teo-openrave-models-install.md

teo-openrave-models: Installation from Source Code

First install the dependencies:

• Install CMake 3.12+
• Install YCM 0.11+
• Install YARP 3.7+

Install the Models

Our software integrates the previous dependencies. Note that you will be prompted for your password upon using '''sudo''' a couple of times:

cd  # go home
mkdir -p repos; cd repos  # make $HOME/repos if it does not exist; then, enter it
git clone https://github.com/roboticslab-uc3m/teo-openrave-models.git  # download teo-openrave-models software from the repository
cd teo-openrave-models; mkdir build; cd build
cmake ..
make -j$(nproc); sudo make install; cd  # go home

For CMake find_package(TEO_OPENRAVE_MODELS REQUIRED), you may also be interested in adding the following to your ~/.bashrc or ~/.profile:

export TEO_OPENRAVE_MODELS_DIR=/path/to/teo-openrave-models/build

For additional teo-openrave-models options use ccmake instead of cmake.

Generate OpenRAVE databases

cd  # go home
cd repos/teo-openrave-models/scripts/python
python generateConvexDecomposition.py  # Takes 1-2 min
python generateIkfast.py  # Takes aprox 10 min