pitasc_library - skills/skill_force.xml
Model definitions
line 8: skill_force
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
8 <type id="skill_force" prototype="skill_single_robot">
9 <meta>
10 <member id="description">Models a loop for force control</member>
11 <member id="categories">single_robot, force_controlled</member>
12 <member id="visibility">expert</member>
13 </meta>
14
15 <data>
16 <!-- Kinematics -->
17 <type id="force_frame" prototype="string_parameter">
18 <meta>
19 <member id="description">Frame describing the force coordinates</member>
20 <member id="visibility">required</member>
21 </meta>
22 </type>
23
24 <reference id="force_sensor" prototype="dictionary" reference_id="robot.components.force_sensor"/>
25 <member id="force_sensor.meta.description">Force sensor that provides the wrench measurement.</member>
26 <member id="force_sensor.meta.visibility">expert</member>
27
28 <!-- Implementation details below: -->
29
30 <member id="collections">
31 <clone id="force_chain" prototype="force_relationship">
32 <member id="chain_name">force_chain</member>
33 <member id="wrench_driver" reference_id="force_sensor.wrench_driver"/>
34 <member id="force_frame" reference_id="force_frame"/>
35 </clone>
36 <clone id="object_chains" prototype="collection">
37 <member id="chains">
38 <clone id="base_to_force_frame" prototype="observed_chain">
39 <member id="chain_name">base_to_force_frame</member>
40 <member id="control">False</member>
41 <member id="from_frame" reference_id="robot.base_link"/>
42 <member id="to_frame" reference_id="force_frame"/>
43 </clone>
44 <clone id="eef_to_force_frame" prototype="observed_chain">
45 <member id="chain_name">eef_to_force_frame</member>
46 <member id="control">False</member>
47 <member id="from_frame" reference_id="robot.ee_link"/>
48 <member id="to_frame" reference_id="force_frame"/>
49 </clone>
50 </member>
51 </clone>
52 </member>
53 <member id="collections.meta.visibility">hidden</member>
54
55 <member id="loops">
56 <clone prototype="kinematic_loop">
57 <member id="loop_name">viaForce</member>
58 <member id="robot_chains">
59 <reference prototype="kinematic_chain_base" reference_id="robot.chains[0]"/>
60 <reference prototype="kinematic_chain_base" reference_id="collections.object_chains.chains.eef_to_force_frame"/>
61 </member>
62 <member id="feature_chains">
63 <reference prototype="kinematic_chain_base" reference_id="collections.object_chains.chains.base_to_force_frame"/>
64 <reference prototype="kinematic_chain_base" reference_id="collections.force_chain.chains[0]"/>
65 </member>
66 </clone>
67 </member>
68 <member id="loops.meta.visibility">hidden</member>
69
70 </data>
71 </type>
72
73 </models>
74
75</pitasc>