Qt5 version

[lepalom]

I have seen that graspit has in its dependencies all refered to Qt4:

sudo apt-get install libqt4-dev
sudo apt-get install libqt4-opengl-dev
sudo apt-get install libqt4-sql-psql
sudo apt-get install libsoqt4-dev

Qt4 is not longer active neither provided by any modern Linux distro, so graspit will be unusable soon. There's any plan to migrate to Qt5?

[vladis315]

Are there any updates or workaround on this matter? Can anyone recommend alternatives to graspit on Ubuntu 20.04?

[DavidWatkins]

Use branch qt5, then use the following commands to build graspit:

sudo apt install -y cmake libsoqt520 libsoqt520-dev libblas-dev liblapack-dev libqhull-dev libeigen3-dev git
sudo apt update
mkdir $HOME/dependencies/
cd ~/dependencies
git clone https://github.com/graspit-simulator/graspit.git -b qt5
cd graspit
export GRASPIT=$PWD
mkdir build
cd build
cmake ..
make -j$(nproc)
sudo make install

[harishbalasub]

Is graspit simulator still being maintained?

I built the QT5 version as stated above.
I ran the graspit_simulator, opened the world 'dlr_flask.xml', then clicked on 'Auto Grasp' from the menu.
The GUI crashed at
void CollisionInterface::replaceContactSetWithPerimeter(ContactReport &contactSet)
<<
if ((exitcode = setjmp(qh errexit))) {
delete [] array;
if (qhfp) { fclose(qhfp); }
qhull_mutex.unlock();
return;
}

Any idea why

[jmirabel]

I faced the same GUI crash without being able to fix it. It seems to be related to QHull, though the use of setjmp makes it difficult to follow for me.

[jmirabel]

In case it helps someone (@harishbalasub ?), after looking into the issue, I found the cause.

There is a discrepancy between the preprocessor flags of QHull and of graspit. In graspit/CMakeMacros/FindQhull.cmake, commenting out the section

  if(NOT QHULL_USE_STATIC)
    add_definitions("-Dqh_QHpointer")
    if(MSVC)
      add_definitions("-Dqh_QHpointer_dllimport")
    endif(MSVC)
  endif(NOT QHULL_USE_STATIC)

removes the faulty preprocessor flag. The GUI works fine for me after this change.

[harishbalasub]

In case it helps someone (@harishbalasub ?), after looking into the issue, I found the cause.

There is a discrepancy between the preprocessor flags of QHull and of graspit. In graspit/CMakeMacros/FindQhull.cmake, commenting out the section

if(NOT QHULL_USE_STATIC)
add_definitions("-Dqh_QHpointer")
if(MSVC)
add_definitions("-Dqh_QHpointer_dllimport")
endif(MSVC)
endif(NOT QHULL_USE_STATIC)
removes the faulty preprocessor flag. The GUI works fine for me after this change.

Oh thats good to hear. When I tried it in Feb, the GUI was crashing in different places and I gave up.