This is the spatial language understanding package written by the
Robust Robotics Research Group.

* You must install java and set the JAVA_HOME environment variable.
* Run "rake setup" to compile 3rd party dependencies. 
* To test the forklift mobile-manipulation code, run "rake
  train_forklift" in du_crf3 to build the model.  Then run "rake
  tests" in forklift.  If all these test cases pass, it is
  successfully following commands such as "put the tire pallet on the
  truck."

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Installation instructions:
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(These were tested on a fresh Ubuntu 10.04 VM)

Install java by adding the sun repository:
sudo add-apt-repository "deb http://archive.canonical.com/ lucid partner"
sudo apt-get update
sudo apt-get install sun-java6-jdk
echo export JAVA_HOME=/usr/lib/jvm/java-6-sun >> ~/.bashrc

All other packages should be available normally with apt-get. 

Required Packages:
rake
subversion
python2.6
python2.6-dev
ant
ant-optional 
sun-java6-jdk
build-essential
pyqt4-dev-tools
gsl-bin
libgsl0-dev
swig
python-yaml
python-nltk
python-scipy
python-enchant

Additional requirements:
Minimum 1280 Mb RAM

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Setup:
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rake setup





* Retrain model.  Comment out pickle in nlp/src/spatialRelationsClassifier.py.   rake runSrClassifierTrainer. 

* Build polygon in 3rdParty. 
* Build crf++ in nlp/3rdParty

* rake cache_lmap_d8_full
* create_model_spatial_relations_model1_d8_full

$ rake create_srel_mat_spatial_relations_model1_d8_full