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.
News
Closed-loop system simulation is now available! Check out the minitaur example
Dependencies
- Eigen3
Ubuntu
sudo apt install libeigen3-devWindows
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.