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 examples

  • RAISIM_MATLAB : Compile raisimMatlab (compiled binary is also provided). You need MATLAB for this option

  • RAISIM_PY : Compile raisimPy. The desired python version can be set by -DPYTHON_EXECUTABLE=$(python3 -c "import sys; print(sys.executable)")

Example install in Linux/Mac

cd $WORKSPACE/raisimLib
mkdir build
cd build
cmake .. -DCMAKE_INSTALL_PREFIX=$LOCAL_INSTALL -DRAISIM_EXAMPLE=ON -DRAISIM_PY=ON
make install -j4

In Windows, you can use CMake gui or just use powershell. CMake gui will open Visual Studio Instead of make install -j4 command, you should use the following command in Windows

cmake --build . --target install --config Release

Because the build is done by Visual Studio, not by make.

To use RaiSim more conveniently, you have to let your linker know where you installed RaiSim

In Linux, you can do that by adding the following line 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

In Mac, you can do that by adding the following line 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

In Windows, you can do that by adding the installation directory to your Path environment variable.

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. 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.