Abstract
We have developed the graspPlugin for Choreonoid as a set of plug-in functions of Choreonoid motion generator. This article explains about the distribution of the graspPlugin. By using the graspPlugin, we can perform several planning problem such as the grasp planning, trajectory planning and the task planning. We show the effectiveness of the graspPlugin through several examples such as the grasp planning for multi-fingered hand, grasp planning for parallel grippers, and the pick-and-place planning for dual arm manipulators.
