skill_cartesian_velocity

Track a desired velocity of tool_frame w.r.t. target_frame.

For Translation, target_frame specifies the translation axes. For Rotation, tool_frame specifies the pivot point. Specifying the rotation axes with target_frame does not fully work (see #356)

Defined at line 8 of file skills/skill_cartesian_velocity.xml in package pitasc_library.

Meta data

Categories
single_robot, velocity_controlled
Prototypes
skill_cartesian, loop_target, skill_single_robot, skill, object, dictionary, base, descriptive

Parameters

Required parameters:

tool_frame : string
Name of the tool frame
axes : csv:string
List of axes to apply velocities.
Default: x, y, z, a, b, c
velocities : csv:float
Velocities in [m/s] or [rad/s].
Default: 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
velocity_frame : string
Defines in which direction the robot will move.

Basic parameters:

robot : dict
Robot that is controlled by the skill (only needs to be set at the application level).

Expert parameters:

skill_name : string
Name of this skill. Must be locally unique.
bounds : list:bound
Contains the bounds description(s).
monitors : list:monitor
Contains the monitors of the skill that determine when the skill should terminate.
transitions : list:transition
Contains additional transitions to other states (skills), given an event name.
scripts : list:script
Contains scripts that should be executed while the skill is active.

Hidden parameters:

collections : list:collection
Contains the kinematic chains of the skill (feature, robot, object chains).
Default: odict_keys([‘collection’, ‘target_to_tool’])
loops : list:kinematic_loop
Contains the kinematic loop(s) that define the task to be solved.
Default: odict_keys([‘kinematic_loop’])
tasks : list:task
Contains the task description(s).
Default: odict_keys([‘velocity_feedforward’])
target_frame : string
Name of the target frame

Examples

skill_cartesian_velocity is used in the following examples: