Bimanual Grasp Planning and Dynamic Simulation

[zhaohuajing]

I am trying to make a dual-arm grasp planning with two 3-digit Robotiq grippers. I use Ubuntu 16.04, and have been able to import the torso of my own project (HDMS robot) using urdf2graspit, with the two Robotiq hands connected to it. The Eigen grasp Interface seemed to work properly with my definition of parameters though.

However, Eigen Grasp Planner failed whether I set the robot to be the body or one of the hand, with a direct crash of GraspIt!. I also tried the embedded world model of M7 robot, which is a dual-arm system, but the Eigen Grasp Planner could not perform either.

Could you let me know if there is any way to make it work, or more importantly, is bimanual grasp planning supported by GraspIt! simulator? I would also like to know if dynamic simulation is applicable, since the dynamic mode in my current system worked only with the world file formed by Puma-Barrett-Glass.