Abstract: The method can include: optionally providing a set of grasp tools; determining an object model for a grasp; determining a grasp contact configuration; and facilitating grasp execution with the set of grasp tools. However, the method S100 can additionally or alternatively include any other suitable elements. The method functions to facilitate non-destructive and/or stable object grasping (and/or object manipulation) using a set of grasp tools.

Abstract: A system comprises a database; at least one hardware processor coupled with the database; and one or more software modules that, when executed by the at least one hardware processor, receive at least one of sensory data from a robot and images from a camera, identify and build models of objects in an environment, wherein the model encompasses immutable properties of identified objects including mass and geometry, and wherein the geometry is assumed not to change, estimate the state including position, orientation, and velocity, of the identified objects, determine based on the state and model, potential configurations, or pre-grasp poses, for grasping the identified objects and return multiple grasping configurations per identified object, determine an object to be picked based on a quality metric, translate the pregrasp poses into behaviors that define motor forces and torques, communicate the motor forces and torques to the robot.