RAI bare code

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.

Brief history

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.

Repos wrapping rai:

• Robotic Python Lib
• BotOp

Documentation

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.

Quick Start

git clone git@github.com: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

Dependencies

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

local compile

  export MAKEFLAGS="-j $(command nproc --ignore 2)"
  #apt update
  #apt install wget

  source _make/install.sh vars_only #defines the following dependency packages
  sudo apt install --yes ${ubuntu_rai}
  _make/install.sh libccd
  _make/install.sh fcl
  _make/install.sh libann

  #build tests
  cmake . -B build -DBUILD_TESTS=ON -DUSE_PHYSX=OFF
  make -C build

  #build with physx
  ./install.sh physx
  cmake . -B build -DUSE_PHYSX=ON
  make -C build