The problem with NVIDIA GeGorce GT 640m in UBUNTU12.04

When i execute Openrave in Aspire V3-471G notebook, there is error message about "Can't set up a valid OpenGL canvas, something is seriously wrong with the system!"
The cause of this problem  is that Nvidia Optimus function is not support in Ubuntu.
So i have to install Bumblebee-UI in ubuntu.

sudo add-apt-repository ppa:ubuntu-x-swat/x-updates
sudo apt-get update

sudo apt-get install bumblebee bumblebee-nvidia linux-headers-generic