  The use of benchmarks is a widespread and scientifically meaningful practice
to validate performance of different approaches to the same task. In the
context of robot grasping the use of common object sets has emerged in recent
years, however no dominant protocols and metrics to test grasping pipelines
have taken root yet. In this paper, we present version 1.0 of GRASPA, a
benchmark to test effectiveness of grasping pipelines on physical robot setups.
This approach tackles the complexity of such pipelines by proposing different
metrics that account for the features and limits of the test platform. As an
example application, we deploy GRASPA on the iCub humanoid robot and use it to
benchmark our grasping pipeline. As closing remarks, we discuss how the GRASPA
indicators we obtained as outcome can provide insight into how different steps
of the pipeline affect the overall grasping performance.
