garmi.garmi_velocity

garmi.garmi_velocity#

Classes#

GarmiGiskard

Giskard for GARMI, with the velocity of its base weighted by

Functions#

main() → None

Module Contents#

class garmi.garmi_velocity.GarmiGiskard#

Bases: giskardpy.middleware.ros2.giskard.Giskard

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

base_velocity_weight: float = 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.

setup() → None#

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

garmi.garmi_velocity.main() → None#