Installation instructions

The following instructions were verified on Ubuntu 14.04:

• Install OpenRAVE: here are instructions for Ubuntu 14.04 as well as for Ubuntu 16.04
• Install Python dependencies:

sudo apt-get install cython libglpk-dev python python-dev python-pip python-scipy python-simplejson

• Install the LP solver: CVXOPT_BUILD_GLPK=1 pip install cvxopt --user
• Install the QP solver: pip install quadprog --user
• For polyhedral computations (optional): pip install pycddlib --user

Finally, clone this repository and run the setup script:

git clone --recursive https://github.com/stephane-caron/pymanoid.git
cd pymanoid
python setup.py build
python setup.py install --user

Optional

For nonlinear numerical optimization, you will need to install CasADi, preferably from source with the MA27 linear solver.