59 lines
No EOL
2.2 KiB
JSON
59 lines
No EOL
2.2 KiB
JSON
{
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"_id": "670fb72fbe59e3bad409bef4",
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"bgColor": "rgba(5, 26, 39, 1)",
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"borderColor": "rgba(25, 130, 196, 1)",
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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 skill" },
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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": "formBuilder",
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"dependency": {
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"result": "{\"robot_name\": \\${ROBOT_NAME:string:rbs_arm}, \"pose\": {\"position\": { \"x\": \\${X:number:0.0}, \"y\": \\${Y:number:0.2}, \"z\": \\${Z:number:0.5} }, \"orientation\": { \"x\": \\${X:number:0.5}, \"y\": \\${Y:number:0.4}, \"z\": \\${Z:number:0.0}, \"w\": \\${W:number:1.0} }}}",
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"context": "type ITEM = {\"name\": \\${NAME:string:default}};",
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"form": [],
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"output": "",
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"type": "formBuilder"
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},
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"isFilled": false
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}
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],
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"result": [],
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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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"result": "{\"params\": \\${ITEM:Array<ITEM>:[]}}",
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"context": "type ITEM = {\"name\": \\${NAME:string:default},\"value\": \\${VALUE:string:default}};",
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"form": [],
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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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"value2": "mtp_moveit",
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"value3": "mtp_cart"
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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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"type": "formBuilder"
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},
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"__v": 0
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} |