RaiSim

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

RaisimPy example in raisimPy/examples/robots.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).

Ray Test example with Husky and Velodyne

ANYmal B and C robots, by ANYbotics AG.

Simple URDF by RaiSim Tech.

Get started

• License
• Acknowledgement
• Support
• Performance
• Change Log

RaiSim C++

• Introduction
• Installation
• Conventions and Notations
• 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
• RaiSim Unity
• RaisimUnreal
• RaisimMatlab Introduction