Installation¶

The GraspIt! installation process consists of two steps. First, you must install a set of external libraries, listed below. The installation for each library is further detailed in the system specific sections of this installation guide. Then, you must compile the GraspIt! code itself and set up the environment variables.

GraspIt! needs the following external libraries:

Qt

Qt is a cross-platform application and UI framework. It allows GraspIt! to have a platform-independent windowing system, dialogs etc. GraspIt! currently uses Qt version 4, which is available under two different licenses. This installer assumes you will be using the open source version, see the for more details on licensing options.

Coin

Coin is a Scene Graph API that GraspIt! uses for all of its 3D rendering needs. It is an Open Inventor clone. Like Qt, Coin is available under a dual licensing model; here we assume you will be using the open source license. See the website for more licensing details.

SoQt

SoQt is a GUI binding, essentially the “glue” between Qt and Coin. It is available, under the same conditions as Coin, from the Coin website. The latest version of SoQt that we have tested GraspIt! with is SoQt 1.4.2, which provides seamless integration with Qt4.

Lapack

Lapack is a library for scientific computing that GraspIt! uses for various matrix related tasks, such as matrix multiplication, linear system solving, singular value decomposition, etc.

The GraspIt! project information comes in the form of a cross-platform Qt project file, which is processed by QMake. Depending on your system, you will convert this into either a Makefile or a Microsoft Visual Studio project file.