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doc:pycram:designator [2021/06/18 10:16] – jdechdoc:pycram:designator [2021/07/30 12:01] (current) – jdech
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 For resolving a designator it is important to remark that, similar to performing, the return value varies dependent on the designator type. For motion designator this is a dictionary and for action designator this is a new action designator.  For resolving a designator it is important to remark that, similar to performing, the return value varies dependent on the designator type. For motion designator this is a dictionary and for action designator this is a new action designator. 
  
 +
 +=== Different Resolver === 
 +The resolver is the method used in the reference method of a Designator. There can be different resolver registered for a designator, to register a new resolver method you add it to the dictionary in the respective designator class. How to register a new resolver method can be seen below.
 +<code>
 +MotionDesignar.resolver['grounding'] = call_grounding_function
 +</code>
 +In this case the resolver is called 'grounding' and the method called when using this resolver is 'call_grounding_function'. So if you have a designator which should be resolved using the grounding resolver the call_ground_function is called and passed the designator to be resolved. The call_ground_function then checks the type of the designator description and chooses the right method to ground the attributes of the description. 
  
 ==== Real and Simulated robot ==== ==== Real and Simulated robot ====