pitasc_library - skills/skill_hold_pose.xml
Model definitions
line 8: skill_hold_pose
line 38: skill_hold_duration
File contents
1<?xml version="1.0" encoding="UTF-8"?>
2
3<pitasc>
4
5 <models>
6 <include package="pitasc_library" file="skills/skill_cartesian_tracking.xml"/>
7
8 <type id="skill_hold_pose" prototype="skill_cartesian_tracking">
9 <meta>
10 <member id="description">Hold the position/orientation on selected axes.</member>
11 </meta>
12
13 <data>
14
15 <!-- Private -->
16 <member id="scripts">
17 <clone prototype="script_temp_frame">
18 <member id="frame" reference_id="target_frame"/>
19 <member id="source" reference_id="tool_frame"/>
20 <member id="parent" reference_id="robot.base_link"/>
21 </clone>
22 </member>
23 <clone id="prefixed_target_frame" prototype="string_concatenation">
24 <clone prototype="string_parameter">_tmp_</clone>
25 <type id="runtime_id" prototype="string_parameter"/> <!-- autogenerated -->
26 </clone>
27 <member id="target_frame" reference_id="prefixed_target_frame"/>
28 <member id="target_frame.meta.visibility">hidden</member>
29<!--
30 <member id="max_linear_velocity">0.1</member>
31 <member id="linear_controller_gain">3</member>
32 <member id="max_angular_velocity">0.5</member>
33 <member id="angular_controller_gain">3</member>
34 -->
35 </data>
36 </type>
37
38 <type id="skill_hold_duration" prototype="skill_hold_pose">
39 <meta>
40 <member id="description">Hold the position/orientation on selected axes for duration time.</member>
41 </meta>
42 <data>
43 <type id="duration" prototype="float_parameter">
44 <meta>
45 <member id="description">Skill duration in [s].</member>
46 <member id="visibility">basic</member>
47 </meta>
48 <data>1.0</data>
49 </type>
50
51 <member id="monitors">
52 <clone prototype="monitor_duration">
53 <member id="duration" reference_id="duration"/>
54 </clone>
55 </member>
56 </data>
57 </type>
58
59 </models>
60
61</pitasc>