pycram.designators.specialized_designators.location.giskard_location

Classes

GiskardLocation

Module Contents

class pycram.designators.specialized_designators.location.giskard_location.GiskardLocation(target: typing_extensions.Union[pycram.datastructures.pose.PoseStamped, semantic_digital_twin.world_description.world_entity.Body], reachable_for: semantic_digital_twin.robots.abstract_robot.AbstractRobot = None, visible_for: semantic_digital_twin.robots.abstract_robot.AbstractRobot = None, reachable_arm: typing_extensions.Optional[typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.enums.Arms], pycram.datastructures.enums.Arms]] = None, ignore_collision_with: typing_extensions.Optional[typing_extensions.Union[typing_extensions.Iterable[semantic_digital_twin.world_description.world_entity.Body], semantic_digital_twin.world_description.world_entity.Body]] = None, grasp_descriptions: typing_extensions.Optional[typing_extensions.Union[typing_extensions.Iterable[pycram.datastructures.grasp.GraspDescription], pycram.datastructures.grasp.GraspDescription]] = None, rotation_agnostic: bool = False)

Bases: pycram.designators.location_designator.CostmapLocation

‘ Specialization version of the CostmapLocation which uses Giskard to solve for a full-body IK solution. This designator is especially useful for robots which lack a degree of freedom and therefore need to use the base to manipulate the environment effectively.

__iter__() → pycram.designators.location_designator.CostmapLocation.Location

Uses Giskard to perform full body ik solving to get the pose of a robot at which it is able to reach a certain point.

Yield:

An instance of CostmapLocation.Location with a pose from which the robot can reach the target