turtle_test_skills.yaml

explore:
  - mode: build_up  # build_up mode: summarize input parameters into group
    group: pos  # arbitrary name except for parameter names
    members:
      - x_pos  # this must be the same as the parameter used in Mission.srv
      - y_pos
  - mode: build_up
    group: scale
    members:
      - x_scale
      - y_scale

mapping:
  - mode: break_down  # break_down mode: expand input parameters into elements
    group: list_pose  # this must be the same as the parameter used in Mission.srv
    type: posedict  # only required if mode == break_down.

# mode break_down:
#   All types except for `dict` are currenly hard coded.
#   This is because break_down mode will only be required for input parameter 'list'.
#   We need 'type' info to know WHAT will be inside of the list.
#   This 'type' info is also required for interactive marker assignments.
# type
#   - dict: non-nested dictionary
#   - posedict: each element is dictionary with key 'x', 'y', 'z', 'roll', 'pitch', 'yaw'

# TODO: Implement break_down mode for list of dictionary representing pose
#       (such as [x, y, z, roll, pitch, yaw] or {x: 1.2; y: 8.3, z: 4.2, roll: 3.1415, pitch: 0, yaw: 1.13})
# TODO: rename type 'dict' for break_down to `POSEDICT`?
# TODO: rename type 'posedict' for break_down to 'LIST_POSEDICT'?

move_to_pose:
  - mode: build_up
    group: pose
    members:
      - x_pos
      - y_pos
      - yaw

move_to_position:
  - mode: build_up
    group: pos
    members:
      - x_pos
      - y_pos

move_to_position_backward:
  - mode: build_up
    group: pos
    members:
      - x_pos
      - y_pos

take_measurements:
  - mode: build_up
    group: pos
    members:
      - x_pos
      - y_pos