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If you just want to see them you can try spawning the objects in gazebo. I have urdfs for them here: http://people.csail.mit.edu/mitko/gazebo_stuff/household/urdf/ make sure to turn off shadows in gazebo though - you might get an error similar to this: http://answers.ros.org/question/1550/shadows-of-the-household-objects-in-gazebo

Here are also some useful RVIZ markers (which you have probably seen already) http://www.ros.org/wiki/pr2_tabletop_manipulation_apps/Troubleshooting