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doc:create_srdl_model [2013/06/28 12:48] – [Create an SRDL model of your robot] admindoc:create_srdl_model [2014/06/05 11:38] – external edit 127.0.0.1
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   * The pose matrices are asserted as static, i.e. they do not use KnowRob's [[doc/object_pose_representation|spatio-temporal pose representation]]   * The pose matrices are asserted as static, i.e. they do not use KnowRob's [[doc/object_pose_representation|spatio-temporal pose representation]]
 ===== Usage ===== ===== Usage =====
 +The urdf_to_owl program is part of the mod_srdl package in KnowRob, i.e. you need to rosmake this package first. Then you can call the converter like
 +  bin/urdf_to_owl 
 +    -u ./urdf/pr2.urdf 
 +    -s PR2.owl 
 +    -i http://ias.cs.tum.edu/kb/PR2.owl# 
 +    -c move_base,move_arm 
 +    -g ./urdf/pr2_planning_description.yaml
 +  
 +The converter supports the following command-line arguments:
 +  * **-h, --help**  show this description
 +  * **-u, --urdf**  URDF file to read and work with
 +  * **-s, --srdl**  target SRDL file
 +  * **-i, --uri**  URI to use for SRDL description
 +  * **-c, --caps**  list of static SRDL capabilities to be asserted for the robot
  
-bin/urdf_to_owl -u ./urdf/amigo.urdf -s amigo.owl -i http://ias.cs.tum.edu/kb/amigo.owl# -c move_base,move_arm,GraspingCapability -g ./urdf/amigo_planning_description_simple.yaml