Rayrai Example: LiDAR Pointcloud

Overview

Attaches a Livox LiDAR module to Go1 and visualizes the scan as a point cloud every frame, with nearby primitives and a static mesh to generate richer returns.

Screenshot

rayrai_lidar_pointcloud example

Binary

Installed executable: rayrai_lidar_pointcloud.

Run

Run the installed executable:

<raisim-install>/bin/rayrai_lidar_pointcloud

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

Details

  • Loads Go1 with a Livox LiDAR module and updates scans each frame.

  • Transforms LiDAR points from sensor to world frame.

  • Visualizes the scan as a point cloud with adjustable point size.