## vmodutils by [erh](https://app.viam.com/namespace/erh)

Public

random utilities

### erh:vmodutils:pc-crop-camera

rdk:component:camera

crops a pointcloud

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### erh:vmodutils:pc-detect-crop-camera

rdk:component:camera

crops a pointcloud based on vision detections

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### erh:vmodutils:pc-merge

rdk:component:camera

merges pointclouds

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### erh:vmodutils:merge-all-objects-pointclouds

rdk:component:camera

merges object point clouds from vision services

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### erh:vmodutils:pc-multiple-arm-poses

rdk:component:camera

moves an arm to multiple positions and merges pointcloud

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### erh:vmodutils:arm-position-saver

rdk:component:switch

saves an arm position and let's you go there

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### erh:vmodutils:obstacle

rdk:component:gripper

obstacle, doesn't do anything but get in the way

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### erh:vmodutils:obstacle-open-box

rdk:component:gripper

open box obstacle, doesn't do anything but get in the way

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### erh:vmodutils:pc-cluster

rdk:service:vision

segments a camera's pointcloud into spatial clusters

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### erh:vmodutils:pc-look-at-crop-camera

rdk:component:camera

looks at the center of a point cloud and gets just that

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### erh:vmodutils:multi-arm-position-switch

rdk:component:switch

allows configuring a list of arm positions and going to a position by index in the list

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### erh:vmodutils:calibration-checker

rdk:component:sensor

compares world-frame tag positions across 2+ pose trackers to detect arm drift

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### erh:vmodutils:session-capture

rdk:component:sensor

switch that toggles data-capture overrides for a list of components, tagging them with a session id

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### erh:vmodutils:http-redirect

rdk:component:generic

listens on a port and temporarily redirects all http traffic to a configured host

Latest version

0.4.0•07/06/2026•

- darwin
- arm64
- linux
- amd64
- linux
- arm64

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