Rayrai Example: Visual Asset Support

rayrai_visual_asset_support example

Overview

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.

Target

CMake target: rayrai_visual_asset_support.

Run

Run the build-tree executable:

./build-examples/examples/rayrai_visual_asset_support

On Windows, run rayrai_visual_asset_support.exe instead. This example renders in process with rayrai and does not need rayrai_tcp_viewer.

Details

  • Loads rsc/anymal_c/urdf/anymal.urdf and four YCB object URDFs from rsc/ycb.

  • Loads the textured visual meshes referenced from URDF visual tags.

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

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

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