Examples

Overview

The RaiSim binary distribution ships runnable C++ examples and rayrai tools. Use the example_* executables to exercise RaiSim physics APIs, mesh import/export, OpenUSD mesh loading, and PBR rayrai asset inspection. Use rayrai_raisim_tcp_viewer to inspect applications that publish a raisim::World through raisim::RaisimServer. RaisimUnity and RaisimUnreal are no longer supported.

Run

Run examples from the installed package bin directory:

<raisim-install>/bin/example_anymal_contacts
<raisim-install>/bin/example_rayrai_pbr_asset_inspector

On Windows, use the .exe executable from the installed package bin directory:

C:\path\to\raisim\bin\example_anymal_contacts.exe

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

source /path/to/raisim2Lib/raisim_env.sh

This script sets LD_LIBRARY_PATH on Linux and DYLD_LIBRARY_PATH on macOS.

.\raisim_env.ps1

raisim_env.bat

Visualization modes

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

RaisimServer examples

example_anymal_contacts and example_atlas_contacts create a RaiSim world and publish it through raisim::RaisimServer. They do not open a renderer window themselves. Start rayrai_raisim_tcp_viewer, then run the example:

# Terminal 1
<raisim-install>/bin/rayrai_raisim_tcp_viewer

# Terminal 2
<raisim-install>/bin/example_anymal_contacts

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 example_polyhaven_blue_wall, example_rayrai_pbr_asset_inspector, and example_rayrai_usd_importer create or use a raisin::RayraiWindow directly and render in process. They do not need the TCP viewer:

<raisim-install>/bin/example_rayrai_pbr_asset_inspector

Prefer these examples when you need camera images, GPU/offscreen rendering, PBR materials, USD/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. example_model_asset_pipeline writes preprocessed and exported OBJ files to /tmp/raisim_model_asset_pipeline_example. example_usd_importer loads OpenUSD mesh assets into a raisim::World and prints mesh counts.

Example layout

The installed package groups examples by executable behavior:

Group	Purpose
example_*	Installed examples for RaiSim physics, mesh import/export, OpenUSD mesh loading, and rayrai asset inspection.
rayrai_*	rayrai tools and standalone renderer examples.
Server examples	Examples that publish a world through RaisimServer and are viewed with rayrai_raisim_tcp_viewer.

Choosing an example

Start with these targets when learning a specific feature:

Target	Demonstrates
example_anymal_contacts	ANYmal standing on ground with PD gains and RaisimServer publishing.
example_atlas_contacts	Atlas contact simulation with a small timestep and RaisimServer publishing.
example_model_asset_pipeline	Mesh preprocessing, content-hash cache reuse, addMesh with processed assets, and OBJ export from a world.
example_usd_importer	Loading OpenUSD mesh assets into raisim::World through World::addMesh.
example_rayrai_usd_importer	Loading the same OpenUSD assets as rayrai visual meshes.
example_polyhaven_blue_wall	Importing a Poly Haven glTF scene with HDR IBL, imported lights, reflection probes, and screenshot command-line options.
example_rayrai_pbr_asset_inspector	Inspecting bundled glTF PBR sample assets under rayrai quality settings.
rayrai_coacd_mesh_approximation	Visually comparing original meshes and CoACD convex approximation parts generated through World::addMesh.
rayrai_feature_showcase	Offscreen image generation for rayrai features, including full scene, depth of field, depth plane, deformables, PBR maps, and HDR IBL.
rayrai_quality_comparison	Preset comparison images and quality reports for rayrai rendering.
rayrai_benchmark	Rendering, readback, scene-sync, and TCP serialization benchmarks.
rayrai_complete_showcase_benchmark	Timed Anymal sensor-showcase benchmark with optional readback, visualization startup, startup profiling, and PBR world materials.
rayrai_pbr_first_draw_benchmark	First-draw and warm-frame benchmark for full PBR and core-eligible PBR shader-material paths.
rayrai_raisim_tcp_viewer	The TCP visualizer used by RaisimServer examples.

Optional targets

Some targets depend on optional assets or platform packages:

• OpenUSD examples require the package’s OpenUSD runtime and bundled USD files.

• Rayrai examples require SDL2/OpenGL and rayrai runtime libraries.

• Poly Haven and PBR asset examples require the corresponding assets under rsc.

List available examples by inspecting the installed package bin directory:

ls <raisim-install>/bin

Current Package Examples

• example_anymal_contacts
• example_atlas_contacts
• granular_media

Benchmark Examples

• articulated_system_benchmark
• anymal_standing_benchmark

Rayrai Tools And Examples

• rayrai_raisim_tcp_viewer
• rayrai_quality_comparison
• rayrai_benchmark
• rayrai_complete_showcase_benchmark
• rayrai_pbr_first_draw_benchmark
• Rayrai Example: Basic Scene
• Rayrai Example: Complete Showcase
• rayrai_blender_scene_import
• Rayrai Example: RGB Camera
• Rayrai Example: Depth Camera
• Rayrai Example: LiDAR Pointcloud
• Rayrai Example: Aruco Marker
• Rayrai Example: Custom Visuals
• Rayrai Example: Instancing Grid
• Rayrai Example: Pointcloud Animation
• Rayrai Example: PBR Material Grid
• Rayrai Example: PBR Texture Maps
• Rayrai Example: Quality Lighting and FXAA
• rayrai_visual_asset_support
• Rayrai Example: CoACD Mesh Approximation
• Rayrai Example: Runtime Scene Editing
• Rayrai Example: Rolling And Spinning Friction
• Rayrai Example: Swept CCD
• rayrai_feature_showcase
• Rayrai Example: TCP Viewer

Server Examples

• Server Example: Compound Object
• Server Example: Deformable Objects
• Server Example: Dynamic Heightmap
• Server Example: Dynamic Object Addition
• Server Example: Dzhanibekov Effect
• granular_media
• Server Example: Heightmap From Png
• Server Example: Inverse Dynamics
• Server Example: Kinematic Platform
• Server Example: Length Constraints Newtons Cradle
• Server Example: Material Restitution
• Server Example: Material Static Friction
• Server Example: Mesh Stack
• Server Example: Minitaur PD
• mjcf_gymnasium_hopper
• mjcf_gymnasium_humanoid
• mjcf_gymnasium_walker2d
• Server Example: Model Asset Pipeline
• Server Example: Object Lifecycle Stress
• Server Example: Primitive Grid
• Server Example: Procedural Heightmap
• Server Example: Ray Casting
• Server Example: Ray Scan LiDAR
• Server Example: Sphere Drop
• Server Example: Spring Damper Joints
• Server Example: Templated Tracked Robot
• Server Example: Visual Objects Showcase
• Server Example: Wheeled Robot Force Control
• ycb_objects
• ANYmal Pair
• Atlas
• Hill1 Heightmap
• Kinova Arm
• Lake1 Heightmap
• Mountain1 Heightmap
• Office1 Scene

XML Examples

• XML Example: Templated World
• XML Example: World Loader