hacky process to create a calibrated urdf file using the UR calibration yaml

launch/create_urdf.launch

+<?xml version="1.0"?>
+<launch>
+    <arg name="kinematics_config" default="$(find twins_utils)/calibrations/ur10_small_extruder.yaml" doc="Kinematics config file used for calibration correction. This will be used to verify the robot's calibration is matching the robot_description."/>
+  <arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
+
+  <param unless="false" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur10_robot.urdf.xacro'
+    transmission_hw_interface:=$(arg transmission_hw_interface)
+    kinematics_config:=$(arg kinematics_config)" />
+</launch>

src/utils/dump_robot_desc.py

+import rospy
+
+with open('out.urdf','w') as f:
+    f.write(rospy.get_param('robot_description'))