Quick Start

This page gets an installed RaiSim binary package to a running example. For package layout, environment variables, and activation details, see Installation.

1. Install and activate RaiSim

Install the binary package for your platform and place the activation file at the default location:

Linux/macOS: $HOME/.raisim/activation.raisim
Windows:     C:\Users\<YOUR-USERNAME>\.raisim\activation.raisim

The examples and rayrai tools are distributed as binaries. The commands below use <raisim-install>/bin for the directory containing those executables.

2. Run a server-based example

Start rayrai_raisim_tcp_viewer in one terminal:

<raisim-install>/bin/rayrai_raisim_tcp_viewer

Run a RaiSim example in another terminal:

<raisim-install>/bin/example_anymal_contacts

example_anymal_contacts and example_atlas_contacts create a raisim::RaisimServer scene. The viewer connects to the default port 8080 unless the application changes it.

3. Run an in-process rayrai example

Rayrai examples create their own window or offscreen OpenGL context and do not need the TCP viewer:

<raisim-install>/bin/example_rayrai_pbr_asset_inspector
<raisim-install>/bin/example_polyhaven_blue_wall --fast-load

4. Run a non-visual example

<raisim-install>/bin/example_model_asset_pipeline

5. Run an OpenUSD mesh-loading example

Start the TCP viewer, then run the ShadowHand USD example:

<raisim-install>/bin/rayrai_raisim_tcp_viewer
<raisim-install>/bin/shadow_hand_usd_cube

Next steps

  • Use Examples to choose a target by feature.

  • Use OpenUSD Loading for USD mesh-loading scope, runtime layout, and troubleshooting.

  • Use Visualization to choose between the TCP viewer and in-process rayrai.

  • Use Troubleshooting for common runtime, viewer, and activation issues.

  • Use rayrai Visualizer for renderer controls, offscreen rendering, and the TCP viewer.