pitasc_library - skills/skill_ptp.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_tracking.xml"/>
 7
 8        <type id="skill_ptp" prototype="skill_joint_space_tracking">
 9            <meta>
10                <member id="description">Moves the robot to a target joint configuration</member>
11            </meta>
12
13            <data>
14
15                <!-- Coordination -->
16                <type id="thresholds" prototype="float_csv">
17                    <meta>
18                        <member id="description">Joint value thresholds. One entry for all or one entry for each joint.</member>
19                        <member id="visibility">basic</member>
20                    </meta>
21                    <data>0.01</data>
22                </type>
23
24                <type id="positioning_monitor" prototype="monitor_control_error">
25                    <meta>
26                        <member id="description">Checks whether the target joint state has been reached</member>
27                        <member id="visibility">expert</member>
28                    </meta>
29                    <data>
30                        <member id="controllers" reference_id="tasks.tracking.controllers"/>
31                        <member id="coordinates" reference_id="tasks.tracking.coordinates"/><!-- already prefixed -->
32                        <member id="thresholds" reference_id="thresholds"/>
33                    </data>
34                </type>
35
36                <member id="monitors">
37                    <reference reference_id="positioning_monitor"/>
38                </member>
39
40            </data>
41        </type>
42
43    </models>
44
45</pitasc>