GraspIt! Plugins¶

When using GraspIt! for a particular task, rather than directly modifing the GraspIt! source code, it is often cleaner to place the code for the particular task in a GraspIt! plugin. Example plugins can be seen in the plugins directory:

https://github.com/graspit-simulator/graspit/tree/master/plugins

In order to start GraspIt! with a plugin:

export GRASPIT_PLUGIN_DIR=[Path to compiled plugins]
graspit -p libmyplugin

For example:

cd ~/graspit/plugins/helloworld
qmake helloWorldPlugin.pro
make -j5
export GRASPIT_PLUGIN_DIR=~/graspit/plugins/helloworld/lib
graspit -p libhelloWorldPlugin

GraspIt! should start up and spew “hello world” repeatedly on the terminal.