Command line

URI is a single executable, uri, with one subcommand per tool. Run uri --help or uri <command> --help to see these options in the terminal.

Command	Runs on	Purpose
`uri manager`	control PC	Runs the controller (mc_rtc) for the whole fleet
`uri interface`	robot PC, or control PC	Robot-side process of one robot; loads its driver plugin
`uri viewer`	anywhere with the driver	Loads a driver directly and prints its joint state (no manager, no network)
`uri create_new_driver`	dev machine	Scaffolds a new driver project

uri manager

uri manager -c <mc_rtc.yaml>

Option / variable	Meaning
`-c, --config <file>`	mc_rtc configuration, required
`MC_RT_FREQ=<ms>`	Period of the `SCHED_DEADLINE` reservation for the main thread, in milliseconds (default 1)

See Robot manager for the configuration file.

uri interface -c <config.yaml> [-n <name>]

Option	Meaning
`-c, --config <file>`	Robot interface configuration, required
`-n, --name <name>`	Robot name; overrides `name:` in the file. Must match the robot's key under `Robots:` in the manager's `mc_rtc.yaml`.

Start it before uri manager, or let the manager start it with robot_interface.autostart: true. See Robot interface.

uri viewer -c <config.yaml> [-n <name>] [-r <rate>]

Option	Meaning
`-c, --config <file>`	Robot interface configuration, or the manager's `mc_rtc.yaml`, required
`-n, --name <name>`	Robot to view under `Robots:`, when `--config` is an `mc_rtc.yaml` with several robots
`-r, --rate <hz>`	Display refresh rate (default 10)

It only reads the state and never sends commands.

uri create_new_driver <name> [folder] [--no-git]

Argument / option	Meaning
`name`	Driver name in PascalCase, e.g. `Franka`. Generates `franka_driver/` with the class `RobotDriverFranka`. Required
`folder`	Directory in which to create the project (default: current directory)
`--no-git`	Don't initialize a git repository in the project