pitasc_library - skills/cylindrical/skill_cylindrical.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/loop_target.xml"/>
 8
 9        <type id="skill_cylindrical" prototype="loop_target">
10            <meta>
11                <member id="description">Cylindrical coordinates</member>
12                <member id="categories">single_robot, position_controlled</member>
13            </meta>
14            <data>
15                <member id="collections">
16                    <clone id="target_to_tool" prototype="cylindrical_relationship">
17                        <member id="chain_name">target_to_tool</member>
18                        <member id="from_frame" reference_id="target_frame"/>
19                        <member id="to_frame" reference_id="tool_frame"/>
20                    </clone>
21                </member>
22                <member id="collections.meta.visibility">hidden</member>
23            </data>
24        </type>
25
26    </models>
27
28</pitasc>