[giskard] made threshold of cart_goal optional parameter

src/pycram/external_interfaces/giskard.py

@@ -318,14 +318,16 @@ def achieve_joint_goal(goal_poses: Dict[str, float]) -> 'MoveResult':
 
 @init_giskard_interface
 @thread_safe
-def achieve_cartesian_goal(goal_pose: Pose, tip_link: str, root_link: str) -> 'MoveResult':
+def achieve_cartesian_goal(goal_pose: Pose, tip_link: str, root_link: str, position_threshold: float = 0.02, orientation_threshold: float = 0.02) -> 'MoveResult':
     """
     Takes a cartesian position and tries to move the tip_link to this position using the chain defined by
     tip_link and root_link.
 
     :param goal_pose: The position which should be achieved with tip_link
     :param tip_link: The end link of the chain as well as the link which should achieve the goal_pose
     :param root_link: The starting link of the chain which should be used to achieve this goal
+    :param position_threshold: Position distance at which the goal is successfully reached
+    :param orientation_threshold: Orientation distance at which the goal is successfully reached
     :return: MoveResult message for this goal
     """
     sync_worlds()
@@ -336,7 +338,7 @@ def achieve_cartesian_goal(goal_pose: Pose, tip_link: str, root_link: str) -> 'M
 
     cart_monitor1 = giskard_wrapper.monitors.add_cartesian_pose(root_link=root_link, tip_link=tip_link,
                                                                 goal_pose=_pose_to_pose_stamped(goal_pose),
-                                                                position_threshold=0.02, orientation_threshold=0.02,
+                                                                position_threshold=position_threshold, orientation_threshold=orientation_threshold,
                                                                 name='cart goal 1')
     end_monitor = giskard_wrapper.monitors.add_local_minimum_reached(start_condition=cart_monitor1)