Manipulation

Grasp Pose

A grasp pose is the position and orientation of a robot end effector, usually expressed as an SE(3) transform relative to the object or scene, at which closing the gripper is expected to yield a successful grasp, often annotated with a gripper opening width and approach direction. Representations range from planar 4-DoF grasps for top-down picking to full 6-DoF poses required for cluttered or shelf scenarios.

Why it matters for physical AI

The grasp pose is the standard interface between perception and control in picking systems, and its parameterization, planar versus full 6-DoF, bounds which objects and scene geometries a system can handle.