Skills

composition

• skill_app : Skill that denotes an application and provides additional

• skill_concurrency : Hierarchy of skills which are executed simultaneously.

• skill_guarded_sequence : A skill that stops execution of the sub-skills if a

• skill_guarded_sequence_with_start : A guarded skill sequence that also as some startup skills

• skill_parallel : Hierarchy of skills which are executed simultaneously. Ends with ‘succeeded’ only if all subskills triggered ‘succeeded’.

• skill_sequence : List of skills which are executed in sequence.

• skill_statechart : Group of skills which are connected in a state machine.

position_controlled

• loop_target : Models a loop via tool frame and target frame

• skill_approach : A skill approaching a target frame in two steps

• skill_cartesian : Models a loop via tool frame and target frame

• skill_cartesian_bound : Bound for a cartesian value

• skill_cartesian_tracking : Keeps on aligning the tool frame with a target frame

• skill_cartesian_tracking_pid : Keeps on aligning the tool frame with a target frame

• skill_cylindrical : Cylindrical coordinates

• skill_cylindrical_positioning : Cylindrical coordinates

• skill_cylindrical_tracking : Cylindrical coordinates

• skill_hold_duration : Hold the position/orientation on selected axes for duration time.

• skill_hold_pose : Hold the position/orientation on selected axes.

• skill_joint_space : Models a loop for joint space control

• skill_joint_space_bound : Keeps on tracking a joint configuration

• skill_joint_space_tracking : Keeps on tracking a joint configuration

• skill_lin : Aligns the tool frame with a target frame

• skill_lin_time_optimal : LIN movement from the current pose to the target. Follows a

• skill_lin_time_optimal_ruckig : LIN movement from the current pose to the target. Follows a

• skill_lin_trajectory : Moves along given blending points with blending distances to the target frame.

• skill_lin_trajectory_base : Base class for linear trajectories.

• skill_lin_trajectory_pd : Moves along given blending points with blending distances to the target frame. Controlled by pd controller

• skill_log_cartesian : Logs position and/or orientation of a frame w.r.t. a reference skill into a file

• skill_partial_lin : A skill that moves to a target frame only in specified axes and holds the other axes in place

• skill_ptp : Moves the robot to a target joint configuration

• skill_ptp_time_optimal : Keeps on tracking a joint configuration using a time-optimal trajectory

• skill_ptp_trajectory : Keeps on tracking a joint configuration

• skill_relative_lin : Aligns the tool with an offset relative to the current pose

• skill_relative_ptp : A skill that moves to a relative joint configuration

• skill_spherical : Spherical coordinates

• skill_spherical_positioning : Spherical coordinates

• skill_spherical_tracking : Spherical coordinates

• skill_wait_for_transform : A skill that keeps the robot position until a transform becomes available

force_controlled

• skill_apply_force : Applies a force in the direction of a frame

• skill_apply_force_pid : Applies a force in the direction of a frame

• skill_force : Models a loop for force control

• skill_guarded_approach : A skill that moves along a fixed frame axis until it measures a certain force

• skill_guarded_lin : Causes a linear motion until a specified force value is reached

• skill_guarded_lin_ruckig : Causes a linear motion with the ruckig trajectory generator

• skill_guarded_sequence : A skill that stops execution of the sub-skills if a

• skill_guarded_sequence_with_start : A guarded skill sequence that also as some startup skills

• skill_guarded_slide : A skill that moves along a fixed frame axis until it measures a certain force

• skill_insert : A skill that pushes and aligns the position

• skill_log_force : Logs a force/torque in a desired frame into a file

• skill_pivot : Rotates while pushing

• skill_push : A skill that pushes and keeps the position

• skill_push_duration : A skill that pushes and keeps the position for a certain time.

• skill_push_settle : A skill that pushes until the force error is within a region for an acceptable number of samples.

• skill_slide : A skill that results in a slide motion in direction of a specified axis

• skill_slide_relative : Slides to a target relative to the current position

velocity_controlled

• skill_cartesian_velocity : Track a desired velocity of tool_frame w.r.t. target_frame.

• skill_conical_helix : A skill that performs a conical helix around z axis of the specified pivot_frame

• skill_cylindrical_helix : A skill that performs a cylindrical helix around z axis of the specified pivot_frame

• skill_cylindrical_velocity : Cylindrical coordinates

• skill_partial_velocity : A skill that moves along fixed frame axes and holds the other axes in place

• skill_partial_velocity_duration : A skill that moves along fixed frame axes and holds the other axes in place

• skill_partial_velocity_relative_distance : A skill that moves along fixed frame axes and holds the other axes in place

• skill_spherical_velocity : Spherical coordinates

logic

• frame_editor_align : Aligns a frame with another frame via ROS service.

• frame_editor_copy : Copies a frame via ROS service.

• frame_editor_load_yaml : Loads YAML with frame editor.

• frame_editor_remove : Remove a frame from the frame_editor via ROS service.

• frame_editor_save_yaml : Saves YAML with frame editor.

• frame_editor_set : Created a new frame with a give pose via ROS service.

• frame_editor_set_parent : Set a new parent frame of a given frame via ROS service.

• skill_counter_condition : Branches after a certain number of iterations

• skill_idle : A skill that does nothing

• skill_idle_duration : A skill that keeps the robot position for a given duration

• skill_idle_once : Idles for one cycle, e.g. to execute a script

• skill_preempt : Triggers a preempt event

user

• skill_user_confirm : Opens a dialog window to receive confirmation from the user.