Use the host client to attach RDM disk to virtual machine using the Existing hard disk:
Right-click a virtual machine in the inventory and select Edit Settings.
On the Virtual Hardware tab, select Existing Hard Disk from the New device drop-down menu and click Add.
In the Datastores column, expand the datastore.
Select a virtual machine folder and select the disk to add. The disk file appears in the Contents column. The File Type drop-down menu shows the compatibility file types for this disk.