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The asteroid that NASA is planning to grab has not yet been determined. Here are some examples of ones that we've been able to sight.
2005 YU55 made what is considered to be a near miss in 2011, when it passed about 860,000 miles from Earth.
The image is of the asteroid Vesta, which was visited by NASA's Dawn spacecraft.
Another asteroid that the Dawn spacecraft passed by is called Canuleia.