« Back to Robotic Hands Project

ArtTreeKS

What is ArtTreeKS?

ArtTreeKS is kinematic synthesis software which is written primarily in Lua. It has been continuously developed over time with contributions from Alba Perez, Edgar Simo-Serra, Ali Tamimi, and Mason Wegert.

Installation Instructions:

Detailed below are two methods of installing ArtTreeKS. The second method is simpler and uses the attached script.

To install ArtTreeKS on Ubuntu 14.04 (Gnome3 or Unity DE), do the following:

Install cminpack, lua5.1 and build-essential using apt-get:


sudo apt-get install -y libcminpack-dev libcminpack1.0.90 lua5.1 liblua5.1-dev libpng-dev libsdl1.2-dev build-essential


Download the two following zip files

https://github.com/bobbens/ArtTreeKS/archive/master.zip
https://github.com/bobbens/libdq/archive/master.zip

Unzip both of these to a directory of your choice.
Next, navigate into the folder of the second unzipped download and run make and sudo make install

cd [libdq folder]
make
sudo make install


Next, navigate into the luarocks folder and run make


cd luarocks # full path is [libdq folder]/luarocks
vim '+%s/#include "lua.h"/#include "lua5.1\/lua.h"/g' '+wq' luadq.c
vim '+%s/#include "lauxlib.h"/#include "lua5.1\/lauxlib.h"/g' '+wq' luadq.c
make


Now, navigate into the ArtTreeKS unzipped folder


cd [ArtTreeKS folder]
vim '+%s/#include /#include /g' '+wq' sminpack.h
make


Installation should now be finished. To test, do the following.
Navigate into the ArtTreeKS/examples folder and run lua [example].lua


cd [ArtTreeKS folder]/examples
lua experiment.lua


If that works you are done.

Install with script:

Attached is a script that will go through and install ArtTreeKS and all dependencies.
You run it by first making it executable by:


sudo chmod +x ArtTreeKS-installer.sh


Then execute it by:


sudo ./ArtTreeKS-installer.sh


This will create a folder called temp that contains everything you will need for ArtTreeKS. You can now move them out of the temp fold and wherever you would like them in this example we will move them to the user folder.

cd temp/
sudo cp ArtTreeKS-master ~
sudo cp libdq-master ~


To test an example: (from the temp folder)

Enter the examples folder, copy the synthesis.so and the luadq.so files into the examples folder.


cd ~/ArtTreeKS-master/examples/
sudo cp ../synthesis.so .
sudo cp ../../libdq-master/luarocks/luadq.so .


Run an example:


sudo lua test.lua


If it doesn't throw any errors then it worked.

Important: The synthesis.so and luadq.so files must be in the same folder as the .lua file that is being run.

Thanks to Brandon Biggs and ISU IT for these instructions