skill_insert

A skill that pushes and aligns the position

Defined at line 10 of file skills/skill_insert.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.
target_frame : string
Name of the target frame.
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
track_axes : csv:string
List of axes to be aligned.
Default: x, y, z, a, b, c
track_offsets : csv:float
Offsets of the axes to be aligned. Must be the same number of values as for ‘axes’. If no value is provided, 0 is used for all axes.

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.
skills : list:skill
Sub-skills that are executed simultaneously.
Default: odict_keys([‘force’, ‘track’])
force : skill_apply_force
Applies a force in the direction of a frame
track : skill_cartesian_tracking
Keeps on aligning the tool frame with a target frame

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_insert is used in the following examples: