====== Skills ====== .. toctree:: :hidden: :maxdepth: 1 composition ----------- * :doc:`skill_concurrency` : Hierarchy of skills which are executed simultaneously. * :doc:`skill_parallel` : Hierarchy of skills which are executed simultaneously. Ends with 'succeeded' only if **all** subskills triggered 'succeeded'. * :doc:`skill_sequence` : List of skills which are executed in sequence. * :doc:`skill_statechart` : Group of skills which are connected in a state machine. .. toctree:: :hidden: :maxdepth: 2 skill_concurrency skill_parallel skill_sequence skill_statechart position_controlled ------------------- * :doc:`loop_target` : Models a loop via tool frame and target frame * :doc:`skill_approach` : A skill approaching a target frame in two steps * :doc:`skill_cartesian` : Models a loop via tool frame and target frame * :doc:`skill_cartesian_bound` : Bound for a cartesian value * :doc:`skill_cartesian_tracking` : Keeps on aligning the tool frame with a target frame * :doc:`skill_cartesian_tracking_pid` : Keeps on aligning the tool frame with a target frame * :doc:`skill_cylindrical` : Cylindrical coordinates * :doc:`skill_cylindrical_positioning` : Cylindrical coordinates * :doc:`skill_cylindrical_tracking` : Cylindrical coordinates * :doc:`skill_hold_duration` : Hold the position/orientation on selected axes for duration time. * :doc:`skill_hold_pose` : Hold the position/orientation on selected axes. * :doc:`skill_joint_space` : Models a loop for joint space control * :doc:`skill_joint_space_bound` : Keeps on tracking a joint configuration * :doc:`skill_joint_space_tracking` : Keeps on tracking a joint configuration * :doc:`skill_lin` : Aligns the tool frame with a target frame * :doc:`skill_lin_time_optimal` : LIN movement from the current pose to the target. Follows a time-optimal trajectory with constant acceleration. * :doc:`skill_lin_trajectory` : Moves along given blending points with blending distances to the target frame. * :doc:`skill_lin_trajectory_base` : Base class for linear trajectories. * :doc:`skill_lin_trajectory_pd` : Moves along given blending points with blending distances to the target frame. Controlled by pd controller * :doc:`skill_log_cartesian` : Logs position and/or orientation of a frame w.r.t. a reference skill into a file * :doc:`skill_partial_lin` : A skill that moves to a target frame only in specified axes and holds the other axes in place * :doc:`skill_ptp` : Moves the robot to a target joint configuration * :doc:`skill_ptp_time_optimal` : Keeps on tracking a joint configuration using a time-optimal trajectory * :doc:`skill_ptp_trajectory` : Keeps on tracking a joint configuration * :doc:`skill_relative_lin` : Aligns the tool with an offset relative to the current pose * :doc:`skill_relative_ptp` : A skill that moves to a relative joint configuration * :doc:`skill_spherical` : Spherical coordinates * :doc:`skill_spherical_positioning` : Spherical coordinates * :doc:`skill_spherical_tracking` : Spherical coordinates * :doc:`skill_wait_for_transform` : A skill that keeps the robot position until a transform becomes available .. toctree:: :hidden: :maxdepth: 2 loop_target skill_approach skill_cartesian skill_cartesian_bound skill_cartesian_tracking skill_cartesian_tracking_pid skill_cylindrical skill_cylindrical_positioning skill_cylindrical_tracking skill_hold_duration skill_hold_pose skill_joint_space skill_joint_space_bound skill_joint_space_tracking skill_lin skill_lin_time_optimal skill_lin_trajectory skill_lin_trajectory_base skill_lin_trajectory_pd skill_log_cartesian skill_partial_lin skill_ptp skill_ptp_time_optimal skill_ptp_trajectory skill_relative_lin skill_relative_ptp skill_spherical skill_spherical_positioning skill_spherical_tracking skill_wait_for_transform force_controlled ---------------- * :doc:`skill_apply_force` : Applies a force in the direction of a frame * :doc:`skill_apply_force_pid` : Applies a force in the direction of a frame * :doc:`skill_force` : Models a loop for force control * :doc:`skill_guarded_approach` : A skill that moves along a fixed frame axis until it measures a certain force * :doc:`skill_guarded_lin` : Causes a linear motion until a specified force value is reached * :doc:`skill_guarded_slide` : A skill that moves along a fixed frame axis until it measures a certain force * :doc:`skill_insert` : A skill that pushes and aligns the position * :doc:`skill_log_force` : Logs a force/torque in a desired frame into a file * :doc:`skill_pivot` : Rotates while pushing * :doc:`skill_push` : A skill that pushes and keeps the position * :doc:`skill_push_duration` : A skill that pushes and keeps the position for a certain time. * :doc:`skill_push_settle` : A skill that pushes until the force error is within a region for an acceptable number of samples. * :doc:`skill_slide` : A skill that results in a slide motion in direction of a specified axis * :doc:`skill_slide_relative` : Slides to a target relative to the current position .. toctree:: :hidden: :maxdepth: 2 skill_apply_force skill_apply_force_pid skill_force skill_guarded_approach skill_guarded_lin skill_guarded_slide skill_insert skill_log_force skill_pivot skill_push skill_push_duration skill_push_settle skill_slide skill_slide_relative velocity_controlled ------------------- * :doc:`skill_cartesian_velocity` : Track a desired velocity of tool_frame w.r.t. target_frame. * :doc:`skill_conical_helix` : A skill that performs a conical helix around z axis of the specified pivot_frame * :doc:`skill_cylindrical_helix` : A skill that performs a cylindrical helix around z axis of the specified pivot_frame * :doc:`skill_cylindrical_velocity` : Cylindrical coordinates * :doc:`skill_partial_velocity` : A skill that moves along fixed frame axes and holds the other axes in place * :doc:`skill_partial_velocity_duration` : A skill that moves along fixed frame axes and holds the other axes in place * :doc:`skill_partial_velocity_relative_distance` : A skill that moves along fixed frame axes and holds the other axes in place * :doc:`skill_spherical_velocity` : Spherical coordinates .. toctree:: :hidden: :maxdepth: 2 skill_cartesian_velocity skill_conical_helix skill_cylindrical_helix skill_cylindrical_velocity skill_partial_velocity skill_partial_velocity_duration skill_partial_velocity_relative_distance skill_spherical_velocity logic ----- * :doc:`frame_editor_align` : Aligns a frame with another frame via ROS service. * :doc:`frame_editor_copy` : Copies a frame via ROS service. * :doc:`frame_editor_load_yaml` : Loads YAML with frame editor. * :doc:`frame_editor_remove` : Remove a frame from the frame_editor via ROS service. * :doc:`frame_editor_save_yaml` : Saves YAML with frame editor. * :doc:`frame_editor_set` : Created a new frame with a give pose via ROS service. * :doc:`frame_editor_set_parent` : Set a new parent frame of a given frame via ROS service. * :doc:`skill_counter_condition` : Branches after a certain number of iterations * :doc:`skill_idle` : A skill that does nothing * :doc:`skill_idle_duration` : A skill that keeps the robot position for a given duration * :doc:`skill_idle_once` : Idles for one cycle, e.g. to execute a script * :doc:`skill_preempt` : Triggers a preempt event .. toctree:: :hidden: :maxdepth: 2 frame_editor_align frame_editor_copy frame_editor_load_yaml frame_editor_remove frame_editor_save_yaml frame_editor_set frame_editor_set_parent skill_counter_condition skill_idle skill_idle_duration skill_idle_once skill_preempt user ---- * :doc:`skill_user_confirm` : Opens a dialog window to receive confirmation from the user. .. toctree:: :hidden: :maxdepth: 2 skill_user_confirm