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Original answer:

Kaijen:

• You don't need to implement either of those (probabilistic or bayesian grasp planners) to use the manipulation pipeline. Is there any particular reason you want to?

Matei:

• You are correct in that if you have a different gripper, you will need a Grasp Planner, that can either read pre-computed grasps for a given object, or compute them on the fly. We do have examples of both for the PR2 gripper in our codebase. However, this grasp planner does not necessarily have to be probabilistic or bayesian - those are particular implementations we put together as part of research projects.

• Sure, that would be one way to do it. However, to get you started, you don't necessarily have to generate the grasps using GraspIt - you can hand-generate a few and put them in the database to get the system going. Later, if you're interested, you can set up the complete pipeline with GraspIt doing automated grasp generation for known objects.