schema_version: "1.0"

module:
  name: urd
  version: 0.1.0
  display_name: "URD — UniScale Unified Scale-Aware Multi-View 3D Reconstruction"
  description: >
    Unified scale-aware multi-view 3D reconstruction for robotic perception.
    Combines camera intrinsics, extrinsics, metric depth, and 3D point cloud
    generation into a single neural network forward pass.
  category: perception.reconstruction_3d
  license: Apache-2.0
  paper: "https://arxiv.org/abs/2602.23224"

capabilities:
  provides:
    - type: reconstruction
      subtype: multiview_3d
    - type: depth_estimation
      subtype: metric_scale

interface:
  inputs:
    - name: multi_view_images
      ros2_type: sensor_msgs/msg/Image
    - name: camera_info
      ros2_type: sensor_msgs/msg/CameraInfo
  outputs:
    - name: depth
      ros2_type: sensor_msgs/msg/Image
    - name: pointcloud
      ros2_type: sensor_msgs/msg/PointCloud2
    - name: scale
      ros2_type: std_msgs/msg/Float32

hardware:
  platforms:
    - name: linux_x86
      backends: [onnxruntime_cuda, onnxruntime_cpu]

performance:
  profiles:
    - platform: linux_x86
      model: urd-uniscale
      backend: onnxruntime_cuda
      fps: 5
      latency_p50_ms: 200

safety:
  failure_mode: returns_empty
  timeout_ms: 1000
  health_topic: /anima/urd/health

composability:
  pairs_well_with: []
  conflicts_with: []

container:
  image: ghcr.io/robotflow-labs/anima-urd:0.1.0
  port: 8080