skill_partial_velocity_relative_distance

A skill that moves along fixed frame axes and holds the other axes in place

Defined at line 92 of file skills/skill_partial_velocity.xml in package pitasc_library.

Meta data

Categories

single_robot, velocity_controlled

Prototypes

skill_partial_velocity, skill_concurrency, skill_single_robot, skill, object, dictionary, base, descriptive

Parameters

Required parameters:

tool_frame : string

Name of the tool frame

velocity_frame : string

Defines the axes along which this skill can move.

Basic parameters:

robot : dict

Robot that is controlled by the skill (only needs to be set at the application level).

axes : csv:string

The directions of motion.

Default: x

velocities : csv:float

Velocities in [m/s].

Default: 0.01

distances : csv:float

Travel distance after that the skill stops, in [m].

Default: 0.01

Expert parameters:

skill_name : string

Name of this skill. Must be locally unique.

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).

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_relative_distance’])

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_skill’, ‘hold_skill’])

move_skill : 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)

hold_skill : skill_hold_pose

Hold the position/orientation on selected axes.

Examples

No examples found that make use of skill_partial_velocity_relative_distance