skill_cylindrical_positioning

Cylindrical coordinates

Defined at line 119 of file skills/cylindrical/skill_cylindrical_tracking.xml in package pitasc_library.

Meta data

Categories
single_robot, position_controlled
Prototypes
skill_cylindrical_tracking, skill_cylindrical, loop_target, skill_single_robot, skill, object, dictionary, base, descriptive

Parameters

Required parameters:

tool_frame : string
Name of the tool frame
target_frame : string
Name of the target frame

Basic parameters:

robot : dict
Robot that is controlled by the skill (only needs to be set at the application level).
axes : csv:string
List of axes to be aligned.
Default: r, phi, z, a, b, c
target_offsets : csv:float
Offsets of the axes to be aligned. Must be the same number of values as for ‘axes’.
Default: 0.0, 0.0, 0.0, 0.0, 0.0, 0.0
max_linear_velocity : float
Max linear velocity.
Default: 1.0
max_angular_velocity : float
Max angular velocity.
Default: 1.5

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.
Default: odict_keys([‘positioning_monitor’])
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.
linear_controller_gain : float
Equivalent proportional controller in linear region.
Default: 3.0
angular_controller_gain : float
Equivalent proportional controller in linear region.
Default: 3.0
positioning_monitor : monitor_control_error
Checks whether the target frame has been reached.

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([‘tracking’])

Examples

No examples found that make use of skill_cylindrical_positioning