Installation¶
This code has been tested on Ubuntu 12.04.
Dependencies¶
Instructions¶
Install bulletsim from source. Use the
lite
branch and follow its README instructions.Install trajopt from source. Follow the installation instructions but with the following modifications:
Use this fork and the
trajopt-jointopt
branch instead.Install OpenRAVE 0.9 or later from the OpenRAVE testing PPA.
sudo add-apt-repository ppa:openrave/testing sudo apt-get update sudo apt-get install openrave
Install PCL 1.7.
sudo apt-get install libpcl-1.7-all
Run the
cmake
command with the optionBUILD_CLOUDPROC=ON
, that is:cmake /path/to/trajopt -DBUILD_CLOUDPROC=ON
Install NumPy, SciPy and HDF5.
sudo apt-get install python-numpy python-scipy libhdf5-serial-dev
Install h5py and joblib with pip.
sudo pip install h5py joblib
Add the following path to your PYTHONPATH
:
/path/to/lfd
Now you should be able to run the scripts in the examples
directory.
Running the Test Suite¶
You can run the test suite using this command:
python -m unittest discover -s /path/to/lfd/test/