pitasc_library - skills/skill_joint_space_bound.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="skills/skill_joint_space.xml"/>
 7
 8        <type id="skill_joint_space_bound" prototype="skill_joint_space">
 9            <meta>
10                <member id="description">Keeps on tracking a joint configuration</member>
11            </meta>
12
13            <data>
14
15                <!-- Task description -->
16                <type id="joint_names" prototype="string_csv">
17                    <meta>
18                        <member id="description">Joint names of the target pose.</member>
19                        <member id="visibility">basic</member>
20                    </meta>
21                </type>
22                <member id="joint_names" reference_id="robot.joint_names"/>
23
24                <type id="upper_bound" prototype="float_csv">
25                    <meta>
26                        <member id="description">List of upper bound values respective to axes.</member>
27                        <member id="visibility">basic</member>
28                    </meta>
29                    <data>3.14, 3.14, 3.14, 3.14, 3.14, 3.14</data>
30                </type>
31
32                <type id="lower_bound" prototype="float_csv">
33                    <meta>
34                        <member id="description">List of lower bound values respective to axes.</member>
35                        <member id="visibility">basic</member>
36                    </meta>
37                    <data>-3.14, -3.14, -3.14, -3.14, -3.14, -3.14</data>
38                </type>
39
40                <type id="scaler" prototype="float_parameter">
41                    <meta>
42                        <member id="description">Time constant restricting the movement, i.e.,  v_allowed &lt;  (p_bound - p_current) / scalar </member>
43                        <member id="visibility">expert</member>
44                    </meta>
45                    <data>1.0</data>
46                </type>
47               
48                <!-- Implementation details below: -->
49                <member id="bounds">
50                    <clone id="tracking_bound" prototype="bound"> <!-- how to specify visibility here? leave on hidden? -->
51                        <member id="coordinates" reference_id="joint_names"/>
52                        <member id="upper_bounds" reference_id="upper_bound"/>
53                        <member id="lower_bounds" reference_id="lower_bound"/>
54                        <member id="scaler" reference_id="scaler"/>
55                        <member id="data_source">
56                            <reference prototype="robot_driver" reference_id="robot.robot_driver"/>
57                        </member>
58                    </clone>
59                </member>
60                <member id="bounds.tracking_bound.meta.visibility">hidden</member>
61
62            </data>
63        </type>
64
65    </models>
66
67</pitasc>