awesome-grasping

A curated list of awesome grasping libraries and resources.

Table of Contents

• Libraries
• Grasp Implementations
• Datasets
• Books
• Articles
• Other Awesome Lists
• Contributing

Libraries

Name	Features	Languages	Licenses	Code	Popularity
agile_grasp	A ROS package to detect grasp poses in point clouds.	C++	BSD 2-clause	github
Dex-Net	A package for GQ-CNNs, which are neural network architectures that take as input a depth image and grasp and output the probability that the grasp will successfully hold the object while lifting, transporting, and shaking the object.	Python	Apache License 2.0	github
gpd	Detect grasp poses in point clouds.	C++	BSD 2-clause	github
gpg	Generate grasp pose candidates in point clouds.	C++	BSD 2-clause	github
grasp_selection	A ROS package to select grasp poses.	C++	No license	github
moveit_grasps	Geometric grasping generator library for cuboids.	C++	BSD 3-clause	github

Grasp Implementation

Name	Features	Languages	Licenses	Code	Popularity
Deep_learning_for_detectin_robotic_grasps	Load a grasping dataset, process and whiten it, train a network, and perform grasp detection.	Matlab	No license	github
ggcnn	GG-CNN is a lightweight, fully-convolutional network which predicts the quality and pose of antipodal grasps at every pixel in an input depth image.	Python	BSD 3-clause	github
Grasp-Detector	Detect planar grasps.	Python	No license	github
grasping_sim	Support code for "Leveraging Contact Forces for Learning to Grasp", ICRA 2019	Python	BSD 3-clause	github
visual-pushing-grasping	Train robots to plan pushing and grasping actions for manipulation with deep reinforcement learning.	Python	BSD 2-clause	github

Datasets

Name	Features	Languages	Licenses	Code	Popularity
grasp_multiObject	Robotic grasp dataset for multi-object multi-grasp evaluation with RGB-D data.	Matlab	BSD 2-clause	github

Books

• A Mathematical Introduction to Robotic Manipulation
• Fundamentals Of Robotic Grasping And Fixturing
• Grasping in Robotics
• Robotic Grasping and Manipulation

Articles

• Data-Driven Grasp Synthesis - A Survey

Other Awesome Lists

• Awesome Robotics Libraries - This is a list of various libraries and software for robotics. It's also attempting to provide some comparisons for selected libraries and software.

Contributing

Contributions are very welcome! Please read the contribution guidelines first. If you spot any error, please feel free to report.

License