COMSE 6731 HUMANOID ROBOTS, SPRING 2016

Columbia University

Installation

These packages have already been installed on the CLIC lab machines, if you are trying to set this up on your own machine, you will need to install the following for Ubuntu 14.04, it may be different for other OS's:

$ sudo apt-get install libqt4-opengl-dev
$ sudo apt-get install libqt4-dev
$ sudo apt-get install libqt4-sql-psql
$ sudo apt-get install libcoin80-dev 
$ sudo apt-get install libsoqt4-dev 
$ sudo apt-get install libblas-dev 
$ sudo apt-get install liblapack-dev 
$ sudo apt-get install libqhull-dev

Building GraspIt!:

$ cd ~
$ git clone https://github.com/HumanoidRobotics/graspit
$ cd ~/graspit
$ qmake-qt4 graspit.pro
$ make -j4

Running the EigenGrasp Planner:

1. Start GraspIt!

$ cd ~/graspit
$ export GRASPIT=$PWD
$ ./bin/graspit

2. File->Open->PlannerMug.xml
3. Grasp->EigenGrasp Planner...
4. Set Energy Formulation to Contacts and Quality
5. Press Init
6. Press >

Note: You must run:

$ export GRASPIT=$PWD

Whenever you open a new terminal, GraspIt! uses the enviroment variable GRASPIT to determine where the world, and robot mesh files are located.

User Manual available at: http://www.cs.columbia.edu/~cmatei/graspit/html-manual/graspit-manual.html

This is a fork from: https://github.com/graspit-simulator/graspit

Original README:

                             GraspIt!
                          Version 2.2.0 

Introduction

Please see the User Manual in doc/ for an introduction to GraspIt!, a list of features, installation instructions, getting started examples, etc.

Disclaimer

This is code that has been, and is currently being used, for research. There are still many unfinished pieces and plenty of ways to crash the system. It's by no means bullet proof. Please see the Introduction in the User Manual for more details.

Distribution Contents

graspit.pro graspit-core.pro graspit-lib-LINUX.pro graspit-lib-WINDOWS.pro - These are the main project files for GraspIt! that you can use to create your project that you can compile. Please see the User Manual for installation instructions.

doc/ - Documentation. Contains both the User Manual and code Reference Manual. The User Manual contains installation instructions, pointers for getting started, examples, and trouble shooting and contact information.

images/ - A place to put images saved from GraspIt!

include/ - Header files for the main GraspIt! source code

LICENSE.txt - A copy of the license you accepted when you downloaded this.

models/ - The geometry and configuration files for all the robots and objects.

plugins/ - Examples for creating plugins that can be loaded into GraspIt! at run time, and can use GraspIt! without being statically linked into GraspIt's main executable.

ply/ - Code for loading .ply files; see header files for authorship information and detail.

qhull/ - A popular package for computing n-dimensional convex hulls. This is used both for the contact system and to create grasp wrench spaces.

README.txt - This file.

src/ - The source code for GraspIt!.

src/DBase - source code for the interface between GraspIt and the Columbia Grasp Database

tinyxml/ - a library for processing XML documents. See the header files therein for license and author information for this package.

ui/ - The dialog windows and interfaces for GraspIt!.

worlds/ - A place to save GraspIt! worlds. Also includes a few examples.

Troubleshooting

Please check the user manual for troubleshooting and contact information!