skill_push_settle

A skill that pushes until the force error is within a region for an acceptable number of samples.

Defined at line 128 of file skills/skill_push.xml in package pitasc_library.

Meta data

Categories
single_robot, force_controlled
Prototypes
skill_push, skill_concurrency, skill_single_robot, skill, object, dictionary, base, descriptive

Parameters

Required parameters:

tool_frame : string
Name of the tool frame.
force_frame : string
Name of the frame that defines the direction of motion.
axes : csv:string
List of axes.
target_forces : csv:float
Forces and torques to be applied. Must be the same number of values as for ‘axes’.

Basic parameters:

robot : dict
Robot that is controlled by the skill (only needs to be set at the application level).
compliance : float
A floating point number parameter
Default: 0.002
corner_frequency : float
A floating point number parameter
Default: 5.0
thresholds : csv:float
Half the error band peak-to-peak span for successful settling.
Default: 1.0
samples : int
Number of control steps the measurements need to stay in the error band.
Default: 25

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([‘monitor_control_error’])
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’, ‘hold’])
force : skill_apply_force
Applies a force in the direction of a 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

skill_push_settle is used in the following examples: