skill_joint_space_tracking

Keeps on tracking a joint configuration

Defined at line 8 of file skills/skill_joint_space_tracking.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

Required parameters:

target_joint_state : csv:float

Joint values of the target pose.

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.

max_angular_velocity : float

Max angular velocity.

Default: 1.0

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.

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.

angular_controller_gain : float

Specifies the approx. linear gain of the controller transfer function for the joint angles.

Default: 3.0

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’])

tasks : list:task

Contains the task description(s).

Default: odict_keys([‘tracking’])

Examples

No examples found that make use of skill_joint_space_tracking