giskardpy.motion_statechart.goals.cartesian_goals

Classes

CartesianPoseStraight

Differs from

Module Contents

class giskardpy.motion_statechart.goals.cartesian_goals.CartesianPoseStraight

Bases: giskardpy.motion_statechart.tasks.cartesian_tasks.CartesianPose

Differs from CartesianPose in moving the tip link along a straight line towards the goal position.

weight: float

Task priority relative to other tasks.

create_tasks() → list[giskardpy.motion_statechart.graph_node.MotionStatechartNode]

Returns:

New position and orientation tasks reaching goal_pose, the position along a straight line.