{"action":"created","issue":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/3178","repository_url":"https://api.github.com/repos/RobotLocomotion/drake","labels_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/3178/labels{/name}","comments_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/3178/comments","events_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/3178/events","html_url":"https://github.com/RobotLocomotion/drake/issues/3178","id":171772055,"number":3178,"title":"Integrate grasp planner into Drake","user":{"login":"hongkai-dai","id":6314000,"avatar_url":"https://avatars.githubusercontent.com/u/6314000?v=3","gravatar_id":"","url":"https://api.github.com/users/hongkai-dai","html_url":"https://github.com/hongkai-dai","followers_url":"https://api.github.com/users/hongkai-dai/followers","following_url":"https://api.github.com/users/hongkai-dai/following{/other_user}","gists_url":"https://api.github.com/users/hongkai-dai/gists{/gist_id}","starred_url":"https://api.github.com/users/hongkai-dai/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/hongkai-dai/subscriptions","organizations_url":"https://api.github.com/users/hongkai-dai/orgs","repos_url":"https://api.github.com/users/hongkai-dai/repos","events_url":"https://api.github.com/users/hongkai-dai/events{/privacy}","received_events_url":"https://api.github.com/users/hongkai-dai/received_events","type":"User","site_admin":false},"labels":[{"url":"https://api.github.com/repos/RobotLocomotion/drake/labels/priority:%20high","name":"priority: high","color":"b60205"},{"url":"https://api.github.com/repos/RobotLocomotion/drake/labels/team:%20manipulation","name":"team: manipulation","color":"0052cc"}],"state":"open","locked":false,"assignee":{"login":"hongkai-dai","id":6314000,"avatar_url":"https://avatars.githubusercontent.com/u/6314000?v=3","gravatar_id":"","url":"https://api.github.com/users/hongkai-dai","html_url":"https://github.com/hongkai-dai","followers_url":"https://api.github.com/users/hongkai-dai/followers","following_url":"https://api.github.com/users/hongkai-dai/following{/other_user}","gists_url":"https://api.github.com/users/hongkai-dai/gists{/gist_id}","starred_url":"https://api.github.com/users/hongkai-dai/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/hongkai-dai/subscriptions","organizations_url":"https://api.github.com/users/hongkai-dai/orgs","repos_url":"https://api.github.com/users/hongkai-dai/repos","events_url":"https://api.github.com/users/hongkai-dai/events{/privacy}","received_events_url":"https://api.github.com/users/hongkai-dai/received_events","type":"User","site_admin":false},"assignees":[{"login":"hongkai-dai","id":6314000,"avatar_url":"https://avatars.githubusercontent.com/u/6314000?v=3","gravatar_id":"","url":"https://api.github.com/users/hongkai-dai","html_url":"https://github.com/hongkai-dai","followers_url":"https://api.github.com/users/hongkai-dai/followers","following_url":"https://api.github.com/users/hongkai-dai/following{/other_user}","gists_url":"https://api.github.com/users/hongkai-dai/gists{/gist_id}","starred_url":"https://api.github.com/users/hongkai-dai/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/hongkai-dai/subscriptions","organizations_url":"https://api.github.com/users/hongkai-dai/orgs","repos_url":"https://api.github.com/users/hongkai-dai/repos","events_url":"https://api.github.com/users/hongkai-dai/events{/privacy}","received_events_url":"https://api.github.com/users/hongkai-dai/received_events","type":"User","site_admin":false}],"milestone":null,"comments":2,"created_at":"2016-08-17T22:05:17Z","updated_at":"2016-08-17T23:22:14Z","closed_at":null,"body":"We want to plan the grasping posture of the robot hand. We can try the following three approaches\r\n1. Integrate **GraspIt!** http://graspit-simulator.github.io/ into Drake.\r\n2. Write our own sampling based grasping toolkit.\r\n3. Implement the optimization-based grasping planner in C++ (We have one of them implemented in MATLAB side of Drake).\r\n\r\nI think the first approach (GraspIt!) seems most viable. I will start with that.\r\n\r\nOnce we have one grasp planner in Drake, we should be able to evaluate how robust it is using IIWA arm (in the position control mode), together with our gripper (Schunk hand or the Robotiq hand)."},"comment":{"url":"https://api.github.com/repos/RobotLocomotion/drake/issues/comments/240579194","html_url":"https://github.com/RobotLocomotion/drake/issues/3178#issuecomment-240579194","issue_url":"https://api.github.com/repos/RobotLocomotion/drake/issues/3178","id":240579194,"user":{"login":"rpoyner-tri","id":17582368,"avatar_url":"https://avatars.githubusercontent.com/u/17582368?v=3","gravatar_id":"","url":"https://api.github.com/users/rpoyner-tri","html_url":"https://github.com/rpoyner-tri","followers_url":"https://api.github.com/users/rpoyner-tri/followers","following_url":"https://api.github.com/users/rpoyner-tri/following{/other_user}","gists_url":"https://api.github.com/users/rpoyner-tri/gists{/gist_id}","starred_url":"https://api.github.com/users/rpoyner-tri/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/rpoyner-tri/subscriptions","organizations_url":"https://api.github.com/users/rpoyner-tri/orgs","repos_url":"https://api.github.com/users/rpoyner-tri/repos","events_url":"https://api.github.com/users/rpoyner-tri/events{/privacy}","received_events_url":"https://api.github.com/users/rpoyner-tri/received_events","type":"User","site_admin":false},"created_at":"2016-08-17T23:22:14Z","updated_at":"2016-08-17T23:22:14Z","body":"Looks to me like the GraspIt! license is GPL. Are we allowed to integrate viral-license software with Drake?"}}
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