This code has been tested on Ubuntu 12.04.



  • Install bulletsim from source. Use the lite branch and follow its README instructions.

  • Install trajopt from source. Follow the installation instructions but with the following modifications:

    • Use this fork and the trajopt-jointopt branch instead.

    • Install OpenRAVE 0.9 or later from the OpenRAVE testing PPA.

      sudo add-apt-repository ppa:openrave/testing
      sudo apt-get update
      sudo apt-get install openrave
    • Install PCL 1.7.

      sudo apt-get install libpcl-1.7-all
    • Run the cmake command with the option BUILD_CLOUDPROC=ON, that is:

      cmake /path/to/trajopt -DBUILD_CLOUDPROC=ON
  • Install NumPy, SciPy and HDF5.

    sudo apt-get install python-numpy python-scipy libhdf5-serial-dev
  • Install h5py and joblib with pip.

    sudo pip install h5py joblib

Add the following path to your PYTHONPATH:


Now you should be able to run the scripts in the examples directory.

Running the Test Suite

You can run the test suite using this command:

python -m unittest discover -s /path/to/lfd/test/