skill_guarded_approach

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

Defined at line 10 of file skills/skill_guarded_approach.xml in package pitasc_library.

Meta data

Categories
single_robot, force_controlled
Prototypes
skill_concurrency, skill_single_robot, skill, object, dictionary, base, descriptive

Parameters

Required parameters:

tool_frame : string
Name of the tool frame.
control_frame : string
Name of the frame that defines the direction of motion.

Basic parameters:

robot : dict
Robot that is controlled by the skill (only needs to be set at the application level).
max_forces : csv:float
Forces in [N].
Default: 10.0
axes : csv:string
The direction of motion. Can be multiple axes.
Default: x
velocities : csv:float
Velocities in [m/s].
Default: 0.01

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.
Default: odict_keys([‘force_threshold’])
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.
skills : list:skill
Sub-skills that are executed simultaneously.
Default: odict_keys([‘move_skill’, ‘hold_skill’, ‘force_skill’])
move_skill : 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)
hold_skill : skill_hold_pose
Hold the position/orientation on selected axes.
force_skill : skill_force
Models a loop for force control

Examples

skill_guarded_approach is used in the following examples: