frames_from_yaml.xml

This example application shows how to load frames from a yaml file to use with pitasc

Models used

File contents

 1<?xml version="1.0" encoding="UTF-8"?>
 2
 3<!-- This example application shows how to load frames from a yaml file to use with pitasc
 4-->
 5
 6<pitasc>
 7
 8    <models>
 9        <include package="pitasc_library" file="models/pitasc.xml" />
10        <include package="pitasc_library" file="models/skills.xml" />
11
12        <include package="pitasc_library" file="universal_robots/ur.xml" />
13    </models>
14
15    <clone prototype="project">
16
17        <member id="configuration">
18            <clone id="configuration" prototype="default_configuration" />
19        </member>
20
21        <member id="environment">
22            <clone prototype="robot_ur5">
23                <member id="robot_driver.max_velocity">2.0</member>
24                <member id="robot_driver.max_acceleration">3.0</member>
25                <member id="components">
26                    <clone prototype="force_sensor">
27                        <member id="wrench_topic">wrench</member>
28                    </clone>
29                </member>
30            </clone>
31        </member>
32
33        <member id="applications">
34            <clone prototype="skill_sequence">
35
36                <member id="robot" reference_id="environment.robot_ur5" />
37
38                <!-- Skills -->
39                <member id="skills">
40
41                    <!-- First move to start position -->
42                    <clone prototype="skill_relative_ptp">
43                        <member id="relative_joint_state">0, 0, 0, -0.01, 0, 0</member>
44                    </clone>
45
46                    <clone prototype="skill_idle_duration">
47                        <member id="duration">2.0</member>
48                        <member id="scripts">
49                            <clone prototype="script_set_frames_from_yaml">
50                                <member id="package">pitasc_common</member>
51                                <member id="path_to_yaml">etc/frames.yaml</member>
52                                <member id="tf_broadcast">true</member>
53                            </clone>
54                        </member>
55                    </clone>
56                    <clone prototype="skill_lin">
57                        <member id="tool_frame">tool</member>
58                        <member id="target_frame">frame1</member>
59                    </clone>
60
61                    <clone prototype="skill_lin">
62                        <member id="tool_frame">tool</member>
63                        <member id="target_frame">frame_axis</member>
64                    </clone>
65
66                    <clone prototype="skill_lin">
67                        <member id="tool_frame">tool</member>
68                        <member id="target_frame">frame_cube</member>
69                    </clone>
70
71                    <clone prototype="skill_lin">
72                        <member id="tool_frame">tool</member>
73                        <member id="target_frame">frame_plane</member>
74                    </clone>
75
76                    <clone prototype="skill_lin">
77                        <member id="tool_frame">tool</member>
78                        <member id="target_frame">frame_sphere</member>
79                    </clone>
80
81                </member>
82
83            </clone>
84        </member>
85
86    </clone>
87
88</pitasc>