A curated list of awesome grasping libraries and resources.
| 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 |  |
| 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 |  |
| 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 |  |
- A Mathematical Introduction to Robotic Manipulation
- Fundamentals Of Robotic Grasping And Fixturing
- Grasping in Robotics
- Robotic Grasping and Manipulation
- 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.
Contributions are very welcome! Please read the contribution guidelines first. If you spot any error, please feel free to report.
