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--- doc:pycram:robot_description [2021/07/09 12:06] – created jdech
+++ doc:pycram:robot_description [2021/07/15 11:18] – jdech
@@ Line 21: / Line 21: @@
 | base_link| The name of the first link in the chain. | String |
 | static_joint_states | Static joint states for this chain,  for example the joint states so the arm ends up in a parking position. The parameter is a dictionary with the name of this state as key and the joint states in a list as value. | dict[str: list[float]] |
+The class provides a number of methods to interact with static joint chains. These methods provide interfaces to add one or more joint chains or get a specific saved joint chain.
+==== add_static_joint_chain ====
+Adds a specific configuration of the joints saved in this chain. For example a static joint chain would be the default parking pose of an arm of a robot.
+^Parameter ^ Description ^ Type ^
+| configuration | The name for this joint chain. | String |
+| static_joint_states | A list of joint states this chain should archive. | List[float] |
+==== add_static_joint_chains ====
+This method lets you add more than one static joint chain at a time. The different static joint chains are given in a dictionary with the name of the static joint chain as key and the list of states as value.
+^Parameter ^ Description ^ Type ^
+| static_joint_states | A dictionary containing all static joint chains to be added. The name of the static joint chain is the key and the corresponding value is a list of all joint states. | dict{str: list[float]} |
+==== get_static_joint_chain ====
+This method returns a static joint chain, given the name of the static joint chain.
+^Parameter ^ Description ^ Type ^
+| configuration | The name of the static joint chain which should be returned. | String |
 ===== Gripper Description =====
+This class inherits from the ChainDescrioption class and describes a gripper of a robot. This class allows you to specify more details about the gripper as well as specify joint configurations for this gripper. The constructor of this class takes a lot of additional parameter to describe the gripper however all except for the name are optional.
+The parameter of the constructor will be explained in the table below.
+^Parameter ^ Description ^ Type ^
+| name | The name of this gripper description, it doesn't have to correspond to the links of the gripper. | String |
+| gripper_links | A list of the names of all links belonging to this gripper in the right order.  | List[String]  |
+| gripper_joints  | A list of the names of all joints belonging to this gripper in the right order. | List[String] |
+| static_gripper_joint_states | A dictionary containing static joint states. See also add_static_joints_chains | dict{str: list[float]} |
+| gripper_meter_to_jnt_multiplier | A parameter specifying the relationship between meters and the joint state value. | float |
+| gripper_minimal_position  | The lowest value the gripper joint can be. | float |
+| gripper_convergence_delta | Describes the convergence delta of this gripper. | float |
+The GripperDescription class doesn't define any methods. However, since it inherits from the ChainDescription class all methods of the ChainDescription class are also available.
+===== Interaction Description =====
+This class allows to put on the end of an chain another link, which is saved
+as an end effector. Therefore, chains can be defined which specify the interaction
+frame for the robot. An example could be a storage place for grasped objects on the robot.
+The parameter of the constructor can be seen in the table below.
+        chain of links: chain_description <-> eef_link
+^Parameter ^ Description ^ Type ^
+| chain_description | A chain description for which this interaction should be defined. | ChainDescription |
+| eef_link | The name of a link which should be saved as the end effector. | String |
+This class doesn't define any methods but since it inherits from the ChainDescription class all methods of the ChainDescription are also available.
+===== Manipulator Description =====
+This class allows with the given interaction description to include a gripper
+description which is placed between the last link of the interaction description
+and the rest of it.
+Independently from that a tool frame can be saved, which allows to use objects
+to manipulate the environment.
+                                                                           |--> (tool_frame)
+        chain of links: interaction_description <-> (gripper_description) -|
+                                                                           |--> eef_link
+The parameter of the constructor will be shown in the following table.
+^Parameter ^ Description ^ Type ^
+| interaction_description | The interaction description for which this manipulator description should be appended. | InteractionDescription |
+| tool_frame  | The name of a link which should be used as a tool frame for this manipulator description. This parameter is optional. | String |
+| gripper_description | A gripper description which should be used between the interaction description and the end effector and tool frame. This parameter is optional. | GripperDesctiption|
+This class doesn't define any methods but since it inherits from the InteractionDescription class all methods of the InteractionDescription are also available.
+===== Camera Description ======
+This class represents a camera of the robot, it saves the link in the URDF as well as additional parameter which describe physical properties of the camera.
+The parameter of the constructor of this class can be seen in the table below.
+^Parameter ^ Description ^ Type ^
+| name | The name of the link in the URDF representing the camera. | String |
+| minimal_height| The minimal height the camera can see. | float |
+| maximal_height | The maximal height the camera can see. | float |
+| vertical_angle | The vertical angle of the camera mount. | float |
+| horizontal_angle | The horizontal angle of the camera mount. | float |
+| other_params | Here can parameter be specified which are not mentioned before like the focal length of the camera. | dict{str: float} |
+This class doesn't define any methods.
+===== Robot Description =====
+The RobotDescription is an abstract class which needs to be inherited from to implement
+a robot description for a specific robot. It implements different functions to add and get
+chains of different objects types which inherit of the class ChainDescription. Moreover,
+it allows to model the robot with its odom_frame, base_frame, base_link and torso links
+and joints. Different cameras can be added and static transforms and poses can be added too.
+The parameter of the constructor can be seen in the table below.
+^Parameter ^ Description ^ Type ^
+| name | The name of this robot. | String |
+| base_frame | The link name of the base frame of this robot. | String |
+| base_link | The link name of the base link of this robot. | String |
+| torso_link  | The link name of the torso of this robot. | String  |
+| torso_joint | The name of the joint moving the torso. | String  |
+| ik_joints | Deprecated, should not be used. | None |
+| odom_frame | The link name of the odom frame of this robot, can also be a list of link names. This parameter is optional. | String or List|
+| odom_joints | The joint name of the odom joint, if there are more than one a list can be given which has to correspond with the order of the odom_frame list | String or list |
+There are a number of methods defined by the RobotDescription class to add more information or retrieve saved informations about the robot. In the following we will take a close look at all methods and explain the parameter these methods take.
+==== get_tool_frame ====
+This method returns the saved tool frame of a manipulator description, saved by the given name.
+^Parameter ^ Description ^ Type ^
+| manipulator_name | The name for which the manipulator description is saved. | String |
+==== get_static_joint_chain ====
+Returns a static joint chain given the name of a ChainDescription and a configuration of this chain. The chain name is the name which identifies a particular chain description in the robot description. For example, 'left' for a chain description describing the left arm of a robot.
+^Parameter ^ Description ^ Type ^
+| chain_name | The name for which a chain description is saved in the robot description. | String |
+| configuration | The desired configuration saved in the chain description, this is equal to the static joint chains. | String |
+==== add_chain ====
+This method adds a chain description with a name identifying this chain. For example, the name is 'left' and the chain description describes the left arm of a robot.
+^Parameter ^ Description ^ Type ^
+| name | A name which is used for identifying the chain description. | String |
+| chain_description | A chain description which should be added to the robot description. | ChainDescription |
+==== add_chains ====
+This method lets you add more than one chain at a time by taking a dictionary composed of the name identifying the chain as key and the chain description as value.
+^Parameter ^ Description ^ Type ^
+| chains_dict | A dictionary containing multiple chain descriptions. | dict{str: ChainDescrition}|
+==== add_camera ====
+This method adds a camera description to this robot description. The method uses, like add_chain, a name to identify the camera description.
+^Parameter ^ Description ^ Type ^
+| name | The name which should identify the camera. | String |
+| camera_description | A camera description which should be added under the given name. | CameraDescription |
+==== add_cameras ====
+This method lets you add more than one camera at a time by taking a dictionary containing multiple camera descriptions. The key of the dictionary functions as the name to identify the camera description in the corresponding value.
+^Parameter ^ Description ^ Type ^
+| cameras_dict | A dictionary containing multiple camera descriptions. | dict{str: CameraDescription}
+==== get_camera_frame ====
+Returns the camera frame for a given name of a camera description.
+^Parameter ^ Description ^ Type ^
+| camera_name | The name of the camera description for which the frame should be returned. | String |
+==== add_static_joint_chain ====
+This method adds a static joint chain to a chain description saved in this robot description. See also add_static_joint_chain of the ChainDescription above.
+^Parameter ^ Description ^ Type ^
+| chain_name | The name used to identify the chain description | String |
+| configuration | The name of the configuration which should be added.  | String |
+| static_joint_states | The joint states used in this configuration. | list[float] |
+==== add_static_joint_chains ====
+This method allows you to add multiple static joint chains at once. See also add_static_joint_chains of the ChainDescription above.
+^Parameter ^ Description ^ Type ^
+| chain_name | The name used to identify the chain description | String |
+| static_joint_states |  A dictionary containing the static joint chains. | dict{str: list[float]} |
+==== add_static_gripper_chain ====
+This method adds a static joint chain to a saved manipulator description. The static joint chain is meant to be used for the gripper.
+^Parameter ^ Description ^ Type ^
+| manipulator_name | The name used to identify the manipulator description in the robot description. | String |
+| configuration |  A name describing the configuration of this static joint chain. | String |
+| static_joint_states | A list of joint states. | list[float] |
+==== add_static_gripper_chains ====
+This method adds more than one static joint chain to a manipulator description.
+^Parameter ^ Description ^ Type ^
+| manipulator_name | The name used to identify the manipulator description in the robot description. | String |
+| static_joint_states | A dictionary containing the static joint chains.  | dict{str: list[float]} |
+==== get_static_gripper_chain ====
+Returns a static gripper joint chain for a given manipulator description and configuration.
+^Parameter ^ Description ^ Type ^
+| manipulator_name | The name used to identify the manipulator description in the robot description. | String |
+| configuration  | The name of the desired configuration in the given manipulator description. | String |