search

BerkeleyAutomation / dex-net

Repository for reading the Dex-Net 2.0 HDF5 database of 3D objects, parallel-jaw grasps, and robust grasp metrics
https://berkeleyautomation.github.io/dex-net/code.html
Other
296 stars 97 forks source link

Conflicts in getting collision detection implemented (Openrave Installation problem) #68

Closed aprath1 closed 3 years ago

aprath1 commented 3 years ago

Hi @jeffmahler ,

I am trying to get the dex-net implementation working.

I am having some trouble in building and installing the openrave (https://github.com/jeffmahler/openrave) package. Specifically the make stops around 65% indicating conflicts with Moby and Ravelin. one of the major error is EulerIntegrator.h not found and Openrave requires the following moby headers:

EulerIntegrator.h
Integrator.h
TimeSteppingSimulator.h
RCArticulateBody.h
RevoluteJoint.h
UniversalJoint.h
SphericalJoint,h
GravityForce.h
RigidBody.h
ArticulateBody.h
Joint.h

I could not find any branch or tags from Moby (https://github.com/PositronicsLab/Moby) which satisfies all the above requirements. I tried Moby branches like - master, openrave, new-Ravelin, IPOPT and then went through all other branches.

Could you kindly let me know which branch or which specific commit stage of Moby should I consider for the openrave (jeffmahler/openrave) installation. Would also be good to know if it is possible to get openrave working with the master branch of Ravelin too.

Thank you in advance.

NB: could not post this issue in your fork of Openrave since the option was note available; hence requesting here in dex-net repo.

aprath1 commented 3 years ago

Ok seems like this was a bug in the openrave! so after going through the histories of Moby and Ravelin it was found that the Eulerintegrator.h was removed from the implementation at certain commit. Later when I checked the plugins/mobyrave/mobyphysics.h file it was seen that the usage of Eulerintegrator has been commented out but the import/include statement was still active. By commenting it out the problem was resolved.