Server Example: YCB Objects

ycb_objects example

Overview

Loads four YCB objects from their URDF files and drops them on a ground plane. It is a small reference for loading mesh-based objects described by URDF.

Target

CMake target: ycb_objects.

Run

Run the build-tree executable:

./build-examples/examples/ycb_objects

On Windows, run ycb_objects.exe instead. This example uses RaisimServer. Start rayrai_tcp_viewer and connect to port 8080.

Details

  • Loads 002_master_chef_can.urdf, 007_tuna_fish_can.urdf, 012_strawberry.urdf, and 013_apple.urdf from rsc/ycb as articulated systems and places them in a row.

  • Focuses the viewer on the first object.