Documentation overview
RaiSim is a cross-platform multi-body physics engine for robotics and AI. The binary package provides rigid bodies, articulated systems, deformable bodies, granular particles, rayrai RGB/depth sensor rendering, deterministic CPU ray sensors for headless use, RaisimServer streaming, and the rayrai OpenGL visualizer.
If you are new to RaiSim, start with the page that matches your goal:
| Goal | Start here |
|---|---|
| Install and run one example | Quick Start |
| Find the right example target | Examples |
Visualize a running RaisimServer scene | Visualization, Raisim Server, and rayrai Visualizer |
| Add objects, contacts, sensors, or materials | World, Objects, Contact and Collision, Sensors, and Material System |
| Build examples, run timing examples, or tune a binary package scene | Build, Test, and Benchmark, Project Layout, and Performance |
Get started
- Quick Start
- Installation
- Visualization
- Examples
- Build, Test, and Benchmark
- Regression and Debug Tools
- Project Layout
- Performance
- Benchmark
- Troubleshooting
- Changelog
- License
- Support
- Acknowledgement
RaiSim C++
- Introduction
- Conventions and Notations
- Determinism
- Math Classes
- Logging System
- World
- World Configuration File
- .rscene File
- OpenUSD Loading
- Raisim Server
- Objects
- Articulated Systems
- Single-Body Objects
- Deformable Objects
- Granular Media
- Contact and Collision
- Collision Detection and Colliders
- Material System
- Height Map
- Deformable terrain
- Constraints
- Tendons
- Ray Test
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