OSIRIS-REx: The first NASA sample retrieval mission from an asteroid. Launched in 2016 and arrived at asteroid Bennu in 2018, OSIRIS-REx is a 2.4 meter x 2.4 meter (8 feet x 8 feet) square spacecraft with solar panels extending over an area of 8.5 meter² (91 feet².) 

Alongside the scientific mapping and monitoring instruments, the spacecraft is also equipped with sampling instruments like the sampling arm that will touch the surface of the asteroid to collect the samples. Sample collection will happen after the spacecraft fires nitrogen into the surface to move up surface materials. The samples will then be stored into the sample return capsule.

Image Source and Credit : NASA