GraspIt!

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