{
    "skills": [
        {
            "sid": "a",
            "SkillPackage": { "name": "Robossembler", "version": "1.0", "format": "1" },
            "Module": { "node_name": "skill_mtp", "name": "MoveToPose", "description": "Move to Pose skill" },
            "Launch": { "executable": "skill_movetopose.py", "package": "rbss_movetopose" },
            "BTAction": [
                {
                    "name": "move",
                    "type": "action",
                    "param": [
                        {
                            "type": "move_to_pose",
                            "dependency": { "robot_name": "rbs_arm",
                                            "pose": { "position": {"x":-0.15, "y":-0.3, "z":0.3}, "orientation": {"x":0.0, "y":1.0, "z":0.0, "w": 0.0} } }
                        }
                    ],
                    "typeAction": "ACTION"
                }
            ],
            "topicsOut": [],
            "Settings": {
                "output": {
                    "params": [
                        {
                            "name": "server_name",
                            "value3": "mtp_jtc",
                            "value2": "mtp_moveit",
                            "value": "mtp_cart"
                        },
                        {
                            "name": "duration",
                            "value": "5.0"
                        },
                        {
                            "name": "end_effector_velocity",
                            "value": "1.0"
                        },
                        {
                            "name": "end_effector_acceleration",
                            "value": "1.0"
                        }
                    ]
                }
            }
        }
    ]
}