aarxc - Compile scene graphs
aarxc [OPTION] scene-files...
Generate C and POV-ray code from scene graphs
-o OUTPUT_FILE
write generated C code to OUTPUT_FILE
-n SCENE_NAME
name of the scene graph
-s SCENE_FILE
write loaded scene graph to SCENE_FILE
-p POVRAY_FILE
write generated POV-Ray code to POVRAY_FILE
--render
Render the image (default: no)
-P POVRAY_FILE
Same as -p and --render
--pov-include=INCLUDE_FILE
Include INCLUDE_FILE in povray code
--pov-x=PIXELS
Image X dimension (default: 640)
--pov-y=PIXELS
Image Y dimension (default: 480)
--cam-up=VECTOR
Camera up vector (default: "0 0 1")
--cam-eye=VECTOR
Camera eye vector (default: "1 1 1")
--cam-look=VECTOR
Camera look vector (default: "0 0 0")
--var=NAME
Name of configuration variable to set
--val=VALUE
Value of previously named configuration variable
-U UP_AXIS
up axis of mesh files
-F FORWARD_AXIS
forward axis of mesh files
-R|--reload
reload files
-g,--gui
Display scene in a GUI
--end-effector=FRAME
Set an frame for interactive GUI control
--list-frames
List all frames in the scene graph
--list-vars
List all configuration variables in the scene graph
--version,
output version information and exit
-h|-?|--help,
display this help and exit
ROS_PACKAGE_PATH
Location of ROS packages, necessary to load URDF
AARX_MEMORY
Maximum heap memory size (2GB)
AARX_TMPDIR
Directory for temporary and cache files (/tmp/amino-USERNAME)
/tmp/amino-USERNAME
Default directory for temporary and cache files, set via $AARX_TMPDIR
aarxc robot.urdf -o out.c
Generate out.c from URDF file robot.urdf
aarxc --gui robot.urdf
Display robot.urdf in the OpenGL viewer
aarxc robot.urdf -P out.pov
Generate out.pov and render image out.png
aarxc robot.urdf -s out.robray
Convert URDF to scene file out.robray
Written by Neil T. Dantam
Report bugs to <ntd@rice.edu>"
Copyright
© 2010-2014, Georgia Tech Research Corporation
Copyright © 2015-2017, Rice University
Copyright © 2017-2022, Colorado School of Mines
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