skill_conical_helix

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

Defined at line 11 of file skills/spherical/skill_conical_helix.xml in package pitasc_library.

Meta data

Categories
single_robot, velocity_controlled
Prototypes
skill_sequence, skill_single_robot, skill, object, dictionary, base, descriptive

Parameters

Basic parameters:

robot : dict
Robot that is controlled by the skill (only needs to be set at the application level).
tool_frame : string
The used tool frame.
Default: tool
pivot_frame : string
The pivot point (i.e. tip of the cone).
Default: pivot_point
start_radius : float
Distance from the desired start point to the origin of pivot_frame [m].
Default: 0.001
end_radius : csv:float
Distance from the desired end point to the origin of pivot_frame [m]. Max. one value allowed.
Default: 0.1
start_phi : float
Initial value of angle phi (in x-y-plane of pivot_frame) [rad].
Default: False
half_opening_angle : float
Half of the opening angle of the cone [rad].
Default: 0.4
tool_direction : list:float_parameter
The rpy tool orientation (a,b,c) in [rad]. Default pointing towards the origin of pivot_frame.
Default: odict_keys([‘a’, ‘b’, ‘c’])
helix_linear_velocity : float
The speed of the motion in radial direction
Default: 0.005
helix_angular_velocity : float
The speed of the rotation movement.
Default: 0.5

Expert parameters:

skill_name : string
Name of this skill. Must be locally unique.
collections : list:collection
Contains the kinematic chains of the skill (feature, robot, object chains).
loops : list:kinematic_loop
Contains the kinematic loop(s) that define the task to be solved.
tasks : list:task
Contains the task description(s).
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.
initial_skill : string
First skill to run.
skills : list:skill
Sub-skills that are executed in sequence.
Default: odict_keys([‘skill_spherical_positioning’, ‘skill_concurrency’])

Hidden parameters:

des_velocities : list:float_parameter
Defines the helix velocities
Default: odict_keys([‘helix_angular_velocity’, ‘helix_linear_velocity’])
start_offsets : list:float_parameter
Defines the helix - phi, theta, r, a, b, c
Default: odict_keys([‘start_phi’, ‘half_opening_angle’, ‘start_radius’, ‘tool_direction-a’, ‘tool_direction-b’, ‘tool_direction-c’])
constant_offsets : list:float_parameter
Defines the helix - constant offsets (theta, a, b, c)
Default: odict_keys([‘half_opening_angle’, ‘tool_direction-a’, ‘tool_direction-b’, ‘tool_direction-c’])

Examples

skill_conical_helix is used in the following examples: