Marine soft gripper

The Marine soft gripper refers to an open-source soft robotic gripper project known as the Soft Multimodal Gripper (SMG), which is designed for hybrid grasping in cluttered environments. It combines layer jamming and tendon-driven mechanisms to enable adaptable object handling. The system integrates with CoppeliaSim simulation software and uses a deep multistage learning scheme implemented in Python with PyTorch to support grasping in both lightly and highly cluttered scenarios. The project includes datasets for training and requires manual setup of dependencies and simulation scenes. This gripper is targeted at robotics researchers and developers who work on robotic grasping in simulation environments. It provides a full Python codebase that facilitates extension with machine learning libraries and supports multiple physics engines within CoppeliaSim. However, it lacks pre-built releases or packages and depends on specific simulation scenes for operation.