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 dgrasp repository:
$ git clone git@github.com:christsa/dgrasp.git
$ cd dgrasp
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.
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
The last part consists of installing the dgrasp environments.
Run the following to do so:
$ cd raisimGymTorch
$ python setup.py develop
All the environments are run from this raisimGymTorch folder.
You should be all set now. Last thing to do is acquire an activation key for the simulator.
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.