Abstract: Methods, systems, and apparatus, including computer programs encoded on computer storage media, for generating grasps for objects within a container. One of the methods includes determining a set of grasp proposals with associated grasping windows, wherein each grasp proposal has a different respective position within a workspace. A respective set of waypoints is determined for each grasp proposal, each set comprising a pre-grasp pose and a grasp pose within the workspace. A final selected grasp proposal is used to control an end effector of a robot to grasp an object in the workspace based on a calculated grasp trajectory associated to the selected grasp proposal.