INSTALLATION GUIDE

General Info

This is an installation guide for Ubuntu. For Mac/Windows, please follow the official RaiSim installation guide.

Physics Simulation Installation

Install prerequisites

$ sudo apt install cmake libeigen3-dev

Create the workspace in your desired directory:

$ mkdir raisim && cd raisim
$ mkdir raisim_build

Clone the GraspXL repository:

$ git clone https://github.com/zdchan/GraspXL.git
$ cd GraspXL

Build the simulation backbone:

$ mkdir build  && cd build

Run the following command and replace $LOCAL_INSTALL by the path to the raisim_build folder created above (e.g. ~/raisim/raisim_build) and $(python3 -c "import sys; print(sys.executable)") by the path to the python executable of your virtual environment:

$ cmake .. -DCMAKE_INSTALL_PREFIX=$LOCAL_INSTALL -DRAISIM_EXAMPLE=ON \ 
-DRAISIM_PY=ON \ 
-DPYTHON_EXECUTABLE=$(python3 -c "import sys; print(sys.executable)")
$ make install -j4
$ cd ..

Add the following lines to your ~/.bashrc file:

export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:<PATH_TO_RAISIM_BUILD_FOLDER>/lib
export PYTHONPATH=$PYTHONPATH:<PATH_TO_RAISIM_BUILD_FOLDER>/lib

Do not use ~ to reference your home directory. Write the full path.

Run ~/.bashrc for the first time.

source ~/.bashrc

Visualizations (Unity) Installation

First we need to install minizip and ffmpeg:

$ sudo apt install minizip ffmpeg

Next, we need to install Vulkan:

$ sudo add-apt-repository ppa:oibaf/graphics-drivers
$ sudo apt update
$ sudo apt upgrade
$ sudo apt install libvulkan1 mesa-vulkan-drivers vulkan-utils

Make sure that you run raisimUnity executable in raisimUnity/<OS>/RaiSimUnity before you run the examples.

In Ubuntu 22.04, the following line should be executed to correctly link the package:

sudo ln -s /lib/x86_64-linux-gnu/libdl.so.2 /lib/x86_64-linux-gnu/libdl.so

Activation Key

Rename the activation key that you received by email to activation.raisim. Save that file in /home/<YOUR-USERNAME>/.raisim.

RaiSim will check the path you set by raisim::World::setActivationKey(). If the file is not found, it will search in the user directory, where you saved your activation.raisim file.