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| tutorials:pycram:own_robot [2021/02/11 12:44] – [A robot description for your robot] jdech | tutorials:pycram:own_robot [2021/02/11 12:44] (current) – jdech | ||
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| === Initialization === | === Initialization === | ||
| In PyCRAM the robot description is a class which extends the RobotDescription class. The attributes to initialize this class are: | In PyCRAM the robot description is a class which extends the RobotDescription class. The attributes to initialize this class are: | ||
| - | * 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: | ||
