skill_joint_space_bound

Keeps on tracking a joint configuration

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

Meta data

Categories
single_robot, position_controlled
Prototypes
skill_joint_space, skill_single_robot, skill, object, dictionary, base, descriptive

Parameters

Basic parameters:

robot : dict
Robot that is controlled by the skill (only needs to be set at the application level).
joint_names : csv:string
Joint names of the target pose.
upper_bound : csv:float
List of upper bound values respective to axes.
Default: 3.14, 3.14, 3.14, 3.14, 3.14, 3.14
lower_bound : csv:float
List of lower bound values respective to axes.
Default: -3.14, -3.14, -3.14, -3.14, -3.14, -3.14

Expert parameters:

skill_name : string
Name of this skill. Must be locally unique.
tasks : list:task
Contains the task description(s).
bounds : list:bound
Contains the bounds description(s).
Default: odict_keys([‘tracking_bound’])
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.
scaler : float
Time constant restricting the movement, i.e., v_allowed < (p_bound - p_current) / scalar
Default: 1.0

Hidden parameters:

collections : list:collection
Contains the kinematic chains of the skill (feature, robot, object chains).
Default: odict_keys([‘base_to_eef’])
loops : list:kinematic_loop
Contains the kinematic loop(s) that define the task to be solved.
Default: odict_keys([‘kinematic_loop’])

Examples

skill_joint_space_bound is used in the following examples: