  This paper presents ADAMANT, a set of software modules that provides grasp
planning capabilities to an existing robot planning and control software
framework. Our presented work allows a user to adapt a manipulation task to be
used under widely different scenarios with minimal user input, thus reducing
the operator's cognitive load. The developed tools include (1) plugin-based
components that make it easy to extend default capabilities and to use
third-party grasp libraries, (2) An object-centric way to define task
constraints, (3) A user-friendly Rviz interface to use the grasp planner
utilities, and (4) Interactive tools to use perception data to program a task.
We tested our framework on a wide variety of robot simulations.
