Get a Grip

tylerlum

A grasp dataset and learning pipeline connecting grasp proposals to hand–arm planning.

What you can explore

Explore grasp sampling, evaluation, data resources and Allegro planning examples in one place.

Before you use it

Planning assumes the documented robot and scene representation. Dataset, object-model and dependency permissions may differ from the code license.

Original contributors

Tyler Lum and collaborators

License / access: Code: MIT · data, models and dependencies may have separate terms

Original code & documentation

Editorial reference · checked 2026-09-22