# Grasp Planning Skill

Grasp planning and execution for robotic manipulation tasks.

## Purpose

Provides expert capabilities for planning and executing robot grasps, essential for pick-and-place operations, bin picking, and manipulation tasks.

## Key Features

- Grasp pose generation (GPD, GraspIt!)
- Grasp quality evaluation
- Approach/retreat planning
- Gripper control integration
- 6-DOF grasp estimation
- Collision-aware selection

## When to Use

- Implementing pick-and-place
- Setting up bin picking systems
- Planning manipulation grasps
- Evaluating grasp quality
- Integrating with MoveIt
