I am a Robotics Master student at TUM in Germany and currently in the process of applying to the GSoC 2019. My project of choice is "Creating a default grasping library" for MoveIt! which was proposed by the OSRF.
While exploring possibilities for the project, a few questions came up:
What is the future of the existing MoveIt! Grasps? From the contribution, it still seems more or less actively maintained and developed. However, for example a melodic branch does not exist yet. Is there some kind of future roadmap for the package?
I did some further research on alternative grasping libraries and compiled a list below and a more detailed spreadsheet. Some of them are not available as ROS packages. Therefore it would need collaboration with the respective authors to integrate them. Do you think this is possible to achieve in the timeframe of the GSoC? Are you aware of any other promising candidates?
- haf_grasping https://github.com/davidfischinger/haf_grasping
- agile_grasps https://github.com/atenpas/agile_grasp
- Simple grasping https://github.com/mikeferguson/simple_grasping
- Grasp Pose Detection https://github.com/atenpas/gpd/tree/forward
- Amazon Robotics Challgene - MIT / Princeton Team https://github.com/andyzeng/arc-robot-vision
- Grasp Quality CNN https://github.com/BerkeleyAutomation/gqcnn
- Generative Grasping CNN https://github.com/dougsm/ggcnn_kinova_grasping
I am open to any other feedback / input to the project!