RaiSimUnity

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

Prerequisites

  • Make sure that you have a vulkan-supported GPU

  • In linux, install vulkan libraries following the link here: https://linuxconfig.org/install-and-test-vulkan-on-linux

  • In Ubuntu, sudo apt install minizip ffmpeg

  • Update your GPU driver. Use either the version recommended by pytorch or the latest one

Give a permission to run the app

Your OS will mark this app malicious because it does not know who created it. You can allow OS to run this app in the following ways

In Linux

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

chmod +x ./raisimUnity.x86_64

In Windows

Double click the app, press “run app anyway”

In Mac

You will get one of the following messages

  • RaiSimUnity can’t 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.”

Open the raisimUnity executable location in Finder -> control click the raisimUnity -> open -> open.

How to use raisimUnity

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

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

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

server.killServer();

  1. Run RaiSimUnity executable (in the raisimUnity directory)

../_images/raisimUnity1.png ../_images/raisimUnity2.png

  1. Run your simulation

../_images/raisimUnity3.png

4. If the IP and port number matches, raisimUnity will try to connect automatically. You can disable auto-connection by unchecking the auto-connect checkbox.

../_images/raisimUnity4.png

  1. A quick summary

../_images/RSUinstruction1.png ../_images/RSUinstruction2.png ../_images/RSUinstruction3.png

Object Appearances

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