pycram.resolver.location.giskard_location
Module Contents
Classes
- class pycram.resolver.location.giskard_location.GiskardLocation
Bases:
pycram.designators.location_designator.CostmapLocation- __iter__() pycram.designators.location_designator.CostmapLocation.Location
Resolves a CostmapLocation for reachability to a specific Location using Giskard. Since Giskard is able to perform full body IK solving we can use this to get the Pose of a robot at which it is able to reach a certain point. This resolver only supports reachable_for and not visible_for
- Parameters:
desig – A CostmapLocation Designator description
- Returns:
An instance of CostmapLocation.Location with a pose from which the robot can reach the target
- _get_reachable_pose_for_arm(target: pycram.datastructures.pose.Pose, end_effector_link: str) typing_extensions.Tuple[pycram.datastructures.pose.Pose, typing_extensions.Dict]
Calls Giskard to perform full body ik solving between the map and the given end effector link. The end joint configuration of the robot as well as its end pose are then returned.
- Parameters:
target – The pose which the robots end effector should reach
end_effector_link – The name of the end effector which should reach the target
- Returns:
The end pose of the robot as well as its final joint configuration