Getting started

Step 1. Choose your robot model.

You will have to choose the robot model you would like to do the planning for. To start, you may use the Example Jaco arm, for which the GraspIt! files are provided in jaco_graspit_sample.

Note: I had to adapt the URDF model in order to fit the actual robot. Read more about this in the package jaco-arm-pkgs. The meshes around the finger bases are not well fitted. Designing new meshes it part of future work.

If you want to use your own robot, you will need it in the graspit format. If you do not have this, you can use the package urdf2graspit to convert from URDF to the GraspIt format. The tutorial on this wiki page describes how you can do this.

Step 2. Try the original GraspIt! simulator

You can use the original simulator to run planners and view your results. Please refer to this tutorial for instructions.

Step 3. Run the Eigengrasp planner on the Jaco example

A quick way to start planning right away is to use the simple Eigengrasp planner executable provided in the grasp_planning_graspit package. This wiki page includes a tutorial on how to plan with the example Jaco hand.

Step 4. Start Planning using ROS services

You may also use the ROS services provided in the grasp_planning_graspit_ros package to run the Eigengrasp planner. This wiki page includes a tutorial on how to plan with the example Jaco hand.

Step 5. Start developing with graspit using the C++ API

You can now use GraspIt to plan your grasps by using the C++ API provided in the grasp_planning_graspit package. This wiki page describes the package and includes a guide on how to get started, including a link to this tutorial to use the C++ API.