RaiSimUnity

RaisimUnity is a visualizer for RaiSim. It communicates with RaiSim using a TCP/IP protocol. Pre-built executables are provided in the raisimUnity directory.

Prerequisites

Make sure you have a Vulkan-capable GPU
On Linux, install Vulkan libraries: https://linuxconfig.org/install-and-test-vulkan-on-linux
On Ubuntu, run sudo apt install minizip ffmpeg
Update your GPU driver. Use the version recommended by PyTorch or the latest available

Grant permission to run the app

Your OS may flag this app because it is not notarized. You can allow the OS to run the app as follows.

On Linux

Open a terminal, go to the RaisimUnity/linux directory, and run:

chmod +x ./raisimUnity.x86_64

On Windows

Double-click the app and select “Run anyway.”

On macOS

You will see one of the following messages:

“RaiSimUnity cannot be opened because it is from an unidentified developer. Your security preferences allow installation of only apps from the App Store and identified developers.”
“RaiSimUnity cannot be opened because the developer cannot be verified.”
“macOS cannot verify that this app is free from malware.”

In Finder, locate the RaisimUnity executable, control-click it, then choose Open twice.

How to use RaisimUnity

1. Create your simulated world in RaiSim, then create a server and attach the world. An example is provided below.

/// launch raisim server
raisim::RaisimServer server(&world);
server.launchServer();

while(1) {
  raisim::MSLEEP(2);
  server.integrateWorldThreadSafe();
}

server.killServer();

Run the RaisimUnity executable (from the raisimUnity directory).

Run your simulation.

4. If the IP address and port match, RaisimUnity will connect automatically. You can disable auto-connection by clearing the auto-connect checkbox.

Quick reference:

Object appearances

You can specify the appearance of an object using raisim::SingleBodyObject::setAppearance. If you want to hide an object completely in RaisimUnity, set its appearance to hidden-unity.