TransformTree

SUMMARY

TransformTree manages a tree of TransformNode objects rooted at a single named frame. It exposes the Skills to add, update, delete, look up, and visualize frames without touching TransformNode directly.

The Skill

from telekinesis.tf import tftree

tree = tftree.TransformTree(root_name="world")

Example

A tree built from its root frame, with a robot and camera frame added.

The Code

"""
Example of constructing a TransformTree.
"""

from loguru import logger

from telekinesis.tf import tftree


def main():
    """
    Construct a TransformTree and inspect its root frame.
    """
    tree = tftree.TransformTree(root_name="world", verbose="DEBUG")

    logger.info(f"Root name: {tree.get_root_name()}")
    logger.info(f"Root node: {tree.root.get_name()}")

    tree.add("world", "robot", [0, 0, 1, 0, 0, 0], rot_type="deg")
    tree.add("robot", "camera", [0.25, 0, 0.5, 0, 0, 0], rot_type="deg")

if __name__ == "__main__":
    main()

Parameter Configuration

Parameter	Type	Default	Description
root_name	str	None	The name of the root frame. Required in practice: the type check runs before the None case, so omitting it raises ValueError rather than defaulting to "World".
verbose	str	"ERROR"	Logging verbosity, one of "DEBUG" or "ERROR".

Raises

Exception	Condition
ValueError	root_name is not a string, including when it is left as None.
ValueError	verbose is not a string, or not one of "DEBUG"/"ERROR".