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