garmi.garmi_velocity
====================

.. py:module:: garmi.garmi_velocity


Classes
-------

.. autoapisummary::

   garmi.garmi_velocity.GarmiGiskard


Functions
---------

.. autoapisummary::

   garmi.garmi_velocity.main


Module Contents
---------------

.. py:class:: GarmiGiskard

   Bases: :py:obj:`giskardpy.middleware.ros2.giskard.Giskard`


   Giskard for GARMI, with the velocity of its base weighted by
   :attr:`base_velocity_weight`.


   .. py:attribute:: base_velocity_weight
      :type:  float
      :value: 0.02


      Objective weight of the velocity of the base's degrees of freedom, ten times the
      default every other degree of freedom gets, so Giskard prefers moving the arms over
      driving.



   .. py:method:: setup() -> None

      Does what :meth:`Giskard.setup` does, then weights the base, whose degrees of
      freedom exist only once the world is built.



.. py:function:: main() -> None