Rayrai Example: TCP Viewer

Overview

Standalone TCP viewer for RaisimServer scenes. It connects to a running server, downloads the remote scene, and renders it with rayrai and ImGui controls. Use this as the reference for the TCP viewer workflow and resource discovery.

Binary

Installed executable: rayrai_tcp_viewer.

Run

Run the installed executable:

<raisim-install>/bin/rayrai_tcp_viewer

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

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.

  • Does not send RGB/depth sensor measurements back to RaiSim. RaiSim does not support sensor measurement updates from a visualizer.