill do?

Grasp planning and execution for robotic manipulation tasks

Where can I find the source code?

You can find the source code on GitHub using the link provided at the top of the page.

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SKILL.md Source

# 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

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