Installation¶
Setup¶
Please install/save everything locally to prevent any conflicts with other libraries. We will assume that you have a single workspace where you save all repos related to raisim. Here we introduce two variables
WORKSPACE
: workspace where you clone your git repos (e.g., ~/raisim_workspace)LOCAL_INSTALL
: install directory where you install exported cmake libraries (e.g., ~/raisim_build)
You can add them to your environment variables or simply replace them by the path you want in the below instructions.
Dependencies¶
RaiSim depends on the following open-source libraries
Eigen3 (
sudo apt-get install libeigen3-dev
)cmake > 3.10 (Technically it is not a dependency but it makes the installation easier)
For windows users, visual studio 2019 (we only support 2019 but it will probably work with 2015 or above)
RaiSim includes many open-source libraries. See the COPYING file for the full list.
RaiSim Install¶
RaiSim is installed using cmake. The following options are available
RAISIM_EXAMPLE
: Compile C++ RaiSim examplesRAISIM_MATLAB
: Compile raisimMatlab (compiled binary is also provided). You need MATLAB for this optionRAISIM_PY
: Compile raisimPy. The desired python version can be set by-DPYTHON_EXECUTABLE=$(python3 -c "import sys; print(sys.executable)")
in Linux or Mac. In Linux, you need to install python library usingsudo apt install python<YOUR_PYTHON_VERSION>-dev
to build a python package.
You can generate build files using CMake as following
Replace $(python3 -c "import sys; print(sys.executable)")
to specify which python executable to use.
cd $WORKSPACE/raisimLib
mkdir build
cd build
cmake .. -DCMAKE_INSTALL_PREFIX=$LOCAL_INSTALL -DRAISIM_EXAMPLE=ON -DRAISIM_PY=ON -DPYTHON_EXECUTABLE=$(python3 -c "import sys; print(sys.executable)")
make install -j4
We recommend using the CMake GUI. After generating the build files with the CMake GUI, you can build and install RaiSim using Visual Studio. Alternatively, you can do it as below in Windows Powershell
cd $WORKSPACE/raisimLib
mkdir build
cd build
cmake .. -DCMAKE_INSTALL_PREFIX=$LOCAL_INSTALL -DRAISIM_EXAMPLE=ON -DRAISIM_PY=ON -DPYTHON_EXECUTABLE=<THE-PATH-TO-THE-PYTHON-EXE>
cmake --build . --target install --config Release
To use RaiSim more conveniently, you have to let your linker know where you installed RaiSim
Add the following lines to your ~/.bashrc
file
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:<WHERE-YOU-HAVE-INSTALLED-RAISIM>/lib
export PYTHONPATH=$PYTHONPATH:<WHERE-YOU-HAVE-INSTALLED-RAISIM>/lib
Do not use ~
to reference your home directory. Write the full path
Add the following lines to your .zshrc
file
export DYLD_LIBRARY_PATH=DYLD_LIBRARY_PATH:<WHERE-YOU-HAVE-INSTALLED-RAISIM>/lib
export PYTHONPATH=$PYTHONPATH:<WHERE-YOU-HAVE-INSTALLED-RAISIM>/lib
Do not use ~
to reference your home directory. Write the full path
You can do that by following these steps
“Edit the system environment variables”
In “Advanced tab”, “Environment Variables”
Click “Path” variable in the “System variables” list and click “edit”
Append the install directory
Note
For Linux users
To use (vulkan version) RaiSimUnity in Linux, you need to install minizip
, ffmpeg
and vulkan
.
To install vulkan, follow this link https://linuxconfig.org/install-and-test-vulkan-on-linux
To install minizip
and ffmpeg
,
sudo apt install minizip ffmpeg
If you still cannot raisimUnity, this probably means that your driver does not support vulkan so well. In that case, you should use raisimUnityOpengl. It only supports minimalistic graphics.
Examples¶
To run examples, copy-paste the activation that you received by email to rsc
directory and rename it to activation,raisim
.
When you run CMake, it will copy the rsc
directory to a build directory.
In Windows, also copy your activation key to raisim\win32\mt_release\bin\rsc
directory.
Then, you can run prebuilt examples in raisim\win32\mt_release\bin
.
Make sure that you run raisimUnity executable in raisimUnity/<OS>/RaiSimUnity
before you run the examples.