pitasc_library - skills/skill_cartesian.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_cartesian" prototype="loop_target">
10            <meta>
11                <member id="description">Models a loop via tool frame and target frame</member>
12                <member id="categories">single_robot, position_controlled</member>
13                <member id="visibility">expert</member>
14            </meta>
15            <data>
16                <member id="collections">
17                    <clone id="target_to_tool" prototype="pose_relationship">
18                        <member id="chain_name">target_to_tool</member>
19                        <member id="from_frame" reference_id="target_frame"/>
20                        <member id="to_frame" reference_id="tool_frame"/>
21                    </clone>
22                </member>
23                <member id="collections.meta.visibility">hidden</member>
24            </data>
25        </type>
26
27    </models>
28
29</pitasc>