pitasc_library - skills/skill_lin.xml
Model definitions
line 8: skill_lin
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_lin" prototype="skill_cartesian_tracking">
9 <meta>
10 <member id="description">Aligns the tool frame with a target frame</member>
11 <member id="visibility">basic</member>
12 </meta>
13
14 <data>
15
16 <type id="positioning_accuracy" prototype="float_csv">
17 <meta>
18 <member id="description">Positioning accuracy for x y z a b c in m resp. rad</member>
19 <member id="visibility">basic</member>
20 </meta>
21 <data>0.001, 0.001, 0.001, 0.005, 0.005, 0.005</data>
22 </type>
23
24 <!-- Coordination -->
25 <type id="positioning_monitor" prototype="monitor_distance">
26 <meta>
27 <member id="description">Checks whether the target frame has been reached.</member>
28 <member id="visibility">expert</member>
29 </meta>
30 <data>
31 <member id="reference_frame" reference_id="target_frame"/>
32 <member id="target_offsets" reference_id="target_offsets"/>
33 <member id="frame" reference_id="tool_frame"/>
34 <member id="coordinates" reference_id="axes"/>
35 <member id="distance_coordinates">x, y, z, a, b, c</member>
36 <member id="distances" reference_id="positioning_accuracy" />
37 <member id="operator">absolute_less</member>
38
39 </data>
40 </type>
41
42 <member id="positioning_monitor.distance_coordinates.meta.visibility">expert</member>
43 <member id="positioning_monitor.operator.meta.visibility">hidden</member>
44
45 <member id="monitors">
46 <reference reference_id="positioning_monitor"/>
47 </member>
48
49 </data>
50 </type>
51
52 </models>
53
54</pitasc>