pitasc_library - skills/skill_partial_velocity.xml
Model definitions
line 10: skill_partial_velocity
line 73: skill_partial_velocity_duration
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 <include package="pitasc_library" file="skills/skill_cartesian_velocity.xml"/>
8 <include package="pitasc_library" file="skills/skill_hold_pose.xml"/>
9
10 <type id="skill_partial_velocity" prototype="skill_concurrency">
11 <meta>
12 <member id="description">A skill that moves along fixed frame axes and holds the other axes in place</member>
13 <member id="categories">single_robot, velocity_controlled</member>
14 </meta>
15
16 <data>
17
18 <type id="tool_frame" prototype="frame">
19 <meta>
20 <member id="description">Name of the tool frame</member>
21 <member id="visibility">required</member>
22 </meta>
23 </type>
24
25 <type id="velocity_frame" prototype="frame">
26 <meta>
27 <member id="description">Defines the axes along which this skill can move.</member>
28 <member id="visibility">required</member>
29 </meta>
30 </type>
31
32 <type id="axes" prototype="string_csv">
33 <meta>
34 <member id="description">The directions of motion.</member>
35 <member id="visibility">basic</member>
36 <clone prototype="restrictions">
37 <clone prototype="enum">x, y, z</clone>
38 </clone>
39 </meta>
40 <data>x</data>
41 </type>
42
43 <type id="velocities" prototype="float_csv">
44 <meta>
45 <member id="description">Velocities in [m/s].</member>
46 <member id="visibility">basic</member>
47 </meta>
48 <data>0.01</data>
49 </type>
50
51 <clone id="move_skill" prototype="skill_cartesian_velocity">
52 <member id="velocity_frame" reference_id="velocity_frame"/>
53 <member id="tool_frame" reference_id="tool_frame"/>
54 <member id="axes" reference_id="axes"/>
55 <member id="velocities" reference_id="velocities"/>
56 </clone>
57 <member id="move_skill.meta.visibility">expert</member>
58
59 <clone id="hold_skill" prototype="skill_hold_pose">
60 <member id="tool_frame" reference_id="tool_frame"/>
61 </clone>
62 <member id="hold_skill.meta.visibility">expert</member>
63
64 <member id="skills">
65 <reference reference_id="move_skill"/>
66 <reference reference_id="hold_skill"/>
67 </member>
68 <member id="skills.meta.visibility">expert</member>
69
70 </data>
71 </type>
72
73 <type id="skill_partial_velocity_duration" prototype="skill_partial_velocity">
74 <data>
75 <type id="duration" prototype="float_parameter">
76 <meta>
77 <member id="description">Skill duration in [s].</member>
78 <member id="visibility">basic</member>
79 </meta>
80 <data>1.0</data>
81 </type>
82
83 <member id="monitors">
84 <clone prototype="monitor_duration">
85 <member id="event">succeeded</member>
86 <member id="duration" reference_id="duration"/>
87 </clone>
88 </member>
89 </data>
90 </type>
91
92 <type id="skill_partial_velocity_relative_distance" prototype="skill_partial_velocity">
93 <data>
94 <type id="distances" prototype="float_csv">
95 <meta>
96 <member id="description">Travel distance after that the skill stops, in [m].</member>
97 <member id="visibility">basic</member>
98 </meta>
99 <data>0.01</data>
100 </type>
101
102 <member id="monitors">
103 <clone prototype="monitor_relative_distance">
104 <member id="reference_frame">world</member>
105 <member id="frame" reference_id="velocity_frame"/>
106 <member id="coordinates" reference_id="axes"/>
107 <member id="distances" reference_id="distances"/>
108 <member id="operator">absolute_greater</member>
109 </clone>
110 </member>
111 </data>
112 </type>
113
114 </models>
115
116</pitasc>