1.下载graspit ：git clone https://github.com/graspit-simulator/graspit
2. 安装一些附加工具包：sudo apt-get install libqt4-dev libqt4-opengl-dev libqt4-sql-psql libcoin60-dev libsoqt4-dev libblas-dev liblapack-dev libqhull-dev
3. 进入graspit，打开cmake客户端，source文件目录选择graspit路径，build文件目录选择在graspit文件夹下新建一个build文件夹，然后，点击generate, 再点击configure，再点击generate，生成到编译文件在build下。
4. 可以看见 build文件夹下有grasp_simulation，双击运行。