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]:squarra/rai.git
cmake -B build
cmake --build build -j 6- gnuplot is required (sudo dnf install gnuplot)
- rai-robotModels is required next to where you cloned this repo
- shapenet data is going to be required for the shapenet tests
- there are some hardcoded paths to other repos which I could not find online
cmake -B build -DBUILD_TESTS=ON
cmake --build build -j 6
cd build
ctest # run all tests
ctest -R test_name # run a specific testOn Fedora I have to change my XDG_SESSION_TYPE
XDG_SESSION_TYPE=x11 ctestFormat the Makefile
cmake-format -i --line-width 120 CMakeLists.txt