Troubleshooting

This page covers common issues when using the binary RaiSim distribution.

Executable Not Found

When you build examples from the public raisim2Lib workspace, CMake places them under the build directory:

./build-examples/examples/primitive_grid
./build-examples/examples/rayrai_tcp_viewer

The unpacked package does not include a prebuilt TCP viewer. Build the rayrai_tcp_viewer example target and run it from the build tree. If a command from old docs uses an example_ prefix, check Examples for the current target name.

Missing Shared Libraries

For installed packages and local builds, source the environment script before running examples, rayrai tools, applications, or importing raisimPy:

cd $HOME/raisim2Lib
source ./raisim_env.sh

The script adds both RaiSim and rayrai libraries to the platform loader path. On macOS this is DYLD_LIBRARY_PATH. On Linux this is LD_LIBRARY_PATH. Because this is a per-terminal shell setting, source the script again in every new terminal before starting a viewer, an example, or Python with raisimPy.

Activation Key Not Found

Place the activation key at:

$HOME/.raisim/activation.raisim

or pass an explicit path before creating worlds:

raisim::World::setActivationKey("/absolute/path/to/activation.raisim");

TCP Viewer Does Not Connect

Check these points:

• The simulation must create raisim::RaisimServer and call launchServer.

• The server-based example and TCP viewer must use the same port. The default is 8080.

• Run linux_install.sh, mac_install.sh, or win_install.ps1 after updating the package, then rebuild the examples copy of rayrai_tcp_viewer. A stale viewer source can connect but disagree with the installed rayrai/RaiSim protocol implementation.

For manual RGB/depth cameras, keep the examples-built viewer connected. It renders requested frames and returns them to RaisimServer. If the viewer reports Refusing RGB sensor update without a complete render, rerun the platform install script and rebuild rayrai_tcp_viewer in build-examples; do not launch an older installed viewer binary.

rayrai Window Or Offscreen Context Fails

rayrai requires a working OpenGL context. On Linux, make sure OpenGL and SDL2 development/runtime packages are available. On headless systems, use the offscreen context helpers documented in rayrai Visualizer and verify that the machine provides a usable software or hardware OpenGL stack.

Example Asset Missing

Examples expect their bundled assets to stay with the release workspace. If an example cannot find a URDF, mesh, texture, heightmap, or USD asset, verify that the top-level rsc directory exists and that CMake copied it to build-examples/examples/rsc (or build-examples/bin/rsc on Windows).

OpenUSD Runtime Or Plugin Missing

USD mesh loading uses the bundled OpenUSD runtime. Keep the installed openusd directory and USD shared libraries next to the RaiSim binaries: raisim/lib/openusd on Linux, and raisim/bin/openusd plus the usd_*.dll files on Windows.

If an executable is launched from another directory, run the package environment script first so the runtime loader can find RaiSim and OpenUSD. If an OpenUSD runtime is missing from the public package, reinstall or upgrade the matching raisim2Lib release instead of trying to rebuild the closed-source engine.