Differences
This shows you the differences between two versions of the page.
Both sides previous revisionPrevious revisionNext revision | Previous revision | ||
tutorials:pycram:own_robot [2021/02/11 12:42] – [Process Modules for your robot] jdech | tutorials:pycram:own_robot [2021/02/11 12:44] (current) – jdech | ||
---|---|---|---|
Line 17: | Line 17: | ||
* Joint configurations, | * Joint configurations, | ||
=== Initialization === | === Initialization === | ||
- | In PyCRAM the robot description is a class which extends the RobotDescription class. The attributes to initialize are moistly self explanatory. | + | In PyCRAM the robot description is a class which extends the RobotDescription class. The attributes to initialize |
- | * Name is the general name of the robot | + | * Name, is the general name of the robot |
- | * base_frame is the origin of the URDF while base_link is the base link in the URDf | + | * base_frame, is the origin of the URDF while base_link is the base link in the URDf |
- | * torso_link and torso_joint are the names of the torso joint and link, if there are any | + | * torso_link and torso_joint, are the names of the torso joint and link, if there are any |
- | * ik_joints means all non-fixed joints this is used for ik resolution and has to be given. | + | * ik_joints, means all non-fixed joints this is used for ik resolution and has to be given. |
* Optionally an odom frame and the corresponding joints can also be specified. | * Optionally an odom frame and the corresponding joints can also be specified. | ||
This then looks like this: | This then looks like this: |