Documentation
This stack wraps around the third-party GraspIt! simulator. It provides an easy way to install or compile GraspIt! through ROS, as well as a few examples of how GraspIt! and ROS can be used together.
Some functionality available in the stack:
graspit_ros_planning: an example of how to connect GraspIt! to ROS, by writing a plugin that has a ROS node and access to a GraspIt! simulation world
graspit_dbase_tasks: framework for connecting GraspIt! to a PostgreSQL database where you can store batch tasks for GraspIt! to execute
dbase_grasp_planner: uses the above framework for using GraspIt! to plan and store grasps on the objects in the household_objects_database
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