RaiSim v1.1.7

RaiSim is a cross-platform multi-body physics engine for robotics and AI. It fully supports Linux, Mac Os, and Windows. RaiSim is closed-source and is distributed under a few different types of license. Please check License section for details.

Examples

raisim example (closed-loop) minitaur.cpp

raisim example sensors.cpp

raisim example atlas.cpp

raisim example office1.cpp

RaisimPy example robot.py

Biomechanical simulation, created by Young-Jun Koo, PhD and Seungbum Koo, PhD at Musculoskeletal BioDynamics Lab, KAIST.

The geometric model is created using the Full-body musculoskeletal model in Rajagopal et al. (2016).

The KAIST team provided this image but we do not have this model in this repo.

raisim example rayDemo2.cpp

raisim example anymals.cpp

raisim example trackedRobotAndTemplatedURDF.cpp

Get started

• License
• Acknowledgement
• Support
• Performance
• Change Log

RaiSim C++

• Introduction
• Installation
• Visualizers
• Conventions and Notations
• Determinism
• Math Classes
• Logging System
• World
• RaiSim World Configuration File
• Raisim Server
• Objects
• Contact and Collision
• Material System
• Height Map
• Constraints
• Ray Test
• Sensors

Related Software

• RaisimGymTorch
• RaisimPy
• RaiSimUnity
• RaisimUnreal
• RaisimMatlab Introduction