Rayrai Example: Visual Asset Support

The YCB objects are licensed under CC BY 4.0 and credited in Asset Credits.

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.