Grasp Pose

A grasp pose specifies the 6-DOF position and orientation of a robot hand or gripper relative to an object such that the gripper can close and securely hold the object. Grasp pose estimation is typically done from depth or point-cloud data using analytic methods (e.g., antipodal grasp sampling) or learned detectors such as GraspNet-1Billion, GQ-CNN, or AnyGrasp. A valid grasp pose must be reachable by the robot, collision-free during approach, and stable under the expected task loads. Grasp quality metrics include force-closure, contact stability, and task-specific wrench resistance.