Step 1:

Make sure that your PC (Ubuntu)is having the latest version of the Java JDK (Java Development Kit).

If it is not available then type the following command from the terminal:

    sudo apt-get install openjdk-6-jdk

This above code will install the jdk onto your PC.
Step 2:

Next step is downloading the latest version of the jGrasp from the official website of jGrasp.

The link is http://www.jgrasp.org/

Or you can directly click the below link to directlly download the .zip file of jGrasp.

The link is http://www.jgrasp.org/dl4g/jgrasp/jgrasp202b5.zip
Step 3:

Now you have to install the lsb-core in the ubuntu which is the Linux Standard Base.

The following can be installed from the terminal by typing command as

    sudo apt-get install lsb-core

Step 4:

Extract the .zip folder and then move to the folder jgrasp/bin and make a link of the jgrasp.

This is done using the Make Link when right click on the jgrasp file which will result in the Link to jgrasp file.
Step 5:

Rename this file to jgrasp1 or any thing of your choice.]
Step 6:

Move this file to /usr/bin and you are good to go.
Step 7:

You can run the application (jgrasp) by running a command jgrasp1 from the terminal.

readlink -f $(which java)