skill_lin_trajectory

Moves along given blending points with blending distances to the target frame.

Care: Setting target offsets for the waypoints for orientation can cause euler angle issues.

Defined at line 150 of file skills/skill_lin_trajectory.xml in package pitasc_library.

Meta data

Categories
single_robot, position_controlled
Prototypes
skill_lin_trajectory_base, skill_cartesian, loop_target, skill_single_robot, skill, object, dictionary, base, descriptive

Parameters

Required parameters:

tool_frame : string
Name of the tool frame
target_frame : string
Target frame is set automatically. Must not be overwritten!
waypoints : list:lin_trajectory_waypoint
List of joint_trajectory_waypoint to move through with blending

Basic parameters:

robot : dict
Robot that is controlled by the skill (only needs to be set at the application level).
axes : csv:string
List of axes to be aligned.
Default: x, y, z, a, b, c
max_linear_velocity : float
Max linear velocity.
Default: 0.2
max_angular_velocity : float
Max angular velocity.
Default: 1.5
max_linear_acceleration : float
Max linear acceleration.
Default: 1.0
max_angular_acceleration : float
Max angular acceleration. If not set, a default value (three times the linear acceleration) is used.

Expert parameters:

skill_name : string
Name of this skill. Must be locally unique.
tasks : list:task
Contains the task description(s).
Default: odict_keys([‘tracking’])
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([‘positioning_monitor’])
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.
linear_controller_gain : float
Specifies the approx. linear gain of the controller transfer function for Cartesian positions (i.e. x,y and z).
Default: 3.0
angular_controller_gain : float
Specifies the approx. linear gain of the controller transfer function for Cartesian angles (i.e. a,b and c).
Default: 3.0
linear_ff_controller_gain : float
Specifies the velocity feed-forward gain of the controller
Default: 0.8
angular_ff_controller_gain : float
Specifies the velocity feed-forward gain of the controller
Default: 0.8
positioning_monitor : monitor_distance
Checks whether the target frame has been reached.

Hidden parameters:

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

Examples

skill_lin_trajectory is used in the following examples: