Examples

Overview

The examples/src directory contains runnable samples covering basic simulation setup, RaisimServer visualization, maps, sensors, rayrai rendering, and XML-based world configuration. Each example has its own page with a short description and the full source.

Most server and maps examples require a visualizer connection (RaisimUnity, RaisimUnreal, or the rayrai TCP viewer) to see the scene.

Build and run

Enable examples during configuration:

cmake -S . -B build -DRAISIM_EXAMPLE=ON
cmake --build build --target primitive_grid

Run examples from the build output directory so the rsc assets are found:

cd build/examples
./primitive_grid

On Windows with multi-config generators (Visual Studio), build and run the Release binary:

cmake --build build --target primitive_grid --config Release
.\build\examples\Release\primitive_grid.exe

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

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

XML

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

Maps

• Map Example: Mountain1 Heightmap
• Map Example: Office1 Scene
• Map Example: Lake1 Heightmap
• Map Example: Hill1 Heightmap
• Map Example: Atlas Charts
• Map Example: Anymal Graphs
• Map Example: Kinova Arm

Rayrai

• Rayrai Example: Complete Showcase
• Rayrai Example: LiDAR Pointcloud
• Rayrai Example: RGB Camera
• Rayrai Example: Depth Camera
• Rayrai Example: Custom Visuals
• Rayrai Example: Pointcloud Animation
• Rayrai Example: Instancing Grid
• Rayrai Example: Aruco Marker
• Rayrai Example: Basic Scene
• Rayrai Example: TCP Viewer

RaisimServer

• Server Example: Primitive Grid
• Server Example: Mesh Stack
• Server Example: Dynamic Object Addition
• Server Example: Procedural Heightmap
• Server Example: Material Restitution
• Server Example: Material Static Friction
• Server Example: Heightmap From Png
• Server Example: Dynamic Heightmap
• Server Example: Spring Damper Joints
• Server Example: Templated Tracked Robot
• Server Example: Kinematic Platform
• Server Example: Sensor Suite
• Server Example: Synchronous Server Update
• Server Example: Visual Objects Showcase
• Server Example: Ray Casting
• Server Example: Ray Scan LiDAR
• Server Example: Compound Object
• Server Example: Wheeled Robot Force Control
• Server Example: Length Constraints Newtons Cradle
• Server Example: Inverse Dynamics
• Server Example: Minitaur PD
• Server Example: Dzhanibekov Effect
• Server Example: Object Lifecycle Stress
• Island Sleep Benchmark