pitasc_library - skills/skill_relative_lin.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_lin.xml"/>
 7
 8        <type id="skill_relative_lin" prototype="skill_lin">
 9            <meta>
10                <member id="description">Aligns the tool with an offset relative to the current pose</member>
11            </meta>
12
13            <data>
14                <!-- Please set target_offsets (see skill_cartesian_tracking) -->
15                <!-- Please set tool_frame (see skill_cartesian_tracking) -->
16
17                <member id="scripts">
18                    <clone prototype="script_temp_frame">
19                        <member id="frame" reference_id="target_frame"/>
20                        <member id="source" reference_id="tool_frame"/>
21                        <member id="parent" reference_id="robot.base_link"/>
22                    </clone>
23                </member>
24                <clone id="prefixed_target_frame" prototype="string_concatenation">
25                    <clone prototype="string_parameter">_tmp_</clone>
26                    <type id="runtime_id" prototype="string_parameter"/> <!-- autogenerated -->
27                </clone>
28                <member id="target_frame" reference_id="prefixed_target_frame"/>
29                <member id="target_frame.meta.visibility">hidden</member>
30            </data>
31        </type>
32
33    </models>
34
35</pitasc>