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There is now some additional documentation on the graspit_simulator Wiki page:

http://www.ros.org/wiki/graspit_simulator

It is not much, but might get you started. As for GraspIt! itself, the user manual linked in the answer above is the best source.

The next step would be to fully document the process by which GraspIt! is used in ROS to generate grasps for the household_objects_database. Unfortunately, I am not sure when I can finish that. All the functionality is in the stack though, and the code is generally commented, so you might be able to get that running.

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