Rayrai Example: Complete Showcase

Overview

Comprehensive rayrai showcase with Go1, Livox LiDAR, D455 RGB/depth sensors, heightmap terrain, YCB objects, custom visuals, instanced geometry, and a live LiDAR point cloud. Use it as an end-to-end check for rayrai and sensor rendering.

Screenshot

rayrai_complete_showcase example

Binary

Installed executable: rayrai_complete_showcase.

Run

Run the installed executable:

<raisim-install>/bin/rayrai_complete_showcase

On Windows, run rayrai_complete_showcase.exe instead. This example uses the in-process rayrai renderer (no external client required).

Details

  • Loads a sensored ANYmal, heightmap terrain, primitives, and YCB objects.

  • Updates LiDAR scans into a point cloud and renders RGB/depth sensors.

  • Shows camera frustums and raw sensor buffers in ImGui.