Installation

Clone the Repository

Make sure you clone the RealSim repository first:

git clone [email protected]:NUS-HcRL/realsim_py.git

Next Steps

After cloning the repository, you can build RealSim in two different ways, depending on your workflow and environment:

Build with Docker

This option provides the fastest and most reliable setup. All dependencies are preinstalled inside a Docker image. You only need Docker, the NVIDIA container toolkit, and a working GPU driver. This method is ideal if you want:

  • A fully reproducible environment

  • Minimal system configuration

  • The ability to run RealSim immediately inside a GPU-accelerated container

Build from Source

This option gives you full control over all dependencies and is suitable for developers who want to modify the engine, experiment with low-level modules, or integrate custom libraries. You will manually install system packages, third-party libraries, and build RealSim with CMake. Choose this method if you need:

  • Deep customization

  • Development on RealSim internals

  • Integration with other native libraries or research code

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