YarpOpenraveSimulation

First open a:

yarp server

Notes on Invocation

• Disclaimer: Please read about Offscreen Rendering (OpenRAVE RGB Cameras) first.
• These examples use the yarpdev executable to load YarpOpenraveSimulation directly. However, you can find more interesting examples loading YarpOpenraveSimulation via OpenraveYarpPluginLoader at ../../OpenravePlugins/OpenraveYarpPluginLoader#yarpopenravegrabber.

Example 1

Open YarpOpenraveSimulation device with data/testwamcamera.env.xml environment, view, apply to robot index 0 and sensor index 0 (name and view are required):

yarpdev --device YarpOpenraveSimulation --env data/testwamcamera.env.xml --view --robotIndex 0 --sensorIndex 0 --name /BarrettWAM/camera

Then open a viewer:

yarpview --name /yarpview/camera/img:i

Connect the viewer (remove mjpeg if not available):

yarp connect /BarrettWAM/camera /yarpview/camera/img:i mjpeg