# grasp

**Repository Path**: dinglide/grasp

## Basic Information

- **Project Name**: grasp
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: MIT
- **Default Branch**: dev
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2021-04-25
- **Last Updated**: 2021-04-25

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

<p align="center"> 
	<img src=".image/logo.png" alt="GRASP" width="100%">
</p>

--------------------

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.

<p align="center"> 
<center>
<table>
  <tr>
  <td width="33%"><img src=.image/vizzy.gif alt="scene_example"></td>
  <td width="33%"><img src=.image/baxter.gif alt="shadowhand"></td>
  <td width="33%"><img src=.image/shadow.gif alt="shadowhand"></td>
  </tr>
  </table>
</center>
</p>

### 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.

```bash
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:

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

### Examples

Check the provided [examples].

### Documentation

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


[DART]: https://dartsim.github.io/
[documentation]: http://web.tecnico.ulisboa.pt/joao.borrego/grasp/
[examples]: examples
[Gazebo]: http://gazebosim.org/
[dependencies]: .doc/install.md
[setup]: .doc/setup.md