skill_ptp_time_optimal

Keeps on tracking a joint configuration using a time-optimal trajectory

Defined at line 8 of file skills/skill_ptp_time_optimal.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.
trajectory_duration : float
Duration of the trajectory in [s]; ‘0’ means as fast as possible. The realized duration can be longer if the original value conflicts with maximal velocity.
Default: False
max_angular_velocity : float
Max angular velocity.
Default: 1.0
max_angular_acceleration : float
Max angular acceleration.
Default: 1.0
joint_positioning_accuracy : csv:float
Threshold around the target joint state to consider it reached by the robot. One entry for all OR one entry for each joint.
Default: 0.01

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.
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.
angular_controller_gain : float
Specifies the angular controller gain for joint position control.
Default: 3.0
angular_ff_controller_gain : float
Specifies the angular velocity-feed-forward controller gain for joint position control.
Default: 0.7
positioning_monitor : Unknown object
Checks whether the target joint state has been reached

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_ptp_time_optimal