This is an old revision of the document!
Robot Description
The robot description assigns meaning to the physical description of a robot from the URDF. This includes manipulator chains, meaning the links and joints which are part of an arm, the camera link and predefined poses for joint chains, like for example a default parking pose for an arm.
On this page we will list the parts of the robot description and explain them, for a tutorial on how to create your own robot description please look at the tutorial.
The robot_description file contains 6 classes:
- ChainDescription
- GripperDescription
- InteractionDescription
- ManipulatorDescription
- CameraDescriptin
- RobotDescription
Chain Description
This class represents a kinematic chain by saving the links and joints. This chain can for example be an arm of a robot. The parameter of the constructor along with a description and the type can be seen in the table below.
| Parameter | Description | Type |
|---|---|---|
| name | The name of this chain. | String |
| joints | All joints contained in this chain in the right order. | List |
| links | All links contained in this chain in the right order. | List |
| 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]] |
