Lightning Grasp
zhaohengyin
A contact-field-based procedural grasp-generation engine used by DexterityGen.
What you can explore
Explore hand-model setup and GPU-based grasp synthesis with the released Python interface.
Before you use it
The release includes precompiled CUDA components; C++ source is listed as future work. Check Python/GPU compatibility and experimental mimic-joint support.
Original contributors
Zhao-Heng Yin and Pieter Abbeel
License / access: Software and generated data: CC BY-NC 4.0 · commercial use requires permission
Editorial reference · checked 2026-09-22