pycram.robot_descriptions.tiago_description

Module Contents

Classes

TiagoDescription

The RobotDescription as an abstract class which needs to be inherited from to implement

class pycram.robot_descriptions.tiago_description.TiagoDescription

Bases: pycram.robot_description.RobotDescription

The RobotDescription as an abstract class which needs to be inherited from to implement a robot description for specific object. 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.

Initialises the robot description with the given frames.

get_camera_frame(name='optical')

Returns the camera frame of the given camera with the name camera_name.

Returns:

str