49 lines
No EOL
1.8 KiB
JSON
49 lines
No EOL
1.8 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": { "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": "move_to_pose",
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"dependency": { "robot_name": "rbs_arm",
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"pose": { "position": {"x":-0.15, "y":-0.3, "z":0.3}, "orientation": {"x":0.0, "y":1.0, "z":0.0, "w": 0.0} } }
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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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"value3": "mtp_jtc",
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"value2": "mtp_moveit",
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"value": "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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}
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}
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]
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} |