20 def->component(remote.kinematicUnit);
21 def->component(remote.leftHandUnit,
"LeftHandUnit",
"LeftHandUnit");
22 def->component(remote.rightHandUnit,
"RightHandUnit",
"RightHandUnit");
24 def->required(properties.robotName,
"RobotName",
"Name of the robot.");
33 armarx::control::skills::config::ZeroTorque skillConfig;
34 skillConfig.robotName = properties.robotName;
50 remote.kinematicUnit, robotStateReader, properties.robotName};
51 addSkillFactory<armarx::control::skills::skills::MoveJointsToPosition>(srv);
55 remote.kinematicUnit};
56 addSkillFactory<armarx::control::skills::skills::MoveJointsWithVelocity>(srv);
60 remote.rightHandUnit};
61 addSkillFactory<armarx::control::skills::skills::RelaxHand>(srv);
65 remote.rightHandUnit};
66 addSkillFactory<armarx::control::skills::skills::ShapeHand>(srv);
69 addSkillFactory<armarx::control::skills::skills::OpenHand>();
72 addSkillFactory<armarx::control::skills::skills::CloseHand>();
76 .
localRobot_ = remote.robotReaderPlugin->get().getRobot(properties.robotName),
77 .robotUnitPlugin_ = remote.robotUnitPlugin};
78 skillBlueprints.zeroTorque->connectTo(context);
98 return Component::defaultName;
104 return Component::defaultName;