rayrai_raisim_tcp_viewer

rayrai_raisim_tcp_viewer is the supported packaged TCP viewer for raisim::RaisimServer applications. Start a RaisimServer example or application, then launch the viewer to connect to the default server port (8080 unless the application changes it). The viewer runs as a separate rayrai client process; in-process rayrai examples open their own renderer window and do not need it.

Run:

<raisim-install>/bin/rayrai_raisim_tcp_viewer

Current command-line options configure connection, resource lookup, startup camera/UI state, screenshots, TCP session recording/replay, and diagnostics:

<raisim-install>/bin/rayrai_raisim_tcp_viewer --connect 127.0.0.1:8080 --auto-frame
<raisim-install>/bin/rayrai_raisim_tcp_viewer --host 192.168.1.42 --port 8081 --auto-connect
<raisim-install>/bin/rayrai_raisim_tcp_viewer --connect '[2001:db8::10]:8080'
<raisim-install>/bin/rayrai_raisim_tcp_viewer --resource-dir /path/to/rsc --window-size 1600x900
<raisim-install>/bin/rayrai_raisim_tcp_viewer --fullscreen --minimize-panels --keep-overlay-open
<raisim-install>/bin/rayrai_raisim_tcp_viewer --no-pre-warm
<raisim-install>/bin/rayrai_raisim_tcp_viewer --warm-at-startup
<raisim-install>/bin/rayrai_raisim_tcp_viewer --camera-lookat 3,-4,2,0,0,0 --force-camera-lookat
<raisim-install>/bin/rayrai_raisim_tcp_viewer --camera-offset 2,-3,1
<raisim-install>/bin/rayrai_raisim_tcp_viewer --screenshot /tmp/rayrai_tcp_viewer.png
<raisim-install>/bin/rayrai_raisim_tcp_viewer --screenshot-dir /tmp/rayrai_frames
<raisim-install>/bin/rayrai_raisim_tcp_viewer --record-session /tmp/session.rrtcs
<raisim-install>/bin/rayrai_raisim_tcp_viewer --update-rate 30
<raisim-install>/bin/rayrai_raisim_tcp_viewer --replay-session /tmp/session.rrtcs --replay-speed 0.5 --replay-loop
<raisim-install>/bin/rayrai_raisim_tcp_viewer --trajectory-csv /tmp/poses.csv --export-scene /tmp/scene.json
<raisim-install>/bin/rayrai_raisim_tcp_viewer --server-list /tmp/servers.txt --wait-for-server 10 --exit-after 30
<raisim-install>/bin/rayrai_raisim_tcp_viewer --help

Supported options are --host, --port, --connect, --auto-connect, --no-auto-connect, repeatable --resource-dir, --window-size, --fullscreen, --minimize-panels, --keep-overlay-open, --auto-frame, --no-pre-warm, --warm-at-startup, --camera-lookat, --camera-offset, --force-camera-lookat, --screenshot, --screenshot-dir, --record-session, --update-rate, --replay-session, --replay-speed, --replay-loop, --export-scene, --trajectory-csv, --server-list, --wait-for-server, --exit-after, and --help.

Details

  • Connects to a running RaisimServer over TCP and downloads the remote scene.

  • Renders the streamed scene with rayrai and exposes ImGui controls.

  • Lists compatible LAN RaisimServer beacons in the connection dropdown.

  • Provides UI controls for host/port connection, recent endpoints, resource search directories, collision body display, contacts, body frames, COM markers, pose grabbing, camera speed, lighting, render quality, UI scale, orthographic view snaps, and world-frame display.

  • Provides batch-friendly startup framing, screenshots, PNG output directory selection, raw TCP session recording, offline replay, trajectory CSV logging, target update-rate control, and scene/object JSON diagnostics.

  • The TCP protocol data path includes visualizer-side RGB/depth sensor update plumbing, but direct sensor workflows should still prefer in-process rayrai when the application needs deterministic render buffers.

rayrai_tcp_viewer is the package-example/source-tree viewer target with the same batch-oriented workflow. Use rayrai_raisim_tcp_viewer as the supported packaged viewer when both binaries are available.

Use this viewer instead of the legacy RaisimUnity or RaisimUnreal visualizers.