Update install-openrave.md

Author: PeterBowman

docs/install-openrave.md

@@ -7,45 +7,9 @@ We use the OpenRAVE core library for simulations. Official links:
 
 Legacy documentation regarding OpenRAVE installations can be found at: [(Legacy) Install OpenRAVE](legacy/legacy-install-openrave.md)
 
-## Install OpenRAVE via scripts (Ubuntu 18.04 Bionic and Ubuntu 20.04 Focal)
-
-Tested and works on fresh installs. Easy, but not guaranteed to work, nor to be the fastest mechanism (e.g. fcl not mandatory, and osg could alternatively be installed via `apt` in 20.04 Focal). Provides:
-
-- Ubuntu 20.04 Focal: OpenRAVE 0.54.0 with Python 2 bindings, FCL, and OpenSceneGraph viewer.
-- Ubuntu 18.04 Bionic: OpenRAVE 0.9.0 with Python 2 bindings, FCL, and Qtcoin viewer.
+## Install OpenRAVE 0.136.1 (Ubuntu 20.04 Focal and newer)
 
-```bash
-sudo apt install git lsb-release # probably already installed
-```
-
-On a fresh 20.04 Focal had to configure git email and user, even dummy okay:
-
-```bash
-git config --global user.name "FIRST_NAME LAST_NAME"
-git config --global user.email "[email protected]"
-```
-
-Always pay attention to prompts for `sudo` (and insert password):
-
-```bash
-cd  # go home
-git clone https://github.com/crigroup/openrave-installation
-cd openrave-installation
-./install-dependencies.sh
-./install-osg.sh
-./install-fcl.sh
-./install-openrave.sh
-```
-
-### Troubleshooting OpenRAVE via scripts (Ubuntu 18.04 Bionic and Ubuntu 20.04 Focal)
-
-Also on 20.04 Focal had to run the [`pip install ipython h5py numpy scipy wheel`](https://github.com/crigroup/openrave-installation/blob/b2766bd789e2432c4485dff189e75cf328f243ec/install-dependencies.sh#L44) line manually, and `rm -rf ~/openrave` to run `./install-openrave.sh` again.
-
-Moreover, if Ubuntu installation not fresh, beware of Python 2 vs 3 issues. Troubleshooting, make sure `python --version` gives you Python 2, else `update-alternatives` is your friend. Finally, in line with this, make sure you have the Python 2 development headers, which should be at `/usr/include/python2.7`.
-
-## Install OpenRAVE 0.54.0 (Ubuntu 20.04 Focal)
-
-No official PPA, install from source. Install Dependencies that must be installed for compilation:
+No official PPA, install from source. Install dependencies that must be installed for compilation:
 
 - [Install CMake](install-cmake.md)
 - [Install RapidJSON](install-rapidjson.md)
@@ -54,23 +18,23 @@ Note that you will be prompted for your password upon using `sudo`.
 
 ```bash
 sudo apt install git # probably already installed
-sudo apt install libboost-filesystem-dev libboost-system-dev libboost-python-dev libboost-thread-dev libboost-iostreams-dev libboost-numpy-dev
+sudo apt install libboost-filesystem-dev libboost-system-dev libboost-thread-dev libboost-iostreams-dev
 sudo apt install libxml2-dev libode-dev
 sudo apt install liblapack-dev
-sudo apt install libcollada-dom2.4-dp-dev
-sudo apt install libopenscenegraph-dev # OSG 3.6.4 ok with OR 4c43d49895934b61cc286a6b41a10d3661fde465
+sudo apt install libcollada-dom-dev
+sudo apt install libsoqt520-dev libcoin-dev
 cd  # go home
 mkdir -p repos; cd repos  # create $HOME/repos if it doesn't exist; then, enter it
 git clone --branch master https://github.com/rdiankov/openrave.git
 cd openrave; mkdir build; cd build
-cmake .. -DOPT_VIDEORECORDING=OFF -DOPT_PYTHON=OFF
+cmake .. -DOPT_VIDEORECORDING=OFF -DOPT_PYTHON=OFF -DOPT_PYTHON3=OFF -DOPT_MSGPACK=OFF -DOPT_ENCRYPTION=OFF
 make -j$(nproc)
 sudo make install; cd  # install and go home
 ```
 
 ## Install OpenRAVE 0.54.0 (Ubuntu 18.04 Bionic)
 
-No official PPA, install from source. Install Dependencies that must be installed for compilation:
+No official PPA, install from source. Install dependencies that must be installed for compilation:
 
 - [Install CMake](install-cmake.md)
 - [Install RapidJSON](install-rapidjson.md)
@@ -95,7 +59,7 @@ sudo make install; cd  # install and go home
 
 ## Install OpenRAVE 0.9.0 (Ubuntu 18.04 Bionic)
 
-No official PPA, install from source. Install Dependencies that must be installed for compilation:
+No official PPA, install from source. Install dependencies that must be installed for compilation:
 
 - [Install CMake](install-cmake.md)
 
@@ -123,6 +87,42 @@ sudo make install; cd  # install and go home
 
 - In case you run into `non-constant-expression cannot be narrowed from type 'double' to 'float' in initializer list [-Wc++11-narrowing]` errors (happened on OpenRAVE 0.15 and a Clang 6.0.0/7.0.0 compiler), reconfigure CMake with the following option: `cmake .. -DOPT_IKFAST_FLOAT32=OFF`
 
+## Install OpenRAVE via scripts (Ubuntu 18.04 Bionic and Ubuntu 20.04 Focal)
+
+Tested and works on fresh installs. Easy, but not guaranteed to work, nor to be the fastest mechanism (e.g. fcl not mandatory, and osg could alternatively be installed via `apt` in 20.04 Focal). Provides:
+
+- Ubuntu 20.04 Focal: OpenRAVE 0.54.0 with Python 2 bindings, FCL, and OpenSceneGraph viewer.
+- Ubuntu 18.04 Bionic: OpenRAVE 0.9.0 with Python 2 bindings, FCL, and Qtcoin viewer.
+
+```bash
+sudo apt install git lsb-release # probably already installed
+```
+
+On a fresh 20.04 Focal had to configure git email and user, even dummy okay:
+
+```bash
+git config --global user.name "FIRST_NAME LAST_NAME"
+git config --global user.email "[email protected]"
+```
+
+Always pay attention to prompts for `sudo` (and insert password):
+
+```bash
+cd  # go home
+git clone https://github.com/crigroup/openrave-installation
+cd openrave-installation
+./install-dependencies.sh
+./install-osg.sh
+./install-fcl.sh
+./install-openrave.sh
+```
+
+### Troubleshooting OpenRAVE via scripts (Ubuntu 18.04 Bionic and Ubuntu 20.04 Focal)
+
+Also on 20.04 Focal had to run the [`pip install ipython h5py numpy scipy wheel`](https://github.com/crigroup/openrave-installation/blob/b2766bd789e2432c4485dff189e75cf328f243ec/install-dependencies.sh#L44) line manually, and `rm -rf ~/openrave` to run `./install-openrave.sh` again.
+
+Moreover, if Ubuntu installation not fresh, beware of Python 2 vs 3 issues. Troubleshooting, make sure `python --version` gives you Python 2, else `update-alternatives` is your friend. Finally, in line with this, make sure you have the Python 2 development headers, which should be at `/usr/include/python2.7`.
+
 ## Extra Tips
 
 Note that you may end up requiring over 2 GB of free space during the installation of `apt` dependencies. To avoid that, use the `--no-install-recommends` option as in: