DexGraspBench
PKU / BODex team
A MuJoCo benchmark for comparing open-loop grasp poses and trajectories using explicit simulation metrics.
What you can explore
Compare grasp synthesis methods under a common task setup, including lifting and contact checks.
Before you use it
Simulation success and analytic metrics are distinct from real-hand reliability. The original baseline branch differs from current code. A reuse license was not identified in the checked root files.
Original contributors
Jiayi Chen, Yubin Ke and He Wang
License / access: Reuse terms unverified · benchmark assets retain their own licenses
Start with the right setup.
- Environment
- MuJoCo
- Embodiment
- Benchmark hand configuration
What you need
Follow the benchmark setup and obtain the separately referenced assets.
First useful check
Evaluate one documented example with its original settings.
Where it stops
Simulation results depend on assets, contact parameters and protocol; they are not physical validation. Reuse permissions require checking.
Editorial reference · checked 2026-09-22