Rayrai Example: TCP Viewer

Overview

Standalone TCP viewer for raisim::RaisimServer scenes. It connects to a running server, downloads the remote scene, and renders it with rayrai and ImGui controls. Build the rayrai_tcp_viewer target from this repository for interactive viewing. The target also exposes batch and diagnostics command-line options.

Target

CMake target: rayrai_tcp_viewer.

Source

The public example entry point is examples/src/rayrai/rayrai_tcp_viewer.cpp. It is a compatibility wrapper for older local build scripts; the maintained implementation lives in examples/src/rayrai/tools/rayrai_tcp_viewer.cpp and is the file used by examples/CMakeLists.txt.

Run

Run the build-tree executable while a RaisimServer application is running:

./build-examples/examples/rayrai_tcp_viewer

On Windows, the source-built executable is .\build-examples\bin\rayrai_tcp_viewer.exe. This viewer is a separate rayrai client process; in-process rayrai examples open their own renderer window and do not need it.

Useful options

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

Run rayrai_tcp_viewer --help for the full option list.

Details

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

  • Renders the streamed scene with rayrai and exposes an ImGui control panel.

  • Supports explicit host/port selection, --connect endpoint shortcuts, local TCP-listener discovery, and LAN RaisimServer beacon discovery.

  • Supports repeatable --resource-dir entries for resolving streamed mesh and texture resources.

  • Provides camera framing, orthographic view snaps, fullscreen startup, panel minimization, screenshots, PNG sequence output, raw TCP session recording, offline replay, trajectory CSV logging, target update-rate control, and scene/object JSON diagnostics.

  • Interactive tools include Shift+left-drag force application, a 2-point ruler, 3-point angle measurement, pose grabber axes, body frames, COM markers, and keyboard shortcut help.

  • Rebuild the rayrai_tcp_viewer target after changing its checked-in source or the packaged rayrai library.

  • Services manual RGB/depth camera requests from RaisimServer, returns completed BGRA/metric-depth buffers, and shows previews and camera frustums in the selected-object Sensors tab.

  • Prefer in-process rayrai when the application must own the render context or access textures without a viewer process and TCP round trip.