multiple_apps.xml
This example project shows how to use multipe apps in one project.
Models used
skill_approach: lines 52
skill_lin: lines 48
skill_ptp: lines 37
skill_sequence: lines 33, 44
File contents
1<?xml version="1.0" encoding="UTF-8"?>
2
3<!-- This example project shows how to use multipe apps in one project.
4
5-->
6
7<pitasc>
8
9 <models>
10 <include package="pitasc_library" file="models/pitasc.xml"/>
11 <include package="pitasc_library" file="models/skills.xml"/>
12
13 <include package="pitasc_library" file="universal_robots/ur.xml"/>
14 </models>
15
16 <!-- Create a project -->
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 </clone>
28 </member>
29
30 <member id="applications">
31
32 <!-- Add an application... -->
33 <clone id="my_application" prototype="skill_sequence">
34 <member id="robot" reference_id="environment.robot_ur5"/>
35
36 <member id="skills">
37 <clone id="ptp" prototype="skill_ptp">
38 <member id="target_joint_state">0, -1.57, 1.57, 0, -1.57, -1.57</member>
39 </clone>
40 </member>
41 </clone>
42
43 <!-- ... and another one -->
44 <clone id="another_application" prototype="skill_sequence">
45 <member id="robot" reference_id="environment.robot_ur5"/>
46
47 <member id="skills">
48 <clone id="move_to" prototype="skill_lin">
49 <member id="tool_frame">tool</member>
50 <member id="target_frame">target1</member>
51 </clone>
52 <clone id="approach" prototype="skill_approach">
53 <member id="tool_frame">tool</member>
54 <member id="target_frame">target1</member>
55 <member id="approach_offsets">0, 0, -0.1, 0, 0, 0</member>
56 </clone>
57 </member>
58 </clone>
59
60 </member>
61
62 </clone>
63
64</pitasc>