graspit-simulator / graspit_interface

A GraspIt! plugin exposing a ROS interface via graspit-ros

graspit_interface

This plugin exposes a ROS interface for the GraspIt! simulator. The main purpose for writing this plugin was to demonstrate what we believe is the easiest way to expose GraspIt! functionality as a variety ROS services and action servers.

Please feel free to use this as a template to write your own bridge between a ros system and GraspIt!.

To see how a client interacts with this interface, check out our python client graspit_commander.

GraspIt Setup:

git clone https://github.com/graspit-simulator/graspit.git
cd graspit
mkdir build
cd build
cmake ..
make -j5
sudo make install

You might need to add /usr/local/lib to the loaded library path as in:

export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH

You will also want to set the GRASPIT environment variable:

export GRASPIT=~/.graspit

On Linux, you can add both of these lines to the bottom of your ~/.bashrc

ROS Setup:

After running the GraspIt! Setup as explained above, the following details how to setup GraspIt! to work with ROS.

//create ros workspace
mkdir -p graspit_ros_ws/src
cd graspit_ros_ws/src

source /opt/ros/indigo/setup.bash
catkin_init_workspace . 

//clone packages
git clone https://github.com/graspit-simulator/graspit_interface.git
git clone https://github.com/graspit-simulator/graspit_commander.git

//build workspace
cd graspit_ros_ws
catkin_make

Launching graspit_interface:

source devel/setup.bash
roslaunch graspit_interface graspit_interface.launch

Then you can view available services and topics provided by the graspit_interface via:

rostopic list
rosservice list

graspit_interface's Issues

Cmake error building graspit

After following the installation steps from https://github.com/graspit-simulator/graspit_interface:

git clone https://github.com/graspit-simulator/graspit.git
cd graspit
mkdir build
cd build
cmake ..

I get the following error when executing make:

usr@Standard-PC-i440FX-PIIX-1996:~/graspit/build$ make -j5
[ 0%] Generating qt_image_collection.cpp
[ 0%] Generating include/graspit/ui/ui_mainWindow.h
[ 1%] Generating ui/moc_gwsProjDlg.cxx
[ 2%] Generating include/graspit/ui/ui_about.h
[ 2%] Generating include/graspit/ui/ui_archBuilderDlg.h
[ 2%] Generating include/graspit/ui/ui_bodyPropDlg.h
[ 3%] Generating include/graspit/ui/ui_barrettHandDlg.h
[ 3%] Generating include/graspit/ui/ui_gfoDlg.h
[ 3%] Generating include/graspit/ui/ui_contactExaminerDlg.h
[ 4%] Generating include/graspit/ui/ui_eigenGraspDlg.h
[ 5%] Generating include/graspit/ui/ui_gsaDlg.h
[ 5%] Generating include/graspit/ui/ui_gloveCalibrationDlg.h
[ 6%] Generating include/graspit/ui/ui_graspCaptureDlg.h
[ 6%] Generating include/graspit/ui/ui_qmDlg.h
[ 6%] Generating include/graspit/ui/ui_gwsProjDlgBase.h
[ 7%] Generating include/graspit/ui/ui_plannerdlg.h
[ 8%] Generating include/graspit/ui/ui_qualityIndicator.h
[ 8%] Generating include/graspit/ui/ui_egPlannerDlg.h
[ 8%] Generating include/graspit/ui/ui_settingsDlg.h
[ 9%] Generating include/graspit/ui/ui_compliantPlannerDlg.h
[ 9%] Generating include/graspit/moc_robot.cxx
[ 9%] Generating include/graspit/ui/ui_dbaseDlg.h
[ 10%] Generating include/graspit/moc_body.cxx
[ 10%] Generating include/graspit/ui/ui_dbasePlannerDlg.h
[ 11%] Generating include/graspit/moc_world.cxx
[ 11%] Generating include/graspit/moc_worldElement.cxx
[ 11%] Generating include/graspit/moc_grasp.cxx
[ 11%] Generating include/graspit/moc_ivmgr.cxx
[ 12%] Generating include/graspit/moc_graspitServer.cxx
[ 13%] Generating include/graspit/EGPlanner/moc_egPlanner.cxx
[ 13%] Generating include/graspit/EGPlanner/moc_simAnn.cxx
[ 14%] Generating include/graspit/EGPlanner/moc_loopPlanner.cxx
[ 14%] Generating include/graspit/EGPlanner/energy/moc_searchEnergy.cxx
[ 14%] Generating include/graspit/EGPlanner/moc_guidedPlanner.cxx
[ 15%] Generating include/graspit/robots/moc_m7tool.cxx
[ 16%] Generating include/graspit/Planner/moc_grasp_tester.cxx
[ 16%] Generating include/graspit/robots/moc_humanHand.cxx
[ 16%] Generating include/graspit/robots/moc_m7.cxx
[ 17%] Generating include/graspit/robots/moc_barrett.cxx
[ 17%] Generating include/graspit/robots/moc_robonaut.cxx
[ 17%] Generating include/graspit/robots/moc_pr2Gripper.cxx
[ 17%] Generating include/graspit/robots/moc_mcGrip.cxx
[ 18%] Generating include/graspit/robots/moc_robotiq.cxx
[ 19%] Generating ui/DBase/moc_dbaseDlg.cxx
[ 19%] Generating include/graspit/DBase/moc_dbase_grasp.cxx
[ 19%] Generating ui/DBase/moc_dbasePlannerDlg.cxx
[ 20%] Generating include/graspit/DBase/moc_graspit_db_planner.cxx
[ 20%] Generating include/graspit/DBase/moc_graspPlanningTask.cxx
[ 20%] Generating ui/moc_bodyPropDlg.cxx
[ 21%] Generating ui/moc_mainWindow.cxx
[ 22%] Generating ui/moc_eigenGraspDlg.cxx
[ 22%] Generating ui/EGPlanner/moc_egPlannerDlg.cxx
[ 22%] Generating ui/EGPlanner/moc_compliantPlannerDlg.cxx
[ 23%] Generating ui/Planner/moc_plannerdlg.cxx
[ 23%] Generating ui/moc_graspCaptureDlg.cxx
[ 24%] Generating ui/moc_contactExaminerDlg.cxx
[ 24%] Generating ui/moc_settingsDlg.cxx
[ 25%] Generating ui/moc_gfoDlg.cxx
[ 25%] Generating ui/moc_gsaDlg.cxx
[ 25%] Generating ui/moc_qmDlg.cxx
Scanning dependencies of target graspit
[ 25%] Building CXX object CMakeFiles/graspit.dir/src/graspitParser.cpp.o
c++: error: No: No such file or directory
c++: error: steps: No such file or directory
c++: error: required: No such file or directory
c++: error: No: No such file or directory
c++: error: steps: No such file or directory
c++: error: required: No such file or directory
CMakeFiles/graspit.dir/build.make:364: recipe for target 'CMakeFiles/graspit.dir/src/graspitParser.cpp.o' failed
make[2]: *** [CMakeFiles/graspit.dir/src/graspitParser.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
[ 26%] Building CXX object CMakeFiles/graspit.dir/src/arch.cpp.o
c++: error: No: No such file or directory
c++: error: steps: No such file or directory
c++: error: required: No such file or directory
c++: error: No: No such file or directory
c++: error: steps: No such file or directory
c++: error: required: No such file or directory
CMakeFiles/graspit.dir/build.make:388: recipe for target 'CMakeFiles/graspit.dir/src/arch.cpp.o' failed
make[2]: *** [CMakeFiles/graspit.dir/src/arch.cpp.o] Error 1
[ 26%] Building CXX object CMakeFiles/graspit.dir/src/robots/barrett.cpp.o
[ 27%] Building CXX object CMakeFiles/graspit.dir/src/robots/humanHand.cpp.o
c++: error: No: No such file or directory
c++: error: steps: No such file or directory
c++: error: required: No such file or directory
c++: error: No: No such file or directory
c++: error: steps: No such file or directory
c++: error: required: No such file or directory
[ 27%] Building CXX object CMakeFiles/graspit.dir/src/robots/m7.cpp.o
CMakeFiles/graspit.dir/build.make:412: recipe for target 'CMakeFiles/graspit.dir/src/robots/barrett.cpp.o' failed
make[2]: *** [CMakeFiles/graspit.dir/src/robots/barrett.cpp.o] Error 1
c++: error: No: No such file or directory
c++: error: steps: No such file or directory
c++: error: required: No such file or directory
c++: error: No: No such file or directory
c++: error: steps: No such file or directory
c++: error: required: No such file or directory
CMakeFiles/graspit.dir/build.make:460: recipe for target 'CMakeFiles/graspit.dir/src/robots/m7.cpp.o' failed
make[2]: *** [CMakeFiles/graspit.dir/src/robots/m7.cpp.o] Error 1
c++: error: No: No such file or directory
c++: error: steps: No such file or directory
c++: error: required: No such file or directory
c++: error: No: No such file or directory
c++: error: steps: No such file or directory
c++: error: required: No such file or directory
CMakeFiles/graspit.dir/build.make:436: recipe for target 'CMakeFiles/graspit.dir/src/robots/humanHand.cpp.o' failed
make[2]: *** [CMakeFiles/graspit.dir/src/robots/humanHand.cpp.o] Error 1
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/graspit.dir/all' failed
make[1]: *** [CMakeFiles/graspit.dir/all] Error 2
Makefile:129: recipe for target 'all' failed
make: *** [all] Error 2

What am I doing wrong?

add missing fields to graspablebody.msg

name, friction etc

Segmentation fault error when using Bullet Dynamics Engine

I followed the installation guide and setup bullet engine on graspit, but when I want to open one of its models(worlds), graspit collapse suddenly! with this error : "Segmentation fault (core dumped)"!
but I do not have any problem when using GRASPIT_DYNAMIC as its dynamic engine!

can anyone help me with this?
Thanks
I'm using ubuntu 14.04 LTS , graspit 2.1 and bullet 2.83.7

How to output the mesh of the robot such as the ShadowHand's currrent pose state ?

Hello, thanks for your excellent work! Recently, I do some research on Robot Grasping, and learn to how to use GraspIt! There's a question: How to output the mesh of the robot such as the ShadowHand's currrent pose state ?

libgraspit.so undefined reference

Hello,
I was working through the instructions of installing GraspIt! but I am now stumped on this problem after running make -j5:

libgraspit.so: undefined reference to `SoInput::setBuffer(void*, unsigned long)'
collect2: error: ld returned 1 exit status
CMakeFiles/graspit_simulator.dir/build.make:107: recipe for target 'graspit_simulator' failed
make[2]: *** [graspit_simulator] Error 1
CMakeFiles/Makefile2:104: recipe for target 'CMakeFiles/graspit_simulator.dir/all' failed
make[1]: *** [CMakeFiles/graspit_simulator.dir/all] Error 2
Makefile:129: recipe for target 'all' failed
make: *** [all] Error 2

Does anyone have any ideas on how to resolve this problem?

error occurs when building the workspace

following the steps and problem comes up after execute "catkin_make"

Thank you !

Graspit segfaults when calling planner multiple times

Hi all,

Graspit segfaults when during execution of the following loop, using GraspitCommander:

    lots_of_runs = []
    gc = GraspitCommander
    for i in range(10):
        gc.clearWorld()
        gc.importGraspableBody("ritz_crackers")
        gc.importRobot("cobra_gripper")
        grasps = gc.planGrasps(max_steps=70000)
        lots_of_runs.append(grasps)

The segfault tends to occur at the second iteration, in the call to planGrasps(); however it will occasionally make it as far as five or six iterations.
The attached file contains backtraces from four separate segfaults.

Best
Jack
graspit_interface_segfault_only.txt

export GRASPIT=~/.graspit

hi ,I'm new to graspIT!
I have encountered this problem
Could not open /home/well/.graspit/models/objects/flask.xml
but if I change export GRASPIT=/.graspit to export GRASPIT=/graspit , it's ok!
Am I wrong with this operation?

Catkin_make error after the last pull

/home/ilaplace/catkin_ws/src/graspit-ros/graspit/graspit_source/include/EGPlanner/egPlanner.h:200:18: note:   no known conversion for argument 1 from 'graspit_interface::PlanGraspsGoal_<std::allocator<void> >::_search_energy_type {aka std::basic_string<char>}' to 'SearchEnergyType'
/home/ilaplace/catkin_ws/src/graspit_interface/src/graspit_interface.cpp: In member function 'void GraspitInterface::GraspitInterface::processPlannerResultsInMainThread()':
/home/ilaplace/catkin_ws/src/graspit_interface/src/graspit_interface.cpp:820:45: error: expression cannot be used as a function
         pose.orientation.w = t.rotation().w();
                                             ^
/home/ilaplace/catkin_ws/src/graspit_interface/src/graspit_interface.cpp:821:45: error: expression cannot be used as a function
         pose.orientation.x = t.rotation().x();
                                             ^
/home/ilaplace/catkin_ws/src/graspit_interface/src/graspit_interface.cpp:822:45: error: expression cannot be used as a function
         pose.orientation.y = t.rotation().y();
                                             ^
/home/ilaplace/catkin_ws/src/graspit_interface/src/graspit_interface.cpp:823:45: error: expression cannot be used as a function
         pose.orientation.z = t.rotation().z();
                                             ^
/home/ilaplace/catkin_ws/src/graspit_interface/src/graspit_interface.cpp:826:56: error: no match for 'operator*' (operand types are 'transf' and 'vec3')
         vec3 approachInHand = mHand->getApproachTran() *  vec3 (0, 0, 1);
                                                        ^
/home/ilaplace/catkin_ws/src/graspit_interface/src/graspit_interface.cpp:826:56: note: candidates are:
In file included from /usr/include/Inventor/Qt/viewers/SoQtViewer.h:54:0,
                 from /usr/include/Inventor/Qt/viewers/SoQtFullViewer.h:38,
                 from /usr/include/Inventor/Qt/viewers/SoQtExaminerViewer.h:39,
                 from /home/ilaplace/catkin_ws/src/graspit-ros/graspit/./graspit_source/include/ivmgr.h:38,
                 from /home/ilaplace/catkin_ws/src/graspit_interface/src/graspit_interface.cpp:6:
/usr/include/Inventor/SbTime.h:103:21: note: SbTime operator*(const SbTime&, double)
 COIN_DLL_API SbTime operator *(const SbTime & tm, const double s);
                     ^
/usr/include/Inventor/SbTime.h:103:21: note:   no known conversion for argument 1 from 'transf' to 'const SbTime&'
/usr/include/Inventor/SbTime.h:102:21: note: SbTime operator*(double, const SbTime&)
 COIN_DLL_API SbTime operator *(const double s, const SbTime & tm);
                     ^
/usr/include/Inventor/SbTime.h:102:21: note:   no known conversion for argument 1 from 'transf' to 'double'
In file included from /usr/include/qt4/QtGui/qbrush.h:51:0,
                 from /usr/include/qt4/QtGui/qpalette.h:47,
                 from /usr/include/qt4/QtGui/qwidget.h:50,
                 from /usr/include/qt4/QtGui/qdialog.h:45,
                 from /usr/include/qt4/QtGui/qmessagebox.h:45,
                 from /home/ilaplace/catkin_ws/src/graspit-ros/graspit/./graspit_source/include/mytools.h:33,
                 from /home/ilaplace/catkin_ws/src/graspit-ros/graspit/./graspit_source/include/robot.h:38,
                 from /home/ilaplace/catkin_ws/src/graspit_interface/src/graspit_interface.cpp:4:
/usr/include/qt4/QtGui/qtransform.h:382:32: note: QTransform operator*(const QTransform&, qreal)
 Q_GUI_EXPORT_INLINE QTransform operator *(const QTransform &a, qreal n)
                                ^
/usr/include/qt4/QtGui/qtransform.h:382:32: note:   no known conversion for argument 1 from 'transf' to 'const QTransform&'
/usr/include/qt4/QtGui/qtransform.h:379:34: note: QPainterPath operator*(const QPainterPath&, const QTransform&)
 Q_GUI_EXPORT_INLINE QPainterPath operator *(const QPainterPath &p, const QTransform &m)
                                  ^
/usr/include/qt4/QtGui/qtransform.h:379:34: note:   no known conversion for argument 1 from 'transf' to 'const QPainterPath&'
/usr/include/qt4/QtGui/qtransform.h:377:29: note: QRegion operator*(const QRegion&, const QTransform&)
 Q_GUI_EXPORT_INLINE QRegion operator *(const QRegion &r, const QTransform &m)
                             ^
/usr/include/qt4/QtGui/qtransform.h:377:29: note:   no known conversion for argument 1 from 'transf' to 'const QRegion&'
/usr/include/qt4/QtGui/qtransform.h:375:31: note: QPolygonF operator*(const QPolygonF&, const QTransform&)
 Q_GUI_EXPORT_INLINE QPolygonF operator *(const QPolygonF &a, const QTransform &m)
                               ^
/usr/include/qt4/QtGui/qtransform.h:375:31: note:   no known conversion for argument 1 from 'transf' to 'const QPolygonF&'
/usr/include/qt4/QtGui/qtransform.h:373:30: note: QPolygon operator*(const QPolygon&, const QTransform&)
 Q_GUI_EXPORT_INLINE QPolygon operator *(const QPolygon &a, const QTransform &m)
                              ^
/usr/include/qt4/QtGui/qtransform.h:373:30: note:   no known conversion for argument 1 from 'transf' to 'const QPolygon&'
/usr/include/qt4/QtGui/qtransform.h:371:27: note: QLine operator*(const QLine&, const QTransform&)
 Q_GUI_EXPORT_INLINE QLine operator*(const QLine &l, const QTransform &m)
                           ^
/usr/include/qt4/QtGui/qtransform.h:371:27: note:   no known conversion for argument 1 from 'transf' to 'const QLine&'
/usr/include/qt4/QtGui/qtransform.h:369:28: note: QLineF operator*(const QLineF&, const QTransform&)
 Q_GUI_EXPORT_INLINE QLineF operator*(const QLineF &l, const QTransform &m)
                            ^
/usr/include/qt4/QtGui/qtransform.h:369:28: note:   no known conversion for argument 1 from 'transf' to 'const QLineF&'
/usr/include/qt4/QtGui/qtransform.h:367:29: note: QPointF operator*(const QPointF&, const QTransform&)
 Q_GUI_EXPORT_INLINE QPointF operator*(const QPointF &p, const QTransform &m)
                             ^
/usr/include/qt4/QtGui/qtransform.h:367:29: note:   no known conversion for argument 1 from 'transf' to 'const QPointF&'
/usr/include/qt4/QtGui/qtransform.h:365:28: note: QPoint operator*(const QPoint&, const QTransform&)
 Q_GUI_EXPORT_INLINE QPoint operator*(const QPoint &p, const QTransform &m)
                            ^
/usr/include/qt4/QtGui/qtransform.h:365:28: note:   no known conversion for argument 1 from 'transf' to 'const QPoint&'
In file included from /usr/include/qt4/QtGui/qbrush.h:50:0,
                 from /usr/include/qt4/QtGui/qpalette.h:47,
                 from /usr/include/qt4/QtGui/qwidget.h:50,
                 from /usr/include/qt4/QtGui/qdialog.h:45,
                 from /usr/include/qt4/QtGui/qmessagebox.h:45,
                 from /home/ilaplace/catkin_ws/src/graspit-ros/graspit/./graspit_source/include/mytools.h:33,
                 from /home/ilaplace/catkin_ws/src/graspit-ros/graspit/./graspit_source/include/robot.h:38,
                 from /home/ilaplace/catkin_ws/src/graspit_interface/src/graspit_interface.cpp:4:
/usr/include/qt4/QtGui/qmatrix.h:164:27: note: QPainterPath operator*(const QPainterPath&, const QMatrix&)
 Q_GUI_EXPORT QPainterPath operator *(const QPainterPath &p, const QMatrix &m);
                           ^
/usr/include/qt4/QtGui/qmatrix.h:164:27: note:   no known conversion for argument 1 from 'transf' to 'const QPainterPath&'
/usr/include/qt4/QtGui/qmatrix.h:162:29: note: QRegion operator*(const QRegion&, const QMatrix&)
 Q_GUI_EXPORT_INLINE QRegion operator *(const QRegion &r, const QMatrix &m)
                             ^
/usr/include/qt4/QtGui/qmatrix.h:162:29: note:   no known conversion for argument 1 from 'transf' to 'const QRegion&'
/usr/include/qt4/QtGui/qmatrix.h:160:31: note: QPolygonF operator*(const QPolygonF&, const QMatrix&)
 Q_GUI_EXPORT_INLINE QPolygonF operator *(const QPolygonF &a, const QMatrix &m)
                               ^
/usr/include/qt4/QtGui/qmatrix.h:160:31: note:   no known conversion for argument 1 from 'transf' to 'const QPolygonF&'
/usr/include/qt4/QtGui/qmatrix.h:158:30: note: QPolygon operator*(const QPolygon&, const QMatrix&)
 Q_GUI_EXPORT_INLINE QPolygon operator *(const QPolygon &a, const QMatrix &m)
                              ^
/usr/include/qt4/QtGui/qmatrix.h:158:30: note:   no known conversion for argument 1 from 'transf' to 'const QPolygon&'
/usr/include/qt4/QtGui/qmatrix.h:156:27: note: QLine operator*(const QLine&, const QMatrix&)
 Q_GUI_EXPORT_INLINE QLine operator*(const QLine &l, const QMatrix &m)
                           ^
/usr/include/qt4/QtGui/qmatrix.h:156:27: note:   no known conversion for argument 1 from 'transf' to 'const QLine&'
/usr/include/qt4/QtGui/qmatrix.h:154:28: note: QLineF operator*(const QLineF&, const QMatrix&)
 Q_GUI_EXPORT_INLINE QLineF operator*(const QLineF &l, const QMatrix &m)
                            ^
/usr/include/qt4/QtGui/qmatrix.h:154:28: note:   no known conversion for argument 1 from 'transf' to 'const QLineF&'
/usr/include/qt4/QtGui/qmatrix.h:152:29: note: QPointF operator*(const QPointF&, const QMatrix&)
 Q_GUI_EXPORT_INLINE QPointF operator*(const QPointF &p, const QMatrix &m)
                             ^
/usr/include/qt4/QtGui/qmatrix.h:152:29: note:   no known conversion for argument 1 from 'transf' to 'const QPointF&'
/usr/include/qt4/QtGui/qmatrix.h:150:28: note: QPoint operator*(const QPoint&, const QMatrix&)
 Q_GUI_EXPORT_INLINE QPoint operator*(const QPoint &p, const QMatrix &m)
                            ^
/usr/include/qt4/QtGui/qmatrix.h:150:28: note:   no known conversion for argument 1 from 'transf' to 'const QPoint&'
In file included from /usr/include/qt4/QtCore/qrect.h:46:0,
                 from /usr/include/qt4/QtGui/qpaintdevice.h:46,
                 from /usr/include/qt4/QtGui/qwidget.h:49,
                 from /usr/include/qt4/QtGui/qdialog.h:45,
                 from /usr/include/qt4/QtGui/qmessagebox.h:45,
                 from /home/ilaplace/catkin_ws/src/graspit-ros/graspit/./graspit_source/include/mytools.h:33,
                 from /home/ilaplace/catkin_ws/src/graspit-ros/graspit/./graspit_source/include/robot.h:38,
                 from /home/ilaplace/catkin_ws/src/graspit_interface/src/graspit_interface.cpp:4:
/usr/include/qt4/QtCore/qpoint.h:349:22: note: const QPointF operator*(const QPointF&, qreal)
 inline const QPointF operator*(const QPointF &p, qreal c)
                      ^
/usr/include/qt4/QtCore/qpoint.h:349:22: note:   no known conversion for argument 1 from 'transf' to 'const QPointF&'
/usr/include/qt4/QtCore/qpoint.h:354:22: note: const QPointF operator*(qreal, const QPointF&)
 inline const QPointF operator*(qreal c, const QPointF &p)
                      ^
/usr/include/qt4/QtCore/qpoint.h:354:22: note:   no known conversion for argument 1 from 'transf' to 'qreal {aka double}'
/usr/include/qt4/QtCore/qpoint.h:188:21: note: const QPoint operator*(int, const QPoint&)
 inline const QPoint operator*(int c, const QPoint &p)
                     ^
/usr/include/qt4/QtCore/qpoint.h:188:21: note:   no known conversion for argument 1 from 'transf' to 'int'
/usr/include/qt4/QtCore/qpoint.h:179:21: note: const QPoint operator*(const QPoint&, int)
 inline const QPoint operator*(const QPoint &p, int c)
                     ^
/usr/include/qt4/QtCore/qpoint.h:179:21: note:   no known conversion for argument 1 from 'transf' to 'const QPoint&'
/usr/include/qt4/QtCore/qpoint.h:185:21: note: const QPoint operator*(double, const QPoint&)
 inline const QPoint operator*(double c, const QPoint &p)
                     ^
/usr/include/qt4/QtCore/qpoint.h:185:21: note:   no known conversion for argument 1 from 'transf' to 'double'
/usr/include/qt4/QtCore/qpoint.h:176:21: note: const QPoint operator*(const QPoint&, double)
 inline const QPoint operator*(const QPoint &p, double c)
                     ^
/usr/include/qt4/QtCore/qpoint.h:176:21: note:   no known conversion for argument 1 from 'transf' to 'const QPoint&'
/usr/include/qt4/QtCore/qpoint.h:182:21: note: const QPoint operator*(float, const QPoint&)
 inline const QPoint operator*(float c, const QPoint &p)
                     ^
/usr/include/qt4/QtCore/qpoint.h:182:21: note:   no known conversion for argument 1 from 'transf' to 'float'
/usr/include/qt4/QtCore/qpoint.h:173:21: note: const QPoint operator*(const QPoint&, float)
 inline const QPoint operator*(const QPoint &p, float c)
                     ^
/usr/include/qt4/QtCore/qpoint.h:173:21: note:   no known conversion for argument 1 from 'transf' to 'const QPoint&'
In file included from /usr/include/qt4/QtCore/qrect.h:45:0,
                 from /usr/include/qt4/QtGui/qpaintdevice.h:46,
                 from /usr/include/qt4/QtGui/qwidget.h:49,
                 from /usr/include/qt4/QtGui/qdialog.h:45,
                 from /usr/include/qt4/QtGui/qmessagebox.h:45,
                 from /home/ilaplace/catkin_ws/src/graspit-ros/graspit/./graspit_source/include/mytools.h:33,
                 from /home/ilaplace/catkin_ws/src/graspit-ros/graspit/./graspit_source/include/robot.h:38,
                 from /home/ilaplace/catkin_ws/src/graspit_interface/src/graspit_interface.cpp:4:
/usr/include/qt4/QtCore/qsize.h:329:21: note: const QSizeF operator*(qreal, const QSizeF&)
 inline const QSizeF operator*(qreal c, const QSizeF &s)
                     ^
/usr/include/qt4/QtCore/qsize.h:329:21: note:   no known conversion for argument 1 from 'transf' to 'qreal {aka double}'
/usr/include/qt4/QtCore/qsize.h:326:21: note: const QSizeF operator*(const QSizeF&, qreal)
 inline const QSizeF operator*(const QSizeF &s, qreal c)
                     ^
/usr/include/qt4/QtCore/qsize.h:326:21: note:   no known conversion for argument 1 from 'transf' to 'const QSizeF&'
/usr/include/qt4/QtCore/qsize.h:171:20: note: const QSize operator*(qreal, const QSize&)
 inline const QSize operator*(qreal c, const QSize &s)
                    ^
/usr/include/qt4/QtCore/qsize.h:171:20: note:   no known conversion for argument 1 from 'transf' to 'qreal {aka double}'
/usr/include/qt4/QtCore/qsize.h:168:20: note: const QSize operator*(const QSize&, qreal)
 inline const QSize operator*(const QSize &s, qreal c)
                    ^
/usr/include/qt4/QtCore/qsize.h:168:20: note:   no known conversion for argument 1 from 'transf' to 'const QSize&'
In file included from /home/ilaplace/catkin_ws/src/graspit-ros/graspit/./graspit_source/include/EGPlanner/searchState.h:34:0,
                 from /home/ilaplace/catkin_ws/src/graspit_interface/include/graspit_interface.h:12,
                 from /home/ilaplace/catkin_ws/src/graspit_interface/src/graspit_interface.cpp:1:
/home/ilaplace/catkin_ws/src/graspit-ros/graspit/graspit_source/include/matvec3D.h:1323:1: note: transf operator*(const transf&, const transf&)
 operator*(const transf &tr2,  const transf &tr1)
 ^
/home/ilaplace/catkin_ws/src/graspit-ros/graspit/graspit_source/include/matvec3D.h:1323:1: note:   no known conversion for argument 2 from 'vec3' to 'const transf&'
/home/ilaplace/catkin_ws/src/graspit-ros/graspit/graspit_source/include/matvec3D.h:1024:1: note: mat3 operator*(const double&, const mat3&)
 operator*(double const &s,  mat3 const &m)
 ^
/home/ilaplace/catkin_ws/src/graspit-ros/graspit/graspit_source/include/matvec3D.h:1024:1: note:   no known conversion for argument 1 from 'transf' to 'const double&'
/home/ilaplace/catkin_ws/src/graspit-ros/graspit/graspit_source/include/matvec3D.h:1350:1: note: position operator*(const position&, const transf&)
 operator*(const position &p, const transf &tr)
 ^
/home/ilaplace/catkin_ws/src/graspit-ros/graspit/graspit_source/include/matvec3D.h:1350:1: note:   no known conversion for argument 1 from 'transf' to 'const position&'
/home/ilaplace/catkin_ws/src/graspit-ros/graspit/graspit_source/include/matvec3D.h:917:1: note: position operator*(double, const position&)
 operator*(double d, position const &p)
 ^
/home/ilaplace/catkin_ws/src/graspit-ros/graspit/graspit_source/include/matvec3D.h:917:1: note:   no known conversion for argument 1 from 'transf' to 'double'
/home/ilaplace/catkin_ws/src/graspit-ros/graspit/graspit_source/include/matvec3D.h:741:1: note: vec3 operator*(const vec3&, const vec3&)
 operator*(vec3 const &v1, vec3 const &v2)  // cross pr
 ^
/home/ilaplace/catkin_ws/src/graspit-ros/graspit/graspit_source/include/matvec3D.h:741:1: note:   no known conversion for argument 1 from 'transf' to 'const vec3&'
/home/ilaplace/catkin_ws/src/graspit-ros/graspit/graspit_source/include/matvec3D.h:1334:1: note: vec3 operator*(const vec3&, const transf&)
 operator*(const vec3 &v, const transf &tr)
 ^
/home/ilaplace/catkin_ws/src/graspit-ros/graspit/graspit_source/include/matvec3D.h:1334:1: note:   no known conversion for argument 1 from 'transf' to 'const vec3&'
/home/ilaplace/catkin_ws/src/graspit-ros/graspit/graspit_source/include/matvec3D.h:729:1: note: vec3 operator*(const mat3&, const vec3&)
 operator*(const mat3 &m, const vec3 &v)
 ^
/home/ilaplace/catkin_ws/src/graspit-ros/graspit/graspit_source/include/matvec3D.h:729:1: note:   no known conversion for argument 1 from 'transf' to 'const mat3&'
/home/ilaplace/catkin_ws/src/graspit-ros/graspit/graspit_source/include/matvec3D.h:604:1: note: vec3 operator*(const vec3&, double)
 operator*(vec3 const &v, double s)
 ^
/home/ilaplace/catkin_ws/src/graspit-ros/graspit/graspit_source/include/matvec3D.h:604:1: note:   no known conversion for argument 1 from 'transf' to 'const vec3&'
/home/ilaplace/catkin_ws/src/graspit-ros/graspit/graspit_source/include/matvec3D.h:595:1: note: vec3 operator*(double, const vec3&)
 operator*(double s, vec3 const &v)
 ^
/home/ilaplace/catkin_ws/src/graspit-ros/graspit/graspit_source/include/matvec3D.h:595:1: note:   no known conversion for argument 1 from 'transf' to 'double'
In file included from /usr/include/Inventor/SbDPViewVolume.h:39:0,
                 from /usr/include/Inventor/SbViewVolume.h:40,
                 from /usr/include/Inventor/SbLinear.h:66,
                 from /home/ilaplace/catkin_ws/src/graspit-ros/graspit/graspit_source/include/matvec3D.h:35,
                 from /home/ilaplace/catkin_ws/src/graspit-ros/graspit/./graspit_source/include/EGPlanner/searchState.h:34,
                 from /home/ilaplace/catkin_ws/src/graspit_interface/include/graspit_interface.h:12,
                 from /home/ilaplace/catkin_ws/src/graspit_interface/src/graspit_interface.cpp:1:
/usr/include/Inventor/SbVec3d.h:107:29: note: SbVec3d operator*(double, const SbVec3d&)
 COIN_DLL_API inline SbVec3d operator * (double d, const SbVec3d & v) {
                             ^
/usr/include/Inventor/SbVec3d.h:107:29: note:   no known conversion for argument 1 from 'transf' to 'double'
/usr/include/Inventor/SbVec3d.h:103:29: note: SbVec3d operator*(const SbVec3d&, double)
 COIN_DLL_API inline SbVec3d operator * (const SbVec3d & v, double d) {
                             ^
/usr/include/Inventor/SbVec3d.h:103:29: note:   no known conversion for argument 1 from 'transf' to 'const SbVec3d&'
In file included from /usr/include/Inventor/SbLinear.h:63:0,
                 from /home/ilaplace/catkin_ws/src/graspit-ros/graspit/graspit_source/include/matvec3D.h:35,
                 from /home/ilaplace/catkin_ws/src/graspit-ros/graspit/./graspit_source/include/EGPlanner/searchState.h:34,
                 from /home/ilaplace/catkin_ws/src/graspit_interface/include/graspit_interface.h:12,
                 from /home/ilaplace/catkin_ws/src/graspit_interface/src/graspit_interface.cpp:1:
/usr/include/Inventor/SbMatrix.h:127:23: note: SbMatrix operator*(const SbMatrix&, const SbMatrix&)
 COIN_DLL_API SbMatrix operator *(const SbMatrix & m1, const SbMatrix & m2);
                       ^
/usr/include/Inventor/SbMatrix.h:127:23: note:   no known conversion for argument 1 from 'transf' to 'const SbMatrix&'
In file included from /usr/include/Inventor/SbLinear.h:59:0,
                 from /home/ilaplace/catkin_ws/src/graspit-ros/graspit/graspit_source/include/matvec3D.h:35,
                 from /home/ilaplace/catkin_ws/src/graspit-ros/graspit/./graspit_source/include/EGPlanner/searchState.h:34,
                 from /home/ilaplace/catkin_ws/src/graspit_interface/include/graspit_interface.h:12,
                 from /home/ilaplace/catkin_ws/src/graspit_interface/src/graspit_interface.cpp:1:
/usr/include/Inventor/SbRotation.h:90:25: note: SbRotation operator*(const SbRotation&, const SbRotation&)
 COIN_DLL_API SbRotation operator *(const SbRotation & q1, const SbRotation & q2);
                         ^
/usr/include/Inventor/SbRotation.h:90:25: note:   no known conversion for argument 1 from 'transf' to 'const SbRotation&'
In file included from /usr/include/Inventor/SbLinear.h:57:0,
                 from /home/ilaplace/catkin_ws/src/graspit-ros/graspit/graspit_source/include/matvec3D.h:35,
                 from /home/ilaplace/catkin_ws/src/graspit-ros/graspit/./graspit_source/include/EGPlanner/searchState.h:34,
                 from /home/ilaplace/catkin_ws/src/graspit_interface/include/graspit_interface.h:12,
                 from /home/ilaplace/catkin_ws/src/graspit_interface/src/graspit_interface.cpp:1:
/usr/include/Inventor/SbVec4f.h:97:29: note: SbVec4f operator*(float, const SbVec4f&)
 COIN_DLL_API inline SbVec4f operator * (float d, const SbVec4f & v) {
                             ^
/usr/include/Inventor/SbVec4f.h:97:29: note:   no known conversion for argument 1 from 'transf' to 'float'
/usr/include/Inventor/SbVec4f.h:93:29: note: SbVec4f operator*(const SbVec4f&, float)
 COIN_DLL_API inline SbVec4f operator * (const SbVec4f & v, float d) {
                             ^
/usr/include/Inventor/SbVec4f.h:93:29: note:   no known conversion for argument 1 from 'transf' to 'const SbVec4f&'
In file included from /usr/include/Inventor/SbLinear.h:56:0,
                 from /home/ilaplace/catkin_ws/src/graspit-ros/graspit/graspit_source/include/matvec3D.h:35,
                 from /home/ilaplace/catkin_ws/src/graspit-ros/graspit/./graspit_source/include/EGPlanner/searchState.h:34,
                 from /home/ilaplace/catkin_ws/src/graspit_interface/include/graspit_interface.h:12,
                 from /home/ilaplace/catkin_ws/src/graspit_interface/src/graspit_interface.cpp:1:
/usr/include/Inventor/SbVec3s.h:108:29: note: SbVec3s operator*(double, const SbVec3s&)
 COIN_DLL_API inline SbVec3s operator * (double d, const SbVec3s & v) {
                             ^
/usr/include/Inventor/SbVec3s.h:108:29: note:   no known conversion for argument 1 from 'transf' to 'double'
/usr/include/Inventor/SbVec3s.h:104:29: note: SbVec3s operator*(int, const SbVec3s&)
 COIN_DLL_API inline SbVec3s operator * (int d, const SbVec3s & v) {
                             ^
/usr/include/Inventor/SbVec3s.h:104:29: note:   no known conversion for argument 1 from 'transf' to 'int'
/usr/include/Inventor/SbVec3s.h:100:29: note: SbVec3s operator*(const SbVec3s&, double)
 COIN_DLL_API inline SbVec3s operator * (const SbVec3s & v, double d) {
                             ^
/usr/include/Inventor/SbVec3s.h:100:29: note:   no known conversion for argument 1 from 'transf' to 'const SbVec3s&'
/usr/include/Inventor/SbVec3s.h:96:29: note: SbVec3s operator*(const SbVec3s&, int)
 COIN_DLL_API inline SbVec3s operator * (const SbVec3s & v, int d) {
                             ^
/usr/include/Inventor/SbVec3s.h:96:29: note:   no known conversion for argument 1 from 'transf' to 'const SbVec3s&'
In file included from /usr/include/Inventor/SbLinear.h:55:0,
                 from /home/ilaplace/catkin_ws/src/graspit-ros/graspit/graspit_source/include/matvec3D.h:35,
                 from /home/ilaplace/catkin_ws/src/graspit-ros/graspit/./graspit_source/include/EGPlanner/searchState.h:34,
                 from /home/ilaplace/catkin_ws/src/graspit_interface/include/graspit_interface.h:12,
                 from /home/ilaplace/catkin_ws/src/graspit_interface/src/graspit_interface.cpp:1:
/usr/include/Inventor/SbVec3f.h:108:29: note: SbVec3f operator*(float, const SbVec3f&)
 COIN_DLL_API inline SbVec3f operator * (float d, const SbVec3f & v) {
                             ^
/usr/include/Inventor/SbVec3f.h:108:29: note:   no known conversion for argument 1 from 'transf' to 'float'
/usr/include/Inventor/SbVec3f.h:104:29: note: SbVec3f operator*(const SbVec3f&, float)
 COIN_DLL_API inline SbVec3f operator * (const SbVec3f & v, float d) {
                             ^
/usr/include/Inventor/SbVec3f.h:104:29: note:   no known conversion for argument 1 from 'transf' to 'const SbVec3f&'
In file included from /usr/include/Inventor/SbLinear.h:54:0,
                 from /home/ilaplace/catkin_ws/src/graspit-ros/graspit/graspit_source/include/matvec3D.h:35,
                 from /home/ilaplace/catkin_ws/src/graspit-ros/graspit/./graspit_source/include/EGPlanner/searchState.h:34,
                 from /home/ilaplace/catkin_ws/src/graspit_interface/include/graspit_interface.h:12,
                 from /home/ilaplace/catkin_ws/src/graspit_interface/src/graspit_interface.cpp:1:
/usr/include/Inventor/SbVec2s.h:109:29: note: SbVec2s operator*(double, SbVec2s)
 COIN_DLL_API inline SbVec2s operator * (double d, SbVec2s v) {
                             ^
/usr/include/Inventor/SbVec2s.h:109:29: note:   no known conversion for argument 1 from 'transf' to 'double'
/usr/include/Inventor/SbVec2s.h:105:29: note: SbVec2s operator*(int, SbVec2s)
 COIN_DLL_API inline SbVec2s operator * (int d, SbVec2s v) {
                             ^
/usr/include/Inventor/SbVec2s.h:105:29: note:   no known conversion for argument 1 from 'transf' to 'int'
/usr/include/Inventor/SbVec2s.h:101:29: note: SbVec2s operator*(SbVec2s, double)
 COIN_DLL_API inline SbVec2s operator * (SbVec2s v, double d) {
                             ^
/usr/include/Inventor/SbVec2s.h:101:29: note:   no known conversion for argument 1 from 'transf' to 'SbVec2s'
/usr/include/Inventor/SbVec2s.h:97:29: note: SbVec2s operator*(SbVec2s, int)
 COIN_DLL_API inline SbVec2s operator * (SbVec2s v, int d) {
                             ^
/usr/include/Inventor/SbVec2s.h:97:29: note:   no known conversion for argument 1 from 'transf' to 'SbVec2s'
In file included from /usr/include/Inventor/SbLinear.h:53:0,
                 from /home/ilaplace/catkin_ws/src/graspit-ros/graspit/graspit_source/include/matvec3D.h:35,
                 from /home/ilaplace/catkin_ws/src/graspit-ros/graspit/./graspit_source/include/EGPlanner/searchState.h:34,
                 from /home/ilaplace/catkin_ws/src/graspit_interface/include/graspit_interface.h:12,
                 from /home/ilaplace/catkin_ws/src/graspit_interface/src/graspit_interface.cpp:1:
/usr/include/Inventor/SbVec2f.h:99:29: note: SbVec2f operator*(float, const SbVec2f&)
 COIN_DLL_API inline SbVec2f operator * (float d, const SbVec2f & v) {
                             ^
/usr/include/Inventor/SbVec2f.h:99:29: note:   no known conversion for argument 1 from 'transf' to 'float'
/usr/include/Inventor/SbVec2f.h:95:29: note: SbVec2f operator*(const SbVec2f&, float)
 COIN_DLL_API inline SbVec2f operator * (const SbVec2f & v, float d) {
                             ^
/usr/include/Inventor/SbVec2f.h:95:29: note:   no known conversion for argument 1 from 'transf' to 'const SbVec2f&'
/home/ilaplace/catkin_ws/src/graspit_interface/src/graspit_interface.cpp:827:24: error: 'class vec3' has no member named 'normalize'
         approachInHand.normalize();
                        ^
make[2]: *** [graspit_interface/CMakeFiles/graspit_interface.dir/src/graspit_interface.cpp.o] Error 1
make[1]: *** [graspit_interface/CMakeFiles/graspit_interface.dir/all] Error 2
make: *** [all] Error 2

graspit_interface doesn't build as written in readme

see build log

usr/include/boost/type_traits/detail/has_binary_operator.hp:50: Parse error at "BOOST_JOIN"
graspit_interface/CMakeFiles/graspit_interface.dir/build.make:62: recipe for target 'graspit_interface/include/moc_graspit_interface.cxx' failed
make[2]: *** [graspit_interface/include/moc_graspit_interface.cxx] Error 1
CMakeFiles/Makefile2:1468: recipe for target 'graspit_interface/CMakeFiles/graspit_interface.dir/all' failed
make[1]: *** [graspit_interface/CMakeFiles/graspit_interface.dir/all] Error 2
Makefile:138: recipe for target 'all' failed```

How do we create 3D model file end with .iv

I usually use solidworks.

Is there a requirement for the CAD software we use ? Or can we transfer the parts done by Solidworks to .iv file?

Thanks

contact in the finger frame?

Are the contact location in the finger link frame store somewhere? Thanks!

eigengrasp planner problem

hi, I'm new to graspit. And thank you for your contribution to grasp simulation.
I met a problem about shadow hand eigengrasp planner problem.When I start the planner, It is caught in a loop.
created new L1 Norm GWS.
Neighbor gen loops: 12
Neighbor gen loops: 11
Neighbor gen loops: 12
Neighbor gen loops: 11
Neighbor gen loops: 12
Neighbor gen loops: 12
Neighbor gen loops: 11
Neighbor gen loops: 13
Neighbor gen loops: 11
Neighbor gen loops: 11
Neighbor gen loops: 11
Neighbor gen loops: 12
Neighbor gen loops: 11
Neighbor gen loops: 11
Neighbor gen loops: 12
if I close the Collisions ,it starts planning , but this is not I want .
could you tell me what went wrong?
Thank you so much!

build error with ros environment

The graspit simulator was cloned and set up as a ros package. The command

rosrun graspit graspit_simulator

runs successully. I cloned the graspit interface package and when I tried to build it. I get the following error:

In file included from /home/robocup17/Nawal_Projekt/build/graspit_interface/include/moc_graspit_interface.cxx:9:0:
/home/robocup17/Nawal_Projekt/build/graspit_interface/include/../../../src/graspit_interface/include/graspit_interface.h:11:28: fatal error: graspit/plugin.h: No such file or directory
compilation terminated.
In file included from /home/robocup17/Nawal_Projekt/src/graspit_interface/src/main.cpp:1:0:
/home/robocup17/Nawal_Projekt/src/graspit_interface/include/graspit_interface.h:11:28: fatal error: graspit/plugin.h: No such file or directory
compilation terminated.
graspit_interface/CMakeFiles/graspit_interface.dir/build.make:115: recipe for target 'graspit_interface/CMakeFiles/graspit_interface.dir/include/moc_graspit_interface.cxx.o' failed
make[2]: *** [graspit_interface/CMakeFiles/graspit_interface.dir/include/moc_graspit_interface.cxx.o] Error 1
make[2]: *** Waiting for unfinished jobs....
graspit_interface/CMakeFiles/graspit_interface.dir/build.make:91: recipe for target 'graspit_interface/CMakeFiles/graspit_interface.dir/src/main.cpp.o' failed
make[2]: *** [graspit_interface/CMakeFiles/graspit_interface.dir/src/main.cpp.o] Error 1

Your help is appreciated.

when i use roslaunch graspit_interface graspit_interface.launch, the interface is not the same as https://graspit-simulator.github.io/build/html/getting_started.html shows. My interface lacks the menu. Why?

SetRobotDesiredDOF problem

Hi, Is it available to set the robot desired DOF effort?
in srv/SetRobotDesiredDOF, no dof effort defined and just dofs and dof_velocities.

Graspit! memory leak

if clearWorld and importGraspableBody and import Hand are called repeatably, there is a memory leak somewhere. I would assume something from the body or hand is not being destroyed properly.

@JSR694 watch for this as well.

cmake error could not find Qhull

I'm running into a problem with cmake during setup. I'm not a programmer, so am probably doing something dumb ... on a fresh install of Ubuntu 16.04.5. Any tips?

@ubuntu:~/graspit/build$ cmake ..
CMake Error at /usr/share/cmake-3.5/Modules/FindPackageHandleStandardArgs.cmake:148 (message):
Could NOT find Qhull (missing: QHULL_LIBRARY QHULL_INCLUDE_DIR)
Call Stack (most recent call first):
/usr/share/cmake-3.5/Modules/FindPackageHandleStandardArgs.cmake:388 (_FPHSA_FAILURE_MESSAGE)
CMakeMacros/FindQhull.cmake:84 (find_package_handle_standard_args)
CMakeLists.txt:71 (find_package)

-- Configuring incomplete, errors occurred!