rayrai_visual_asset_support

rayrai_visual_asset_support example

Shows visual asset loading on realistic URDF assets with image textures. The example loads the textured ANYmal C URDF and several YCB object URDFs whose OBJ or DAE visual meshes reference texture image files, then renders them in rayrai.

Run:

<raisim-install>/bin/rayrai_visual_asset_support

This example opens an in-process rayrai window and does not require the TCP viewer.

What it demonstrates:

  • Loading a realistic URDF with visual assets.

  • Loading textured visual meshes referenced from URDF visual tags.

  • Keeping visual assets and collision assets separate through URDF visual and collision tags.

  • Rendering image textures from packaged mesh assets such as rsc/anymal_c/meshes/*.jpg and rsc/ycb/*/google_16k/texture_map.png.

  • Using renderer-facing mesh assets for rayrai while RaiSim continues to use the collision geometry defined by the URDF.