In this paper, we introduce GET-2D-1.0, a fast grasp planner for the GET asymmetrical gripper that operates from a single-view RGB-D image, using the Ferrari-Canny metric and a novel sampling strategy, and GET-3D-1.0, a mesh-based method using a 3D gripper model and ray-tracing. We evaluate both grasp planners against baselines with physical experiments, which suggest that GET-2D-1.0 can improve over a bounding box baseline by over 40% in lift success, shake survival, and force resistance. Experiments with GET-3D-1.0 suggest slight improvement compared to GET-2D-1.0 on lift success and shake survival, but are more computationally expensive, averaging 17 seconds of planning compared to 683 ms for GET-2D-1.0.
@article{arxiv.2604.26212,
title = {2D and 3D Grasp Planners for the GET Asymmetrical Gripper},
author = {Andrew Goldberg and Ethan Ransing and Anton Kourakin and Cael Magner and Edward H. Adelson and Ken Goldberg},
journal= {arXiv preprint arXiv:2604.26212},
year = {2026}
}