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RaiSim

RaiSim is a physics engine for robotics and artificial intelligence research that provides efficient and accurate simulations for robotic systems. We specialize in running rigid-body simulations while having an accessible, easy to use C++ library.

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News

Closed-loop system simulation is now available! Check out the minitaur example

Dependencies

- Eigen3

Ubuntu
sudo apt install libeigen3-dev

Windows

Install desired release here and unzip file at C:\Program, files for better discoverability.

- CMake

Install version > 3.10 here.

- Visual Studio 2019

Install here, make sure to install C++ module by checking the box during installation.

Installation

Further documentation available on the RaiSim Tech website.

Features

  • Supports free camera movement
  • Allows the recording of screenshots and recordings
  • Contact and collision masks
  • Materials system to simulate different textures
  • Height maps to create different sytles of terrain
  • Ray Test to create collision checkers

Troubleshooting

  • Ensure that all versions of dependencies fit the documentation. etc.(Visual Studio 2019, CMake verson > 3.10)
  • If run into problem with executing into the raisimUnity.x86_64 file, ensure that your graphics card driver is compatible with current graphics card. (Cannot use the default open-source graphics card driver nouveau)
  • Make sure to use raisimUnity natively and not on a docker.
  • If using Linux, install minizip, ffmpeg, and vulkan.
  • If drivers don't support vulkan, use raisimUnityOpengl instead of raisimUnisty. Found in raisimUnityOpengl directory.
  • Make sure to set environment variable to $LOCAL_INSTALL when installing raisim.

License

You should get a valid license and an activation key from the RaiSim Tech website to use RaiSim. Post issues to this github repo for questions. Send an email to info.raisim@gmail.com for any special inquiry.

Supported OS

MAC (including m1), Linux, Windows.