URDF

Usage

URDF - CLI Example

metrical shape urdf [OPTIONS] --root-component <ROOT_COMPONENT> <INPUT_PLEX> <SHAPED_PLEX>

URDF - Manifest Example

command = "shape-urdf"
input-plex = "{{calibrate-stage.results}}"
use-optical-frame = true|false
root-component = "component_name_or_uuid"
shaped-plex = "{{auto}}"

Purpose

Create a URDF from a plex. This URDF is compatible with common ROS operations.

Examples

Create a URDF from a plex

metrical shape urdf --root-component ir_one $INPUT_PLEX $SHAPED_PLEX

Arguments

[INPUT_PLEX]

The path to the input plex. This can be a MetriCal results MCAP or a plex JSON.

[SHAPED_PLEX]

The output file path for this shaped plex.

Options

Global Arguments

As with every command, all global arguments are supported (though not all may be used).

--use-optical-frame

The use_optical_frame boolean determines whether or not to create a link for the camera frame in the URDF representation of the Plex. If use_optical_frame is true and the component is a camera, a new link for the camera frame is created and added to the URDF. This link represents the optical frame of the camera in the robot model:

base -> camera (FLU) -> camera_optical (RDF)

If use_optical_frame is false, no such link is created. This might be the case if the optical frame is not needed in the URDF representation, or if it's being handled in some other way:

base -> camera (FLU)

-a, --root-component [ROOT_COMPONENT]

The root component name or UUID to use for the joint transformations in the URDF.