skill_guarded_slide

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

Defined at line 8 of file skills/skill_guarded_slide.xml in package pitasc_library.

Meta data

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

Parameters

Required parameters:

control_frame : string
Name of the frame that defines the direction of motion.
tool_frame : string
Name of the tool frame.
move_axes : csv:string
List of axes to apply velocities.
velocities : csv:float
Velocities in [m/s] or [rad/s].
force_axes : csv:string
List of axes.
target_forces : csv:float
Forces and torques to be applied. Must be the same number of values as for ‘axes’.

Basic parameters:

robot : dict
Robot that is controlled by the skill (only needs to be set at the application level).
compliance : float
Force controller gain
Default: 0.002
corner_frequency : float
Force controller corner frequency
Default: 5.0
max_forces : csv:float
Force in move direction that stops the slide.
Default: 10.0

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.
Default: odict_keys([‘monitor_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’, ‘force’, ‘hold’])
move : 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)
force : skill_apply_force
Applies a force in the direction of a frame
hold : skill_hold_pose
Hold the position/orientation on selected axes.
operator : string
Defines the stop condition.
Default: absolute_greater

Hidden parameters:

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).

Examples

skill_guarded_slide is used in the following examples: