This repo contains core sources related to Robotics & AI. Users are not recommended to use this repo alone. Please have a look at example projects that use this bare code as a submodule and expose and explain some subset of functionalities. Esp. the robotic python lib, which now co-installs C++ headers and a compiled shared lib.
'bare code' means that this repo contains only sources, a minimal Ubuntu-specific build system, and development tests. It is mostly used as submodule in other integrated projects, with their own out-of-source build system.
Parts of the code have there origin at around 2004 (Edinburgh). The code grew over the years to a large repo with many projects from all lab members, but a somewhat consistent scope of code shared between projects. This repo includes a selection of the code shared between projects and contains a set of representations and methods for Robotics, ML and AI. As the functionality is diverse I don't even try to explain.
The there is no proper documentation of the full rai code. I recommend starting with
- The robotic python lib documentation, which explains core features (but certainly not the underlying code base),
- With Doxygen (see rai-maintenence help) you can get an API.
- The Wiki page contains an older introduction to KOMO. There is also an older KOMO tech report on arxiv: https://arxiv.org/abs/1407.0414
- Eventually, the test main.cpp files help really understanding the use of the C++ code base.
git clone [email protected]:MarcToussaint/rai.git
# OR, if you don't have a github account:
git clone https://github.com/MarcToussaint/rai.git
cd rai
# The following two commands depend on the config.mk -- see below
make -j1 printUbuntuAll # for your information: what the next step will install
make -j1 installUbuntuAll APTGETYES=--yes # calls sudo apt-get install; remove 'yes' to allow interrupting
make -j4
make -j4 tests bin
make runTests # compile and run the essential tests
To change the dependencies edit the config.mk in _make:
When a flag is set =0, this forces that this package is not
used. Otherwise (when set =0 is commented), a sub-folder Makefile may
set it equal to 1 and links to this package. After this you definitely
need to recompile some components. In doubt
make cleanAll
make -j4
If you pull an update, it might help to create Makefile.dep files throught the project using
make dependAll
make -j4
export MAKEFLAGS="-j $(command nproc --ignore 2)"
#apt update
#apt install wget
wget https://github.com/MarcToussaint/rai/raw/refs/heads/marc/_make/install.sh; chmod a+x install.sh
./install.sh ubuntu-rai
./install.sh libccd
./install.sh fcl
./install.sh libann
./install.sh rai
#build tests
cmake -DBUILD_TESTS=ON git/rai -B git/rai/build
cmake --build git/rai/build
#build with physx
./install.sh physx
cmake -DUSE_PHYSX=ON git/rai -B git/rai/build
cmake --build git/rai/build