============
skill_insert
============

A skill that pushes and aligns the position

Defined at line 10 of file :doc:`skills/skill_insert.xml <../model_files/pitasc_library/skills/skill_insert_xml>` in package **pitasc_library**.

Meta data
=========

  | **Categories**
  |   single_robot, force_controlled

  | **Prototypes**
  |   :doc:`skill_concurrency`, skill_single_robot, skill, object, dictionary, base, descriptive

Parameters
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**Required** parameters:

  | **tool_frame** : string
  |  Name of the tool frame.

  | **target_frame** : string
  |  Name of the target frame.

  | **force_axes** : csv:string
  |  List of axes.

  | **target_forces** : csv:float
  |  Forces and torques to be applied. Must be the same number of values as for 'axes'.

**Basic** parameters:

  | **robot** : dict
  |  Robot that is controlled by the skill (only needs to be set at the application level).

  | **compliance** : float
  |  Force controller gain
  |  **Default**: 0.002

  | **corner_frequency** : float
  |  Force controller corner frequency
  |  **Default**: 5.0

  | **track_axes** : csv:string
  |  List of axes to be aligned.
  |  **Default**: x, y, z, a, b, c

  | **track_offsets** : csv:float
  |  Offsets of the axes to be aligned. Must be the same number of values as for 'axes'. If no value is provided, 0 is used for all axes.

**Expert** parameters:

  | **skill_name** : string
  |  Name of this skill. Must be locally unique.

  | **bounds** : list:bound
  |  Contains the bounds description(s).

  | **monitors** : list:monitor
  |  Contains the monitors of the skill that determine when the skill should terminate.

  | **transitions** : list:transition
  |  Contains additional transitions to other states (skills), given an event name.

  | **scripts** : list:script
  |  Contains scripts that should be executed while the skill is active.

  | **skills** : list:skill
  |  Sub-skills that are executed simultaneously.
  |  **Default**: odict_keys(['force', 'track'])

  | **force** : :doc:`skill_apply_force`
  |  Applies a force in the direction of a frame

  | **track** : :doc:`skill_cartesian_tracking`
  |  Keeps on aligning the tool frame with a target frame

**Hidden** parameters:

  | **collections** : list:collection
  |  Contains the kinematic chains of the skill (feature, robot, object chains).

  | **loops** : list:kinematic_loop
  |  Contains the kinematic loop(s) that define the task to be solved.

  | **tasks** : list:task
  |  Contains the task description(s).

Examples
========

**skill_insert** is used in the following examples:

* :doc:`../examples/beginner/forces_xml`
* :doc:`../examples/rosless/forces_rosless_xml`