Please install/save everything locally to prevent any conflicts with other libraries. We will assume that you have a single workspace where you save all repos related to raisim. Here we introduce two variables
WORKSPACE: workspace where you clone your git repos (e.g., ~/raisim_workspace)
LOCAL_INSTALL: install directory where you install exported cmake libraries (e.g., ~/raisim_build)
You can add them to your environment variables or simply replace them by the path you want in the below instructions.
RaiSim depends on the following open-source libraries
sudo apt-get install libeigen3-dev)
cmake > 3.10 (Technically it is not a dependency but it makes the installation easier)
For windows users, visual studio 2019 (we only support 2019 but it will probably work with 2015 or above)
RaiSim includes many open-source libraries. See the COPYING file for the full list.
RaiSim is installed using cmake. The following options are available
RAISIM_EXAMPLE: Compile C++ RaiSim examples
RAISIM_MATLAB: Compile raisimMatlab (compiled binary is also provided). You need MATLAB for this option
RAISIM_PY: Compile raisimPy. The desired python version can be set by
-DPYTHON_EXECUTABLE=$(python3 -c "import sys; print(sys.executable)")
Example install in Linux/Mac
cd $WORKSPACE/raisimLib mkdir build cd build cmake .. -DCMAKE_INSTALL_PREFIX=$LOCAL_INSTALL -DRAISIM_EXAMPLE=ON -DRAISIM_PY=ON make install -j4
In Windows, you can use CMake gui or just use powershell. CMake gui will open Visual Studio Instead of make install -j4 command, you should use the following command in Windows
cmake --build . --target install --config Release
Because the build is done by Visual Studio, not by make.
To use RaiSim more conveniently, you have to let your linker know where you installed RaiSim
In Linux, you can do that by adding the following line to your
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:~/<WHERE-YOU-HAVE-INSTALLED-RAISIM>/lib export PYTHONPATH=$PYTHONPATH:~/<WHERE-YOU-HAVE-INSTALLED-RAISIM>/lib
In Mac, you can do that by adding the following line to your .zshrc file
export DYLD_LIBRARY_PATH=DYLD_LIBRARY_PATH:~/<WHERE-YOU-HAVE-INSTALLED-RAISIM>/lib export PYTHONPATH=$PYTHONPATH:~/<WHERE-YOU-HAVE-INSTALLED-RAISIM>/lib
In Windows, you can do that by adding the installation directory to your Path environment variable.
For Linux users
To use (vulkan version) RaiSimUnity in Linux, you need to install
To install vulkan, follow this link https://linuxconfig.org/install-and-test-vulkan-on-linux
sudo apt install minizip ffmpeg
If you still cannot raisimUnity, this probably means that your driver does not support vulkan so well. In that case, you should use raisimUnityOpengl. It only supports minimalistic graphics.
To run examples, copy-paste the activation that you received by email to
When you run CMake, it will copy the
rsc directory to a build directory.
In Windows, also copy your activation key to
Then, you can run prebuilt examples in
Make sure that you run raisimUnity executable in
raisimUnity/<OS>/RaiSimUnity before you run the examples.