Grasp poses are generated by rigidly matching gripper and object point clouds with parallel Annealed Stein ICP, achieving 87.3% success and 0.926 s on a real Kinova KG3 gripper.
Real-time grasp planning for multi-fingered hands by finger splitting,
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Grasping by parallel shape matching
Grasp poses are generated by rigidly matching gripper and object point clouds with parallel Annealed Stein ICP, achieving 87.3% success and 0.926 s on a real Kinova KG3 gripper.