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anima_module.yaml

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+schema_version: "1.0"
+
+module:
+  name: ran
+  version: "0.1.0"
+  display_name: "RAN — OpenUrban3D Open-Vocabulary 3D Segmentation"
+  description: "Annotation-free open-vocabulary semantic segmentation of large-scale urban point clouds"
+  category: perception.segmentation
+  license: Apache-2.0
+  paper: "OpenUrban3D: Annotation-Free Open-Vocabulary Semantic Segmentation of Urban Point Clouds (Sep 2025)"
+
+capabilities:
+  provides:
+    - type: segmentation
+      subtype: 3d_open_vocabulary
+    - type: point_cloud
+      subtype: urban_scale
+
+interface:
+  inputs:
+    - name: point_cloud
+      ros2_type: sensor_msgs/msg/PointCloud2
+    - name: text_query
+      ros2_type: std_msgs/msg/String
+  outputs:
+    - name: segmented_cloud
+      ros2_type: sensor_msgs/msg/PointCloud2
+    - name: labels
+      ros2_type: std_msgs/msg/String
+
+hardware:
+  platforms:
+    - name: linux_x86
+      backends: [onnxruntime_cuda]
+    - name: nvidia_jetson
+      backends: [tensorrt]
+
+performance:
+  profiles:
+    - platform: linux_x86
+      model: ran-base
+      backend: onnxruntime_cuda
+      fps: 3
+      latency_p50_ms: 300
+
+safety:
+  failure_mode: returns_empty
+  timeout_ms: 5000
+  health_topic: /anima/ran/health
+
+composability:
+  pairs_well_with:
+    - perception.point_cloud
+    - perception.scene_understanding
+  conflicts_with: []
+
+container:
+  image: ghcr.io/robotflow-labs/anima-ran:0.1.0
+  port: 8106