Install Dependencies¶

Folder Setup¶

To avoid conflicts with other libs it is recommended to install everything locally. Therefore you will need two folders:

WORKSPACE: where you clone all the git repos (e.g. ~/rslgym_ws)
LOCAL_INSTALL: where you install all the libs (e.g. ~/rslgym_build)

Define the LOCAL_INSTALL variable in your .bashrc and add it to the library search path, i.e. add the following lines to ~/.bashrc:

export LOCAL_INSTALL=/home/<user_account>/rslgym_build
export LD_LIBRARY_PATH=$LOCAL_INSTALL/lib:$LD_LIBRARY_PATH

RaiSimLib¶

Install the RaiSim rigid body simulator.

Clone repo and install additional dependencies:

cd $WORKSPACE
git clone https://github.com/raisimTech/raisimLib.git
sudo apt install cmake

Install python3 depencency:
```
sudo apt install python3-dev
```
Follow RaiSim installation instructions: https://raisim.com/sections/Installation.html
To use RaiSim you need a valid license. You can apply for it here: https://raisim.com/sections/License.html
Place the license in ~/.raisim and rename the file to activation.raisim (create the folder if necessary)
- The license can also be placed at another location. This needs to be specified when instantiating the vectorized environment in python, see rslgym/ wrapper/ script/ RaisimGymVecEnv.py.

RaiSimOgre¶

Install the ogre visualizer for RaiSim.

Follow the instructions here: https://github.com/raisimTech/raisimOgre

PyBind11¶

Install the PyBind11 library:

cd $WORKSPACE/raisimLib/thirdParty/pybind11
mkdir build
cd build
cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=$LOCAL_INSTALL -DPYBIND11_TEST=FALSE
make install