Optimization Algorithms course

This repo is based on the RAI code, including its python bindings. See https://github.com/MarcToussaint/rai-python

Installation

Users should not need to compile code. Use the pip install below. If you want to compile the lib and python bindings yourself, look at the rai-python README

• Some Ubuntu dependencies: (the pip package dynamically links to those)

sudo apt install liblapack3 freeglut3 libglew-dev python3 python3-pip

• pip-install robotic and dependencies (numpy, scipy)

python3 -m pip install robotic numpy scipy

• Test:

python3 -c 'from robotic import ry; ry.test.RndScene()'

If the rai-robotModels path fails, try one of the following:

cd $HOME && mkdir -p .local && cd $HOME/.local && ln -s /usr/local/rai-robotModels
#python3 -c 'from robotic import ry; ry.setRaiPath("/usr/local/rai-robotModels"); ry.test.RndScene()'

• Now you can test the example in this repo (clone parallel to the OA assignments repo)

git clone https://github.com/MarcToussaint/optimization-course.git
cd optimization-course/example
python3 main.py