RaiSim v2.0.0

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

Examples

RaiSim demo (minitaur_pd.cpp)

RaiSim example (closed-loop) minitaur_pd.cpp

RaiSim demo (sensor_suite.cpp)

RaiSim example sensor_suite.cpp

RaiSim demo (map_atlas_charts.cpp)

RaiSim example map_atlas_charts.cpp

RaiSim demo (map_office1_scene.cpp)

RaiSim example map_office1_scene.cpp

RaiSimPy demo (robots.py)

RaisimPy example robot.py

Skeleton img from S. K at KAIST

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 the model is not included in this repository.

husky

RaiSim example ray_scan_lidar.cpp

anymals

RaiSim example map_anymal_graphs.cpp

trackedRobot

RaiSim example templated_tracked_robot.cpp

Get started

RaiSim C++

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