RaisimPy

RaisimPy is the nanobind-based Python wrapper built from the public raisim2Lib/raisimPy sources. It follows the C++ RaiSim API closely while using NumPy arrays for vectors and matrices. The wrapper sources are MIT licensed; the RaiSim binary they use remains subject to the RaiSim license.

Build

Build the wrapper with the same Python interpreter that will import it:

cd /path/to/raisim2Lib
source ./raisim_env.sh
cmake -S . -B build-py \
  -DCMAKE_BUILD_TYPE=Release \
  -DRAISIM_EXAMPLE=OFF \
  -DRAISIM_PY=ON \
  -DPython_EXECUTABLE="$(command -v python)"
cmake --build build-py --parallel 12

On Linux and macOS, the extension is emitted under build-py/raisimPy. Run an example directly from the build tree with:

PYTHONPATH="$PWD/build-py/raisimPy${PYTHONPATH:+:$PYTHONPATH}" \
  python raisimPy/examples/robots.py

On Windows, select the intended configuration explicitly with cmake --build build-py --config Release --parallel 12 and add the directory containing raisimpy.pyd to PYTHONPATH. Use the same Debug/Release configuration as the imported RaiSim binary selected by CMake.

Activation And Minimal Use

World.setActivationKey is the preferred spelling. World.setLicenseFile remains as a compatibility alias.

import time
import raisimpy as raisim

raisim.World.setActivationKey("/absolute/path/to/activation.raisim")

world = raisim.World()
world.setTimeStep(0.001)
world.addGround()
ball = world.addSphere(0.2, 1.0)
ball.setPosition(0.0, 0.0, 1.0)

server = raisim.RaisimServer(world)
server.launchServer(8080)
for _ in range(10_000):
    server.integrateWorldThreadSafe()
    time.sleep(world.getTimeStep())  # run at roughly real time
server.killServer()

Start build-examples/examples/rayrai_tcp_viewer in another terminal to view this server-based example.

Examples And API Coverage

The examples under raisimPy/examples cover articulated robots, joint springs, heightmaps, constraints, ray-cast scans, charts, point clouds, instanced visuals, dynamic visual meshes, and server-side visual objects. The Python method names normally match C++, but the binding surface is defined by the files under raisimPy/src; a C++ method that is not bound there is not available in Python.

NumPy arrays passed to pose, state, force, and geometry methods must have the shape and dtype expected by that binding. Keep referenced RaiSim objects alive for as long as Python wrappers returned by the world or server are in use.