this is still a beta version. We will release it properly after internal tests

RaiSim2

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.

News

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

Install (Generate + Build)

RaiSim/RayRai binaries are downloaded automatically during CMake configure on Linux and Windows from GitHub Releases (raisimTech/raisim2Lib, version = RAISIM_VERSION in CMakeLists.txt). If raisim/ or rayrai/ already exist, configure removes and replaces them.

1) Prerequisites

• CMake >= 3.18
• C++ compiler:
  • Linux: GCC/Clang
  • Windows: Visual Studio 2022 with C++ workload
• Linux packages:

sudo apt update
sudo apt install -y build-essential libeigen3-dev libsdl2-dev

• Windows dependencies (optional): you can use the bundled thirdParty/Eigen3 and skip vcpkg.
• Windows dependencies via vcpkg (recommended):

# install vcpkg first if needed
git clone https://github.com/microsoft/vcpkg C:\vcpkg
C:\vcpkg\bootstrap-vcpkg.bat
$env:VCPKG_ROOT="C:\vcpkg"

# install packages
vcpkg install eigen3:x64-windows sdl2:x64-windows

2) Configure + build + install (Linux)

cd /path/to/raisim2Lib
cmake -S . -B build -DCMAKE_INSTALL_PREFIX=$HOME/.local
cmake --build build -j
cmake --install build

3) Configure + build + install (Windows, PowerShell)

Without vcpkg toolchain:

cd C:\path\to\raisim2Lib
cmake --fresh -S . -B build -G "Visual Studio 17 2022" -A x64
cmake --build build --config Release
cmake --install build --config Release

With vcpkg toolchain:

cd C:\path\to\raisim2Lib
cmake --fresh -S . -B build -G "Visual Studio 17 2022" -A x64 `
  -DCMAKE_TOOLCHAIN_FILE="$env:VCPKG_ROOT\\scripts\\buildsystems\\vcpkg.cmake"
cmake --build build --config Release
cmake --install build --config Release

4) Optional CMake flags

• -DRAISIM_EXAMPLE=ON (default ON): build C++ examples
• -DRAISIM_PY=ON: build Python bindings (install Python dev headers first)
• -DRAISIM_MATLAB=ON: build Matlab wrapper
• -DRAISIM_DOC=ON: build docs (install Sphinx requirements first)

Optional docs setup:

python3 -m venv docs/.venv
. docs/.venv/bin/activate
python -m pip install -r docs/requirements.txt

Documentation

Further documentation available on the RaiSim Tech website.

Examples

Before running examples, load the environment setup script for your shell:

• Linux/macOS: source /path/to/raisim2Lib/raisim_env.sh
• Windows (PowerShell): .\raisim_env.ps1
• Windows (cmd.exe): raisim_env.bat

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.