pitasc_library - skills/skill_joint_space.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
 8        <type id="skill_joint_space" prototype="skill_single_robot">
 9            <meta>
10                <member id="description">Models a loop for joint space control</member>
11                <member id="categories">single_robot, position_controlled</member>
12            </meta>
13
14            <data>
15
16                <!-- Kinematics -->
17                <member id="collections">
18                    <clone id="base_to_eef" prototype="pose_relationship">
19                        <member id="chain_name">base_to_eef</member>
20                        <member id="from_frame" reference_id="robot.base_link"/>
21                        <member id="to_frame" reference_id="robot.ee_link"/>
22                    </clone>
23                </member>
24                <member id="collections.meta.visibility">hidden</member>
25
26                <member id="loops">
27                    <clone prototype="kinematic_loop">
28                        <member id="loop_name">viaTarget</member>
29                        <member id="robot_chains">
30                            <reference prototype="kinematic_chain_base" reference_id="robot.chains[0]"/>
31                        </member>
32                        <member id="feature_chains">
33                            <reference prototype="kinematic_chain_base" reference_id="collections.base_to_eef.chains[0]"/>
34                        </member>
35                    </clone>
36                </member>
37                <member id="loops.meta.visibility">hidden</member>
38
39            </data>
40        </type>
41
42    </models>
43
44</pitasc>