├── CONTRIBUTING.md ├── LICENSE └── README.md /CONTRIBUTING.md: -------------------------------------------------------------------------------- 1 | # Contribution Guidelines 2 | Please ensure your pull request adheres to the following guidelines: 3 | 4 | * Please check unmerged suggestions before making a new one, as yours may be a duplicate. 5 | * Please make an individual pull request for each suggestion. 6 | * New categories, or improvements to the existing categorisation are welcome. 7 | * Use the following format: \[LIBRARY-NAME\]\(WEB-LINK\) (\[REPO-KIND\]\(REPO-LINK\)) - DESCRIPTION. 8 | * Keep descriptions short and simple, but descriptive. 9 | * End all descriptions with a full stop/period. 10 | * Order projects alphabetically within each category. 11 | * Check your spelling and grammar. 12 | * Make sure your text editor is set to remove trailing whitespace. 13 | 14 | Thank you for your contributions! 15 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | This is free and unencumbered software released into the public domain. 2 | 3 | Anyone is free to copy, modify, publish, use, compile, sell, or 4 | distribute this software, either in source code form or as a compiled 5 | binary, for any purpose, commercial or non-commercial, and by any 6 | means. 7 | 8 | In jurisdictions that recognize copyright laws, the author or authors 9 | of this software dedicate any and all copyright interest in the 10 | software to the public domain. We make this dedication for the benefit 11 | of the public at large and to the detriment of our heirs and 12 | successors. We intend this dedication to be an overt act of 13 | relinquishment in perpetuity of all present and future rights to this 14 | software under copyright law. 15 | 16 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, 17 | EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF 18 | MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. 19 | IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR 20 | OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, 21 | ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR 22 | OTHER DEALINGS IN THE SOFTWARE. 23 | 24 | For more information, please refer to 25 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # awesome-grasping 2 | 3 | A curated list of awesome grasping libraries and resources. 4 | 5 | #### Table of Contents 6 | * [Libraries](#libraries) 7 | * [Grasp Implementations](#implementations) 8 | * [Datasets](#datssets) 9 | * [Books](#books) 10 | * [Articles](#articles) 11 | * [Other Awesome Lists](#other-awesome-lists) 12 | * [Contributing](#contributing) 13 | 14 | ## [Libraries](#libraries) 15 | 16 | | Name | Features | Languages | Licenses | Code | Popularity | 17 | |:----:|:--------:|:---------:|:--------:|:----:|:----------:| 18 | | [agile_grasp](https://github.com/atenpas/agile_grasp) | A ROS package to detect grasp poses in point clouds. | C++ | BSD 2-clause | [github](https://github.com/atenpas/agile_grasp) | ![agile_grasp2](https://img.shields.io/github/stars/atenpas/agile_grasp.svg?style=social&label=Star&maxAge=2592000) | 19 | | [Dex-Net](https://berkeleyautomation.github.io/gqcnn/) | 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](https://github.com/BerkeleyAutomation/dex-net) | ![dex-net](https://img.shields.io/github/stars/BerkeleyAutomation/dex-net.svg?style=social&label=Star&maxAge=2592000)| 20 | | [gpd](https://github.com/atenpas/gpd) | Detect grasp poses in point clouds. | C++ | BSD 2-clause | [github](https://github.com/atenpas/gpd) | ![gpd](https://img.shields.io/github/stars/atenpas/gpd.svg?style=social&label=Star&maxAge=2592000)| 21 | | [gpg](https://github.com/atenpas/gpg) | Generate grasp pose candidates in point clouds. | C++ | BSD 2-clause | [github](https://github.com/atenpas/gpg) | ![gpg](https://img.shields.io/github/stars/atenpas/gpg.svg?style=social&label=Star&maxAge=2592000)| 22 | | [grasp_selection](https://github.com/atenpas/grasp_selection) | A ROS package to select grasp poses. | C++ | No license | [github](https://github.com/atenpas/grasp_selectiongpg) | ![grasp_selection](https://img.shields.io/github/stars/atenpas/grasp_selection.svg?style=social&label=Star&maxAge=2592000)| 23 | | [moveit_grasps](https://github.com/PickNikRobotics/moveit_grasps) | Geometric grasping generator library for cuboids. | C++ | BSD 3-clause | [github](https://github.com/PickNikRobotics/moveit_grasps) | ![moveit_grasps](https://img.shields.io/github/stars/PickNikRobotics/moveit_grasps.svg?style=social&label=Star&maxAge=2592000)| 24 | 25 | ## [Grasp Implementation](#implementations) 26 | 27 | | Name | Features | Languages | Licenses | Code | Popularity | 28 | |:----:|:--------:|:---------:|:--------:|:----:|:----------:| 29 | | [Deep_learning_for_detectin_robotic_grasps](https://github.com/mirsking/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](https://github.com/mirsking/Deep_learning_for_detectin_robotic_grasps) | ![Grasp-Detector](https://img.shields.io/github/stars/mirsking/Deep_learning_for_detectin_robotic_grasps.svg?style=social&label=Star&maxAge=2592000)| 30 | | [ggcnn](https://github.com/dougsm/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](https://github.com/dougsm/ggcnn) | ![ggcnn](https://img.shields.io/github/stars/dougsm/ggcnn.svg?style=social&label=Star&maxAge=2592000)| 31 | | [Grasp-Detector](https://github.com/lerrel/Grasp-Detector) | Detect planar grasps. | Python | No license | [github](https://github.com/lerrel/Grasp-Detector) | ![Grasp-Detector](https://img.shields.io/github/stars/lerrel/Grasp-Detector.svg?style=social&label=Star&maxAge=2592000)| 32 | | [grasping_sim](https://github.com/machines-in-motion/grasping_sim) | Support code for "Leveraging Contact Forces for Learning to Grasp", ICRA 2019 | Python | BSD 3-clause | [github](https://github.com/machines-in-motion/grasping_sim) | ![Grasp-Detector](https://img.shields.io/github/stars/machines-in-motion/grasping_sim.svg?style=social&label=Star&maxAge=2592000)| 33 | | [visual-pushing-grasping](https://github.com/andyzeng/visual-pushing-grasping) | Train robots to plan pushing and grasping actions for manipulation with deep reinforcement learning. | Python | BSD 2-clause | [github](https://github.com/andyzeng/visual-pushing-grasping) | ![visual-pushing-grasping](https://img.shields.io/github/stars/andyzeng/visual-pushing-grasping.svg?style=social&label=Star&maxAge=2592000)| 34 | 35 | ## [Datasets](#datssets) 36 | 37 | | Name | Features | Languages | Licenses | Code | Popularity | 38 | |:----:|:--------:|:---------:|:--------:|:----:|:----------:| 39 | | [grasp_multiObject](https://github.com/ivalab/grasp_multiObject) | Robotic grasp dataset for multi-object multi-grasp evaluation with RGB-D data. | Matlab | BSD 2-clause | [github](https://github.com/ivalab/grasp_multiObject) | ![grasp_multiObject](https://img.shields.io/github/stars/ivalab/grasp_multiObject.svg?style=social&label=Star&maxAge=2592000)| 40 | 41 | ## [Books](#books) 42 | 43 | * [A Mathematical Introduction to Robotic Manipulation](https://www.cds.caltech.edu/~murray/books/MLS/pdf/mls94-complete.pdf) 44 | * [Fundamentals Of Robotic Grasping And Fixturing](https://books.google.com.tw/books?id=mlDICgAAQBAJ&printsec=frontcover&hl=zh-TW#v=onepage&q&f=false) 45 | * [Grasping in Robotics](https://www.springer.com/us/book/9781447146636) 46 | * [Robotic Grasping and Manipulation](https://www.springer.com/us/book/9783319945675) 47 | 48 | ## [Articles](#articles) 49 | 50 | * [Data-Driven Grasp Synthesis - A Survey](https://arxiv.org/pdf/1309.2660.pdf) 51 | 52 | ## [Other Awesome Lists](#awesome-grasping) 53 | 54 | * [Awesome Robotics Libraries](https://github.com/jslee02/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. 55 | 56 | ## [Contributing](#awesome-grasping) 57 | 58 | Contributions are very welcome! Please read the [contribution guidelines](CONTRIBUTING.md) first. If you spot any error, please feel free to report. 59 | 60 | ## [License](#awesome-grasping) 61 | 62 | drawing 63 | 64 | --------------------------------------------------------------------------------