BADGr Files

=== graspif (GraspIt interface) ===

As can be seen in the BADGr System Architecture, an interface is needed for each environment to communicate with the toolbox. More information about which interfaces are provided and what and interface includes can be found on the Interface page. For GraspIt, the graspif interface has been developed by Daniel Aarno and Staffan Ekvall, Royal Institute of Technology (KTH). So note that this package is only needed in case you use GraspIt as a simulation environment.

We do provide a modified version of graspif under the included author's attribution assurance license.

Note: you need libtool, autoconf (sudo apt-get install libtool autoconf) to compile graspif. After installing, don't forget to add the library directory to your LD_LIBRARY_PATH.

=== Zernike Descriptors ===

To describe 3D shape of whole objects or object parts, the BADGr toolbox can make use of so-called 3D Zernike Descriptors. This capability is optional in the code, and based on the implementation by Marcin Novotni.

We provide a modified version of this code under the included GPL. To use it, unpack the content in the $BOXGRASPINGSUITE/3rd-party/ directory, and set ZERNIKE_ENABLED = True in $BOXGRASPINGSUITE/CMakeLists.txt.