skill_cylindrical_velocity

Cylindrical coordinates

Defined at line 9 of file skills/cylindrical/skill_cylindrical_velocity.xml in package pitasc_library.

Meta data

Categories

single_robot, velocity_controlled

Prototypes

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

velocities : csv:float

Velocities in [m/s] resp. [rad/s]

Default: 0.0, 0.0, 0.0, 0.0, 0.0, 0.0

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’])

Examples

No examples found that make use of skill_cylindrical_velocity