Example targets

Examples

Rayrai examples are documented in Examples. Each example page includes a short explanation, CMake target, and build-tree usage.

Quick map to the current rayrai-related targets:

  • rayrai_tcp_viewer: source-built viewer for raisim::RaisimServer scenes.

  • rayrai_basic_scene: minimal ImGui + SDL2 app that loads Go1 on a checkerboard ground and runs the standard update loop.

  • rayrai_complete_showcase: broad in-process scene with a sensored ANYmal that combines RGB/depth cameras, raw buffer readback, LiDAR visualization, camera frustums, instancing, and custom visuals.

  • rayrai_rgb_camera / rayrai_depth_camera / rayrai_lidar_pointcloud / rayrai_aruco_marker: robot-attached RGB rendering, depth readback, LiDAR point-cloud visualization, and marker rendering.

  • rayrai_custom_visuals / rayrai_instancing_grid / rayrai_pointcloud_animation: visual primitives, instancing, and dynamic point-cloud streaming.

  • rayrai_pbr_material_grid / rayrai_pbr_texture_maps / rayrai_quality_lighting: bundled glTF PBR sample assets, texture maps, HDR image-based lighting, quality presets, and additional-light configurations.

  • rayrai_nested_glass: nested water, glass, and air with automatic geometry tracing; see Rayrai Example: Nested Glass.

  • rayrai_visual_asset_support: textured URDF visual meshes (OBJ/DAE with image textures) rendered separately from their collision geometry.

  • rayrai_blue_wall_scene: the authored Poly Haven “Blue Wall” scene, loaded from rsc/rayrai/blue_wall/blue_wall.rscene with its light sidecar and HDR environment. The example reads that file with its own parser, not with raisim::World(path).

  • rayrai_coacd_mesh_approximation: in-process comparison of source meshes and CoACD convex approximation parts generated through World::addMesh.

  • rayrai_runtime_scene_editing: snapshots, cloning, removal, stable object ids, and collision-filter changes in a running world.

  • rayrai_rolling_spinning_friction / rayrai_swept_ccd: physics-focused scenes that visualize rolling/spinning friction and swept CCD.

  • rayrai_motor_operating_region: a randomly actuated fixed-base quadruped rig with torque-speed plots of each motor’s operating region; see Rayrai Example: Motor Operating Region.

  • rayrai_tendons: automatic spatial tendon rendering for the elastic, pulley, and coupling scenes; see Tendon examples and Rayrai.

  • rayrai_forest: dense instanced vegetation on a heightmap with automatic mesh LOD, foliage wind and shadows, and asynchronous loading; see Rayrai Example: Forest.

  • rayrai_forest_from_rscene: the same forest loaded from its .rscene file with raisim::World(path), shown by a RayraiWindow (requires v2.8.2, not yet released); see Rayrai Example: Forest From .rscene and .rscene File.

  • rayrai_city: a photoreal city built from free Poly Haven, BlendKit and Sketchfab assets and stored as a .rscene file, with an ANYmal C quadruped on the street; see Rayrai Example: City.

  • rayrai_city_from_xml: the same city and robot from a RaiSim XML world file that describes the robot and includes the .rscene file; see Rayrai Example: City From XML.

  • rayrai_warehouse: a photoreal warehouse of pallet racks, forklifts and a dock area built from free Poly Haven and Sketchfab assets and generated racking, stored as a .rscene file, with an ANYmal C quadruped in an aisle; see Rayrai Example: Warehouse.

  • rayrai_offroad_buggy: an off-road buggy driven with the arrow keys on a dirt race circuit with a pit lane, tyre walls, hay bales and cones that it can knock over, and spectator stands. Its double wishbones, coilovers and rack-and-pinion steering are one URDF closed by pin, equality and mimic constraints; the coil springs are drawn at their simulated length and coloured by their compression. See Rayrai Example: Off-Road Buggy.

  • glTF/GLB scene import with authored lights and reflection-probe sidecars is described in Rayrai Workflow: Blender Scene Import.

  • OpenUSD visual meshes can be loaded through RayraiWindow::addVisualMesh; see OpenUSD Loading for importer scope and runtime layout.

For manual regression checks of depth images after heightmap and primitive replacement, see Debug Tool: Heightmap Replacement. This optional debug tool is built with RAISIM_DEBUG_TOOLS=ON.