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)") in Linux or Mac. In Linux, you need to install python library using sudo 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

  1. “Edit the system environment variables”

  2. In “Advanced tab”, “Environment Variables”

  3. Click “Path” variable in the “System variables” list and click “edit”

  4. 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.

Activation Key

Rename the activation key that you received by email to activation.raisim. Save that file in <YOUR-HOME-DIR>/.raisim. In Linux and Mac, this is /home/<YOUR-USERNAME>/.raisim. In Windows, this is C:\Users\<YOUR-USERNAME>\.raisim (You might not be using C as your home directory).

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.

Examples

The built examples are stored in examples directory. In Windows, use powershell to run the examples, instead of manually clicking the icons. If you made a mistake during installation, it will give you an error message.

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