How to add a skill to an application

To add a skill, you have to include the skill by adding the include statement at the start of the <models> tag.

<pitasc>
    <models>
        <include package="package_name" file="path/skill_file.xml"/>
    ...

Note

For adding all in pitasc already defined skills, use the following include statement, which you can also find in every example application file.

<include package="pitasc_library" file="models/skills.xml"/>

Add the skill inside the <member id="skills"> tag of a composition skill (e.g., skill_sequence, skill_parallel). You add the skill by creating a copy of the skill using the <clone> tag.

<pitasc>
    <models>
        <include package="your_package" file="skills/skill_[skill_file_name].xml"/> <!-- {parent_skill_id} -->
    </models>
    <clone prototype="project">
        <member id="applications">
            <clone id="my_app" prototype="skill_sequence">
                <member id="skills">
                    <clone id="{skill_id}" prototype="{skill_type_name}">
                        <member id="{parameter}">{value}</member>
                        ...
                    </clone>
                </member>
            </clone>
        </member>
    </clone>
</pitasc>

Replace {skill_id} by a locally unique name. If id is not set, the id is set to the prototype appended by a number if multiple skills of the same type are already existing at this point.

Replace {skill_type_name} with the name of the skill you want to create

Set skill parameters by using member tags and replacing {parameter} and {value} with the respective skill parameter name and the desired value.

Note

See also the xml reference of Skills

Example:

<?xml version="1.0" encoding="UTF-8"?>
<pitasc>
    <models>
        <!-- Include pitasc -->
        <include package="pitasc_library" file="models/pitasc.xml"/>
        <!-- Include the UR5 -->
        <include package="pitasc_library" file="universal_robots/ur.xml"/>
        <!-- Include the skills -->
        <include package="pitasc_library" file="models/skills.xml"/>
    </models>

    <!-- Create a project -->
    <clone prototype="project">
        <member id="configuration">
            <!-- Use the default configuration with recommended settings -->
            <clone id="configuration" prototype="default_configuration"/>
        </member>

        <member id="environment">
            <!-- Add a UR5 -->
            <clone prototype="robot_ur5">
                <member id="robot_driver.max_velocity">2.0</member>
                <member id="robot_driver.max_acceleration">3.0</member>
            </clone>
        </member>

        <member id="applications">
            <clone id="my_app" prototype="skill_sequence">
                <member id="robot" reference_id="environment.robot_ur5"/>
                <member id="skills">
                    <!-- Move to starting position -->
                    <clone prototype="skill_lin">
                        <member id="tool_frame">tool</member>
                        <member id="target_frame">start_position</member>
                        <member id="target_offsets">0.0, -0.15, 0.0, 0.0, 0, 0.0</member>
                    </clone>
                </member>
            </clone>
        </member>
    </clone>
</pitasc>