TODO

🔗導入

🔗インストール

sudo apt-get install libqt4-dev libqt4-opengl-dev libqt4-sql-psql libcoin60-dev libsoqt4-dev libblas-dev liblapack-dev libqhull-dev

🔗unzip http://sourceforge.net/projects/graspit/files/latest/download?source=files

🔗cp -r ~/Downloads/Graspit ~/

export GRASPIT=/home/hamko/Graspit cd $GRASPIT qmake graspit.pro

🔗Makefileを以下のように変更しなければいけなかった

🔗LIBS = $(SUBLIBS) -L/usr/lib/x86_64-linux-gnu -lblas -llapack -lqhull -lSoQt -lCoin -lGL -lQt3Support -lQtGui -lQtCore -lpthread

🔗LIBS = $(SUBLIBS) /lib/x86_64-linux-gnu/libdl.so.2 -L/usr/lib/x86_64-linux-gnu -lblas -llapack -lqhull -lSoQt -lCoin -lGL -lQt3Support -lQtGui -lQtCore -lpthread

make -j4

🔗実行

export GRASPIT=/home/hamko/Graspit cd $GRASPIT ./bin/graspit

🔗拡張子

• .iv
  • 3Dモデル
  • Open Inventor (Silicon Graphics Inc.)のファイル．

🔗フォルダ構成

• ~/Graspit/models/robots/Barrett/iv
  • .xml={.iv, 質量, 慣性行列, 材質, 重心}
• ~/Graspit/models/robots/Barrett/virtual/
  • all_16_contacts.vgrのファイル内には，16個^20$があった．何の設定？
• ~/Graspit/models/robots/Barrett/eigen
  • DIMENSIONだの何だの