skill_pivot

Rotates while pushing

Defined at line 10 of file skills/skill_pivot.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

control_frame : string

Name of the frame that defines the direction of rotation and forces

Basic parameters:

robot : dict

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

force_axes : csv:string

List of axes.

Default: y, z

target_forces : csv:float

Forces and torques to be applied. Must be the same number of values as for ‘axes’.

Default: 5.0, 5.0

compliance : float

Force controller gain

Default: 0.002

corner_frequency : float

Force controller corner frequency

Default: 5.0

rotation_axes : csv:string

List of axes to be aligned.

Default: a

rotation_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.

max_angular_velocity : float

Max angular velocity.

Default: 1.5

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’, ‘rotation’, ‘hold’])

force : skill_apply_force

Applies a force in the direction of a frame

rotation : skill_lin

Aligns the tool frame with a target frame

hold : skill_hold_pose

Hold the position/orientation on selected axes.

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

No examples found that make use of skill_pivot