GraspXL

ETH / GraspXL research team

Generates grasping motions with specified approach directions and object objectives, with examples for several hand models.

What you can explore

Study how grasp objectives and object geometry affect generated motion; inspect the linked generated-data release.

Before you use it

RaiSim requires its own activation and license. Generated grasps are simulation results. Different embodiments and mesh collections have distinct coverage and asset conditions.

Original contributors

Hui Zhang, Sammy Christen, Zicong Fan, Otmar Hilliges and Jie Song

License / access: Work and dataset: CC BY-NC 4.0 · RaiSim and object assets have separate terms

Original code & documentation

Research overview

Generated motion data

Editorial reference · checked 2026-09-22