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GRASP

GRASP is a set of tools for dynamic grasp simulation within Gazebo using DART physics engine. It supports both parallel-plate grippers and multi-fingered hands, namely with underactuated joints.

scene_example shadowhand shadowhand

Setup environment and dependencies

For a tutorial on how to achieve the setup check dependencies. For an overview of each dependency, with respective version, check setup.

Install from source

Clone the repository to your workspace directory and build from source.

mkdir ~/workspace &&
cd ~/workspace && git clone https://github.com/jsbruglie/grasp.git
cd ~/workspace/grasp/ && mkdir build && cd build && cmake ../ && make -j8

Initialisation

Make sure you properly initialise the required environment variables. We provide a simple script for this:

cd ~/workspace/grasp && source setup.sh

Examples

Check the provided examples.

Documentation

Take a look at the automatic documentation for file and class description.