User Guide

This guide provides an overview of how to use the Giskard Python API for robot motion planning and control.

Examples

The following examples demonstrate the basic usage of Giskard:

• Basic Motion: Shows how to set up a simple motion with a timer.

• Cartesian Goals: Demonstrates moving a robot to a specific pose in Cartesian space.

Advanced Usage

For more complex scenarios, you can compose nodes with templates such as Sequence, Parallel, TryInOrder or RepeatUntil, and use custom Monitors to trigger transitions in the Statechart. See the cramph documentation for how each template wires its children, and Motion Statecharts for what giskardpy adds on top.