RaiSim2

RaiSim is a physics engine for robotics and artificial intelligence research. RaiSim2 is distributed as binary libraries with headers, examples, rayrai tools, and documentation. Get the public package from https://github.com/raisimTech/raisim2Lib.

Install

Download the RaiSim2 binary package for your platform from https://github.com/raisimTech/raisim2Lib and unpack it to an install location such as $HOME/raisim2Lib on Linux/macOS or C:\raisim on Windows. Keep the package directories together; examples and rayrai tools expect the bundled assets to remain next to the installed binaries.

Set the runtime library path before running examples, rayrai tools, RaiSim applications, or raisimPy:

cd $HOME/raisim2Lib
source ./raisim_env.sh

The environment script adds both RaiSim and rayrai libraries to the platform loader path. On Windows, use raisim_env.bat or add the installed RaiSim and rayrai bin directories to Path.

Build Examples And raisimPy

From the raisim2Lib root, configure and build the examples and Python wrapper:

cmake -S . -B build \
  -DRAISIM_EXAMPLE=ON \
  -DRAISIM_PY=ON
cmake --build build -j

RAISIM_EXAMPLE is enabled by default, but it is shown here because most users build examples first. RAISIM_PY is disabled by default and must be enabled to build raisimPy.

Installation is optional for running examples from the build tree. If you do install, choose a prefix you can write to instead of relying on CMake's default /usr/local:

cmake --install build --prefix $HOME/raisim2Lib/install

Activation

Rename the activation key received by email to activation.raisim and place it in the default location:

Linux/macOS: $HOME/.raisim/activation.raisim
Windows:     C:\Users\<YOUR-USERNAME>\.raisim\activation.raisim

You can also set the activation key explicitly in your application with raisim::World::setActivationKey().

Run Examples

Server-based examples publish a raisim::World through RaisimServer. Start the rayrai TCP viewer in one sourced terminal:

source ./raisim_env.sh
./build/examples/rayrai_tcp_viewer

Run the example in another sourced terminal:

source ./raisim_env.sh
./build/examples/primitive_grid

In-process rayrai examples open their own renderer window and do not need the TCP viewer:

source ./raisim_env.sh
./build/examples/rayrai_basic_scene
./build/examples/rayrai_complete_showcase

Use RaiSim From C++

RaiSim and rayrai are CMake packages in the unpacked raisim2Lib tree. Point CMAKE_PREFIX_PATH at those package prefixes from your downstream project:

export RAISIM_ROOT=$HOME/raisim2Lib
cmake -S . -B build -DCMAKE_PREFIX_PATH="$RAISIM_ROOT/raisim;$RAISIM_ROOT/rayrai"
cmake --build build -j

Minimal downstream CMakeLists.txt:

cmake_minimum_required(VERSION 3.16)
project(my_raisim_app LANGUAGES CXX)

find_package(raisim CONFIG REQUIRED)
find_package(Eigen3 REQUIRED)

add_executable(app main.cpp)
target_link_libraries(app PRIVATE raisim::raisim)
if (UNIX)
  target_link_libraries(app PRIVATE pthread)
endif()

Visualization

Use rayrai_tcp_viewer for applications that publish through raisim::RaisimServer. Use in-process rayrai APIs when your application needs its own renderer window, offscreen rendering, RGB/depth sensors, or screenshots. RaisimUnity and RaisimUnreal are legacy integrations and are no longer the supported visualization path.

Documentation

Available at raisim.com