Project Layout

raisim2Lib is the public package workspace. It downloads and uses binary RaiSim and rayrai packages, then provides examples, wrappers, resources, and documentation around those packages. It is not the RaiSim engine source tree, so engine-internal benchmark sources and implementation files are not available here. This page maps the directories users most often need while installing the package and building examples.

Source Directories

Path	Purpose
`raisim`	Platform-specific binary RaiSim package with headers, libraries, and CMake config files.
`rayrai`	Platform-specific binary rayrai package with the renderer library, TCP viewer runtime, headers, and CMake config files.
`examples`	C++ example sources and their CMake project. Targets use installed executable names such as `primitive_grid` and `rayrai_tcp_viewer`.
`rsc`	Runtime resources such as robot models, meshes, textures, USD/glTF assets, and example data.
`raisimPy`	Optional Python wrapper build for the binary RaiSim package.
`raisimGymTorch`	Reinforcement-learning package built against the binary RaiSim package.
`docs`	Sphinx documentation sources and generated example pages.
`third_party`	Third-party code used by optional wrappers and docs tooling.
`cmake`	CMake helpers for package discovery and local installation.

Build Directories

Build directories are not part of the source tree. The docs use these names for clarity:

Build directory	Typical use
`build`	Default local build for examples and optional wrappers.
`build-examples`	Common local build directory for the example CMake project.
`build-debug`	Debug build for local debugging.
`build-docs`	CMake-driven docs build.

On Linux and macOS, example executables built from raisim2Lib/examples are placed under the example build tree. Installed binary-package executables are under <raisim-install>/bin. For example:

./build-examples/primitive_grid
./build-examples/rayrai_tcp_viewer
<raisim-install>/bin/primitive_grid
<raisim-install>/bin/rayrai_tcp_viewer

On Windows, CMake places runtime executables under <build-dir>/bin.

The package example tree documented under Examples contains grouped source directories such as src/server, src/rayrai, src/worlds, and src/xml. Target names, not source directory names, are the stable user-facing interface.

Installed Package Layout

A local install creates separate package prefixes for RaiSim and rayrai:

$RAISIM_LOCAL_INSTALL_ROOT/raisim
$RAISIM_LOCAL_INSTALL_ROOT/rayrai

Downstream projects use CMAKE_PREFIX_PATH to find these installed packages. See Installation for environment setup and activation.

Where To Add New Things

Change	Usual location
New user-facing C++ example	`examples/src` plus a target registration in `examples/CMakeLists.txt`.
New example resource	`rsc` or `examples/rsc`, depending on whether it is shared package data or example-only data.
New Python wrapper behavior	`raisimPy`.
New RL package behavior	`raisimGymTorch`.
New docs page	`docs/sections` and the relevant `toctree` in `index.rst` or a section index page.

Keep examples focused on demonstrating the public binary-package APIs.