User Manual

Version 2.2

• 1 Introduction
• 1.1 What GraspIt! is
• 1.2 What GraspIt! is NOT
• 1.3 About this manual
• 1.4 Troubleshooting and contact
• 1.5 Authors and acknowledgements
• 2 Installation
• 2.1 GraspIt! Installation - Ubuntu Linux
• 2.2 GraspIt! Installation - Windows
• 2.3 GraspIt! Installation - Ubuntu Linux with ROS
• 3 Getting Started
• 3.1 The main window and controls
• 3.2 Grasp example
• 3.3 Dynamics example
• 3.4 The menus
• 4 Main Data Types and Data Files
• 4.1 Bodies
• 4.2 Robots
• 4.3 Worlds
• 4.4 Data files from previous versions of GraspIt!
• 5 Collision and Contact Detection
• 5.1 Contacts
• 5.2 Software implementation
• 5.3 Under development: Multi-threading
• 5.4 Under development: Object cloning
• 6 Soft Fingers
• 6.1 Analytical contact area model
• 7 Grasp Quality Metrics
• 7.1 Grasp Wrench Space metrics
• 7.2 Under development: Grasp Force Optimization
• 8 Grasp Force Optimization
• 8.1 GFO computations through the main interface
• 8.2 GFO code and advanced details
• 9 Grasp Planning
• 9.1 General concepts and planner types
• 9.2 The Primitive-based Grasp Planner
• 10 The Dynamics Engine
• 10.1 User interaction in dynamics mode
• 10.2 DOF controllers
• 10.3 Implementation
• 10.4 Under development: dynamics improvements
• 11 Eigengrasps
• 11.1 Loading Eigengrasp Information
• 11.2 Using eigengrasps
• 12 Grasp Planning II - Eigengrasp planning
• 12.1 Grasp planning in Eigengrasp space
• 12.2 Variables
• 12.3 Search energy
• 12.4 Optimization method and planner types
• 12.5 Practical example: the Simulated Annealing planner
• 12.6 Practical example: the Multithreaded planner
• 13 Joint Coupling and Underactuated Hands
• 13.1 Rigid coupling
• 13.2 Breakaway transmission
• 13.3 Under development: compliant joints
• 14 Matlab interface
• 14.1 Commands
• 14.2 One time step
• 15 Hardware connections
• 15.1 Barrett Hand
• 15.2 Flock of Birds
• 15.3 Cyberglove
• 16 The Columbia Grasp Database - Part I
• 16.1 Overview
• 16.2 Caveats
• 16.3 Database installation
• 16.4 GraspIt Interface Installation
• 16.5 Connecting to and browsing the database
• 16.6 Geometric similarity
• 16.7 Database-backed grasp planning
• 17 The Columbia Grasp Database: Part II
• 17.1 Overview
• 17.2 3D Models
• 17.3 Robotic Hands
• 17.4 Grasps
• 17.5 Neighbors
• 17.6 Alignments
• 17.7 Stored Procedures
• 18 Publications and References