github workflow

.github/workflows/cmake.yml

@@ -18,11 +18,12 @@ jobs:
         python-version: '3.10'
     - name: install ubuntu dependencies
       run: |
-        sudo apt-get install libboost-system-dev libccd-dev
+        sudo apt-get install libboost-system-dev
         APTGETYES=1 make -C rai -j1 installUbuntuAll
     - name: install source dependencies
       run: |
         wget https://github.com/MarcToussaint/rai-extern/raw/main/install.sh; chmod a+x install.sh
+        ./install.sh libccd
         ./install.sh fcl
     - name: install python dependencies
       run: |

Makefile

@@ -29,7 +29,7 @@ wheels:
 #	_build_utils/run-docker.sh local/_build_utils/build-wheels.sh
 
 wheels-upload:
-	twine upload dist/*.whl --repository robotic
+	twine upload dist/*.whl
 
 wheels-install:
 	python$(PY_VER) -m pip install --user dist/robotic-*cp38*.whl --force-reinstall

README.md

@@ -41,7 +41,7 @@ pip install jupyter nbconvert matplotlib ipympl
 git clone https://github.com/MarcToussaint/rai-tutorials.git
 cd rai-tutorials
 make run -j1
-``
+```
 
 
 ## Installation from source with real Franka & realsense support
@@ -52,7 +52,7 @@ This assumes a standard Ubuntu 22.04 (or 20.04, 18.04) machine.
 
       sudo apt install --yes \
         g++ clang make gnupg cmake git wget \
-        liblapack-dev libf2c2-dev libqhull-dev libeigen3-dev libann-dev libccd-dev \
+        liblapack-dev libf2c2-dev libqhull-dev libeigen3-dev libann-dev \
         libjsoncpp-dev libyaml-cpp-dev libhdf5-dev libpoco-dev libboost-system-dev portaudio19-dev libusb-1.0-0-dev \
         libx11-dev libglu1-mesa-dev libglfw3-dev libglew-dev freeglut3-dev libpng-dev libassimp-dev \
         python3-dev python3 python3-pip
@@ -67,6 +67,7 @@ This assumes a standard Ubuntu 22.04 (or 20.04, 18.04) machine.
   To standardize installations, I use a basic script:
 
       wget https://github.com/MarcToussaint/rai-extern/raw/main/install.sh; chmod a+x install.sh
+      ./install.sh libccd
       ./install.sh fcl
       ./install.sh physx
       ./install.sh librealsense

_build_utils/build-wheels.sh

@@ -33,7 +33,7 @@ export PYTHONPATH=.
 for ver in 10 11 7 8 9; do
     echo -e "\n\n======== compiling (python version " $ver ") ========"
     cmake -B build_wheel -DPY_VERSION=3.$ver .
-    make -C build_wheel rai _robotic meshTool --quiet
+    make -j8 -C build_wheel rai _robotic meshTool --quiet
     if [ "$?" != 0 ]; then
 	echo "--- compile failed ---"
 	exit