skill_guarded_sequence

A skill that stops execution of the sub-skills if a specific force is detected.

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

Meta data

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

Parameters

Required parameters:

protected_skills : list:skill
Sub-skills that are executed in sequence.

Basic parameters:

robot : dict
Robot that is controlled by the skill (only needs to be set at the application level).
force_measurement_frame : string
The frame in which the force is detected.
max_forces : csv:float
Forces in [N].
Default: 10.0, 10.0, 10.0
monitor_axes : csv:string
The directions that are monitored for occuring
forces (can be multiple axes).
Default: x, y, z
event : string
The event to be triggered when force limit is
reached.
Default: succeeded

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([‘seq_skill’, ‘force_skill’])
force_skill : skill_force
Models a loop for force control
seq_skill : skill_sequence
List of skills which are executed in sequence.

Examples

skill_guarded_sequence is used in the following examples: