Rayrai Example: Basic Scene

Overview

Minimal scene with Go1 on a textured ground plane. It is a quick sanity check for loading a robot and rendering a basic environment.

Screenshot

Target

CMake target: rayrai_basic_scene.

Run

Run the build-tree executable:

./build-examples/examples/rayrai_basic_scene

On Windows, run rayrai_basic_scene.exe instead. This example renders in process with rayrai and does not need rayrai_tcp_viewer.

Details

• Loads the Go1 URDF, sets a nominal standing pose, and adds a ground plane.
• Sets a background color and a checkerboard ground texture.
• Minimal render loop for a basic rayrai scene.