73 lines
No EOL
2.7 KiB
JSON
73 lines
No EOL
2.7 KiB
JSON
{
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"skills": [
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{
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"sid": "a",
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"SkillPackage": { "name": "Robossembler", "version": "1.0", "format": "1" },
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"Module": { "name": "RecordingDemo", "description": "Recording a demo via RosBag", "node_name": "lc_record_demo" },
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"Launch": { "package": "rbs_utils", "executable": "recording_demo_via_rosbag.py" },
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"BTAction": [
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{
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"name": "rdConfigure",
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"type_action": "action",
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"type": "run",
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"param": []
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},
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{ "name": "rdStop", "type_action": "action", "type": "stop", "param": [] }
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],
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"topicsOut": [],
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"Settings": {
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"output": {
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"params": [
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{
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"name": "output_path",
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"value": "rbs_testbag"
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}
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]
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}
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}
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},
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{
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"sid": "b",
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"SkillPackage": { "name": "Robossembler", "version": "1.0", "format": "1" },
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"Module": { "node_name": "skill_mtp", "name": "MoveToPose", "description": "Move to pose with joint trajectory controller" },
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"Launch": { "executable": "skill_movetopose.py", "package": "rbss_movetopose" },
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"BTAction": [
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{
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"name": "move",
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"type": "action",
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"param": [
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{
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"type": "move_to_pose",
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"dependency": { "robot_name": "rbs_arm",
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"pose": { "position": {"x":0.1, "y":0.1, "z":0.7}, "orientation": {"x":0.55, "y":0.0, "z":0.45, "w": 1.0} } }
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}
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],
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"typeAction": "ACTION"
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}
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],
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"topicsOut": [],
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"Settings": {
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"output": {
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"params": [
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{
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"name": "server_name",
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"value": "mtp_jtc"
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},
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{
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"name": "duration",
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"value": "5.0"
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},
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{
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"name": "end_effector_velocity",
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"value": "1.0"
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},
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{
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"name": "end_effector_acceleration",
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"value": "1.0"
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}
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]
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}
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}
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}
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]
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} |