Examples

Overview

The RaiSim source package builds runnable C++ examples and rayrai tools. Use server examples such as primitive_grid to exercise RaiSim physics APIs and rayrai_* examples for in-process rendering, sensors, PBR assets, and rayrai tools. Use rayrai_tcp_viewer to inspect applications that publish a raisim::World through raisim::RaisimServer. RaisimUnity and RaisimUnreal are no longer supported.

Build

Build examples from the raisim2Lib root. Source the environment first so both RaiSim and rayrai shared libraries are visible:

source ./raisim_env.sh
cmake -S . -B build \
  -DRAISIM_EXAMPLE=ON \
  -DRAISIM_PY=ON
cmake --build build -j

RAISIM_EXAMPLE is enabled by default. RAISIM_PY is disabled by default, so enable it when you want raisimPy.

Run

Run examples from the build tree:

source ./raisim_env.sh
./build/examples/primitive_grid
./build/examples/rayrai_basic_scene

On Windows, use the .exe executable from the build tree:

.\build\examples\Release\primitive_grid.exe

If the runtime loader cannot find shared libraries, use the platform-specific environment setup before running examples:

cd $HOME/raisim2Lib
source ./raisim_env.sh

This script sets LD_LIBRARY_PATH on Linux and DYLD_LIBRARY_PATH on macOS.

raisim_env.bat

Visualization modes

There are two visualization paths. See Visualization for the full workflow comparison.

RaisimServer examples

Server examples such as primitive_grid and atlas create a RaiSim world and publish it through raisim::RaisimServer. They do not open a renderer window themselves. Start the rayrai TCP viewer in one sourced terminal, then run the example in another sourced terminal:

# Terminal 1
source ./raisim_env.sh
./build/examples/rayrai_tcp_viewer

# Terminal 2
source ./raisim_env.sh
./build/examples/primitive_grid

The default server port is 8080 unless the example changes it. Use this path when you want to inspect the same simulation data that a normal RaisimServer application publishes.

Rayrai examples

Examples such as rayrai_basic_scene, rayrai_complete_showcase, rayrai_pbr_material_grid, and rayrai_pbr_texture_maps create or use a raisin::RayraiWindow directly and render in process. They do not need the TCP viewer:

source ./raisim_env.sh
./build/examples/rayrai_basic_scene

Prefer these examples when you need camera images, GPU/offscreen rendering, PBR materials, glTF visual import, or standalone rayrai feature inspection.

Non-visual examples

Some examples are intended to print output or create files rather than show a window. object_lifecycle_stress runs headless, and model_asset_pipeline writes preprocessed and exported mesh assets when the installed RaiSim package exposes the asset-pipeline APIs.

Example layout

The build groups examples by executable behavior:

Group	Purpose
Server examples	Examples that publish a world through `RaisimServer` and are viewed with `rayrai_tcp_viewer`.
`rayrai_*`	rayrai tools and standalone renderer examples.
Benchmarks	Timing-oriented examples such as `anymal_standing_benchmark`.

Choosing an example

Start with these targets when learning a specific feature:

Target	Demonstrates
`primitive_grid`	Basic server-side simulation and visualization.
`atlas`	Atlas contact simulation with RaisimServer publishing.
`model_asset_pipeline`	Mesh preprocessing, content-hash cache reuse, `addMesh` with processed assets, and OBJ export from a world.
`rayrai_basic_scene`	Minimal in-process rayrai rendering.
`rayrai_complete_showcase`	Broad rayrai feature overview with sensors and visuals.
`rayrai_pbr_material_grid`	Inspecting bundled glTF PBR sample assets under rayrai lighting.
`rayrai_pbr_texture_maps`	PBR texture-map import and material inspection.
`rayrai_coacd_mesh_approximation`	Visually comparing original meshes and convexified collision modes generated through `World::addMesh`.
`rayrai_tcp_viewer`	The TCP visualizer used by RaisimServer examples.

Optional targets

Some targets depend on optional assets or platform packages:

Rayrai examples require SDL2/OpenGL and rayrai runtime libraries.
PBR asset examples require the corresponding assets under rsc.

List available examples by inspecting the build tree:

ls build/examples

Rayrai Tools

Rayrai Example: TCP Viewer