free_drive.xml
This example application shows the usage of some force skills. Move to a target, establishes a contact, pushes for some seconds, keeps on pushing while moving in another direction (slide), returns to the initial target
Models used
skill_lin: lines 44, 60, 76, 92, 107, 122, 137
skill_push_duration: lines 49, 65, 81, 97, 112, 127
skill_sequence: lines 36
File contents
1<?xml version="1.0" encoding="UTF-8"?>
2
3<!-- This example application shows the usage of some force skills.
4Move to a target, establishes a contact, pushes for some seconds,
5keeps on pushing while moving in another direction (slide), returns to the initial target
6-->
7
8<pitasc>
9
10 <models>
11 <include package="pitasc_library" file="models/pitasc.xml"/>
12 <include package="pitasc_library" file="models/skills.xml"/>
13
14 <include package="pitasc_library" file="universal_robots/ur.xml"/>
15 </models>
16
17 <clone prototype="project">
18
19 <member id="configuration">
20 <clone id="configuration" prototype="default_configuration"/>
21 </member>
22
23 <member id="environment">
24 <clone prototype="robot_ur5">
25 <member id="robot_driver.max_velocity">2.0</member>
26 <member id="robot_driver.max_acceleration">3.0</member>
27 <member id="components">
28 <clone prototype="force_sensor">
29 <member id="wrench_topic">wrench</member>
30 </clone>
31 </member>
32 </clone>
33 </member>
34
35 <member id="applications">
36 <clone prototype="skill_sequence">
37
38 <member id="robot" reference_id="environment.robot_ur5"/>
39
40 <!-- Skills -->
41 <member id="skills">
42
43 <!-- First move to start position -->
44 <clone prototype="skill_lin">
45 <member id="tool_frame">tool</member>
46 <member id="target_frame">start_position</member>
47 </clone>
48
49 <clone prototype="skill_push_duration">
50 <member id="skill_name">position_free_drive</member>
51 <member id="tool_frame">tool</member>
52 <member id="force_frame">tool</member>
53 <member id="axes">x</member>
54 <member id="target_forces">0</member>
55 <member id="compliance">0.05</member>
56 <member id="corner_frequency">7</member>
57 <member id="duration">15.0</member>
58 </clone>
59
60 <clone prototype="skill_lin">
61 <member id="tool_frame">tool</member>
62 <member id="target_frame">start_position</member>
63 </clone>
64
65 <clone prototype="skill_push_duration">
66 <member id="skill_name">position_free_drive</member>
67 <member id="tool_frame">tool</member>
68 <member id="force_frame">tool</member>
69 <member id="axes">y</member>
70 <member id="target_forces">0</member>
71 <member id="compliance">0.05</member>
72 <member id="corner_frequency">7</member>
73 <member id="duration">15.0</member>
74 </clone>
75
76 <clone prototype="skill_lin">
77 <member id="tool_frame">tool</member>
78 <member id="target_frame">start_position</member>
79 </clone>
80
81 <clone prototype="skill_push_duration">
82 <member id="skill_name">position_free_drive</member>
83 <member id="tool_frame">tool</member>
84 <member id="force_frame">tool</member>
85 <member id="axes">z</member>
86 <member id="target_forces">0</member>
87 <member id="compliance">0.05</member>
88 <member id="corner_frequency">7</member>
89 <member id="duration">15.0</member>
90 </clone>
91
92 <clone prototype="skill_lin">
93 <member id="tool_frame">tool</member>
94 <member id="target_frame">start_position</member>
95 </clone>
96
97 <clone prototype="skill_push_duration">
98 <member id="tool_frame">tool</member>
99 <member id="force_frame">tool</member>
100 <member id="axes">a</member>
101 <member id="target_forces">0</member>
102 <member id="compliance">0.05</member>
103 <member id="corner_frequency">7</member>
104 <member id="duration">15.0</member>
105 </clone>
106
107 <clone prototype="skill_lin">
108 <member id="tool_frame">tool</member>
109 <member id="target_frame">start_position</member>
110 </clone>
111
112 <clone prototype="skill_push_duration">
113 <member id="tool_frame">tool</member>
114 <member id="force_frame">tool</member>
115 <member id="axes">b</member>
116 <member id="target_forces">0</member>
117 <member id="compliance">0.05</member>
118 <member id="corner_frequency">7</member>
119 <member id="duration">15.0</member>
120 </clone>
121
122 <clone prototype="skill_lin">
123 <member id="tool_frame">tool</member>
124 <member id="target_frame">start_position</member>
125 </clone>
126
127 <clone prototype="skill_push_duration">
128 <member id="tool_frame">tool</member>
129 <member id="force_frame">tool</member>
130 <member id="axes">c</member>
131 <member id="target_forces">0</member>
132 <member id="compliance">0.05</member>
133 <member id="corner_frequency">7</member>
134 <member id="duration">15.0</member>
135 </clone>
136
137 <clone prototype="skill_lin">
138 <member id="tool_frame">tool</member>
139 <member id="target_frame">start_position</member>
140 </clone>
141 </member>
142
143 </clone>
144 </member>
145
146 </clone>
147
148</pitasc>