# Giskard Python API

Welcome to the Giskard Python API documentation. Giskard is a framework for robot motion planning and control based on constraint-based optimization.

## Key Features

- **Constraint-Based Control**: Define motion goals as a set of constraints.
- **Motion Statecharts**: Compose complex motions using statecharts built on [cramph](https://cram2.github.io/cognitive_robot_abstract_machine/cramph).
- **Simulation and Execution**: Built-in support for simulation and execution with different pacers.
- **Integration**: Works seamlessly with the `semantic_digital_twin` package.

## Getting Started

To get started with Giskard, please refer to the [User Guide](user_guide.md).