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The household_objects_database has a companion dataset, the Grasp Playpen dataset, which also contains real life sensor data for some of the objects:

http://bags.willowgarage.com/downloads/grasp_playpen_dataset/grasp_playpen_dataset.html

For a GraspIt interface, and if you are already familiar with ROS, try the experimental version of GraspIt included with ROS diamondback. You should be able to get it either from debs or from source code:

sudo apt-get-install ros-diamondback-graspit-simulator

https://code.ros.org/svn/wg-ros-pkg/stacks/graspit_simulator/trunk