skill_ptp_trajectory

Keeps on tracking a joint configuration

Defined at line 8 of file skills/skill_ptp_trajectory.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:

waypoints : list:ptp_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).
joint_names : csv:string
Joint names of the target pose.
max_angular_velocity : float
Max angular velocity.
Default: 1.0
max_angular_acceleration : float
Max angular velocity.
Default: 1.0
thresholds : csv:float
Joint value thresholds. One entry for all or one entry for each joint.
Default: 0.005

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 approx. linear gain of the controller transfer function for the joint angles.
Default: 3.0
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’])
angular_ff_controller_gain : float
Specifies the velocity feed-forward gain of the controller
Default: 0.8

Examples

skill_ptp_trajectory is used in the following examples: