pitasc_library - skills/cylindrical/skill_cylindrical_velocity.xml

Model definitions

File contents

 1<?xml version="1.0" encoding="UTF-8"?>
 2
 3<pitasc>
 4
 5    <models>
 6        <include package="pitasc_library" file="models/pitasc.xml"/>
 7        <include package="pitasc_library" file="skills/cylindrical/skill_cylindrical.xml"/>
 8
 9        <type id="skill_cylindrical_velocity" prototype="skill_cylindrical">
10            <meta>
11                <member id="description">Cylindrical coordinates</member>
12                <member id="categories">single_robot, velocity_controlled</member>
13            </meta>
14            <data>
15                <!-- When no rotations for a, b, c are given, the x-axis will point away from the target's z-axis -->
16                <type id="axes" prototype="string_csv">
17                    <meta>
18                        <member id="description">List of axes to be aligned</member>
19                        <member id="visibility">basic</member>
20                        <clone prototype="restrictions">
21                            <clone prototype="enum">r, phi, z, a, b, c</clone>
22                        </clone>
23                    </meta>
24                    <data>r, phi, z, a, b, c</data>
25                </type>
26                <type id="velocities" prototype="float_csv">
27                    <meta>
28                        <member id="description">Velocities in [m/s] resp. [rad/s]</member>
29                        <member id="visibility">basic</member>
30                    </meta>
31                    <data>0, 0, 0, 0, 0, 0</data>
32                </type>
33
34                <!-- Implementation details below: -->
35
36                <member id="tasks">
37                    <clone id="velocity_feedforward" prototype="task">
38                        <member id="coordinates" reference_id="axes"/>
39                        <member id="prefix" reference_id="collections.target_to_tool.prefix"/>
40
41                        <member id="setpoint_generators">
42                            <clone id="setpoint" prototype="constant_setpoint">
43                                <member id="desired" reference_id="velocities"/>
44                                <member id="coordinates" reference_id="coordinates"/>
45                                <member id="prefix" reference_id="prefix"/>
46                            </clone>
47                        </member>
48
49                        <member id="controllers">
50                            <clone prototype="velocity_controller">
51                                <member id="data_source">
52                                    <reference reference_id="collections.target_to_tool.chains[0]"/>
53                                </member>
54                                <member id="setpoint_generator">
55                                    <reference reference_id="setpoint_generators.setpoint"/>
56                                </member>
57                                <member id="coordinates" reference_id="axes"/>
58                                <member id="prefix" reference_id="prefix"/>
59                            </clone>
60                        </member>
61                    </clone>
62                </member>
63                <member id="tasks.meta.visibility">hidden</member>
64
65            </data>
66        </type>
67
68    </models>
69
70</pitasc>