pitasc_library - skills/skill_wait_for_transform.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_cartesian.xml"/>
 7
 8        <type id="skill_wait_for_transform" prototype="skill_cartesian">
 9            <meta>
10                <member id="description">A skill that keeps the robot position until a transform becomes available</member>
11            </meta>
12
13            <data>
14
15                <type id="frame" prototype="string_parameter">
16                    <meta>
17                        <member id="description">Transform target to wait for.</member>
18                        <member id="visibility">required</member>
19                    </meta>
20                </type>
21
22                <type id="parent_frame" prototype="string_parameter">
23                    <meta>
24                        <member id="description">Transform source to wait for.</member>
25                        <member id="visibility">basic</member>
26                    </meta>
27                    <data>world</data>
28                </type>
29
30                <!-- Implementation details below: -->
31
32                <member id="tool_frame" reference_id="frame"/>
33                <member id="tool_frame.meta.visibility">hidden</member>
34
35                <member id="target_frame" reference_id="parent_frame"/>
36                <member id="target_frame.meta.visibility">hidden</member>
37
38                <member id="monitors">
39                    <clone prototype="monitor_wait_for_transform">
40                        <member id="event">succeeded</member>
41                        <member id="frame" reference_id="frame"/>
42                        <member id="parent_frame" reference_id="parent_frame"/>
43                    </clone>
44                </member>
45
46            </data>
47        </type>
48
49    </models>
50
51</pitasc>