scrollable_multiple_apps.xml
This example project shows how to use multipe apps in one project.
Models used
skill_approach: lines 52
skill_idle: lines 60, 62, 64, 66, 68, 70, 72, 74, 76, 78, 80, 82, 84, 86, 88, 90, 92, 94, 96, 98, 100, 102, 104, 106, 108, 110, 112, 114, 116, 118, 120, 122, 124, 126, 128, 130, 132, 134, 136, 138, 140, 142, 144, 146, 148, 150, 152, 154, 156, 158, 160, 162, 164, 166, 168, 170, 172, 174, 176, 178, 180, 182, 184, 186, 188, 190, 192, 194, 196, 198, 200, 202, 204, 206, 208, 210, 212, 214, 216, 218, 220, 222, 224, 226, 228, 230, 232, 234, 236, 238, 240, 242, 244, 246, 248, 250, 252, 254, 256, 258
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 <clone id="app_01" prototype="skill_idle">
61 </clone>
62 <clone id="app_02" prototype="skill_idle">
63 </clone>
64 <clone id="app_03" prototype="skill_idle">
65 </clone>
66 <clone id="app_04" prototype="skill_idle">
67 </clone>
68 <clone id="app_05" prototype="skill_idle">
69 </clone>
70 <clone id="app_06" prototype="skill_idle">
71 </clone>
72 <clone id="app_07" prototype="skill_idle">
73 </clone>
74 <clone id="app_08" prototype="skill_idle">
75 </clone>
76 <clone id="app_09" prototype="skill_idle">
77 </clone>
78 <clone id="app_10" prototype="skill_idle">
79 </clone>
80 <clone id="app_11" prototype="skill_idle">
81 </clone>
82 <clone id="app_12" prototype="skill_idle">
83 </clone>
84 <clone id="app_13" prototype="skill_idle">
85 </clone>
86 <clone id="app_14" prototype="skill_idle">
87 </clone>
88 <clone id="app_15" prototype="skill_idle">
89 </clone>
90 <clone id="app_16" prototype="skill_idle">
91 </clone>
92 <clone id="app_17" prototype="skill_idle">
93 </clone>
94 <clone id="app_18" prototype="skill_idle">
95 </clone>
96 <clone id="app_19" prototype="skill_idle">
97 </clone>
98 <clone id="app_20" prototype="skill_idle">
99 </clone>
100 <clone id="app_01" prototype="skill_idle">
101 </clone>
102 <clone id="app_02" prototype="skill_idle">
103 </clone>
104 <clone id="app_03" prototype="skill_idle">
105 </clone>
106 <clone id="app_04" prototype="skill_idle">
107 </clone>
108 <clone id="app_05" prototype="skill_idle">
109 </clone>
110 <clone id="app_06" prototype="skill_idle">
111 </clone>
112 <clone id="app_07" prototype="skill_idle">
113 </clone>
114 <clone id="app_08" prototype="skill_idle">
115 </clone>
116 <clone id="app_09" prototype="skill_idle">
117 </clone>
118 <clone id="app_10" prototype="skill_idle">
119 </clone>
120 <clone id="app_11" prototype="skill_idle">
121 </clone>
122 <clone id="app_12" prototype="skill_idle">
123 </clone>
124 <clone id="app_13" prototype="skill_idle">
125 </clone>
126 <clone id="app_14" prototype="skill_idle">
127 </clone>
128 <clone id="app_15" prototype="skill_idle">
129 </clone>
130 <clone id="app_16" prototype="skill_idle">
131 </clone>
132 <clone id="app_17" prototype="skill_idle">
133 </clone>
134 <clone id="app_18" prototype="skill_idle">
135 </clone>
136 <clone id="app_19" prototype="skill_idle">
137 </clone>
138 <clone id="app_20" prototype="skill_idle">
139 </clone>
140 <clone id="app_01" prototype="skill_idle">
141 </clone>
142 <clone id="app_02" prototype="skill_idle">
143 </clone>
144 <clone id="app_03" prototype="skill_idle">
145 </clone>
146 <clone id="app_04" prototype="skill_idle">
147 </clone>
148 <clone id="app_05" prototype="skill_idle">
149 </clone>
150 <clone id="app_06" prototype="skill_idle">
151 </clone>
152 <clone id="app_07" prototype="skill_idle">
153 </clone>
154 <clone id="app_08" prototype="skill_idle">
155 </clone>
156 <clone id="app_09" prototype="skill_idle">
157 </clone>
158 <clone id="app_10" prototype="skill_idle">
159 </clone>
160 <clone id="app_11" prototype="skill_idle">
161 </clone>
162 <clone id="app_12" prototype="skill_idle">
163 </clone>
164 <clone id="app_13" prototype="skill_idle">
165 </clone>
166 <clone id="app_14" prototype="skill_idle">
167 </clone>
168 <clone id="app_15" prototype="skill_idle">
169 </clone>
170 <clone id="app_16" prototype="skill_idle">
171 </clone>
172 <clone id="app_17" prototype="skill_idle">
173 </clone>
174 <clone id="app_18" prototype="skill_idle">
175 </clone>
176 <clone id="app_19" prototype="skill_idle">
177 </clone>
178 <clone id="app_20" prototype="skill_idle">
179 </clone>
180 <clone id="app_01" prototype="skill_idle">
181 </clone>
182 <clone id="app_02" prototype="skill_idle">
183 </clone>
184 <clone id="app_03" prototype="skill_idle">
185 </clone>
186 <clone id="app_04" prototype="skill_idle">
187 </clone>
188 <clone id="app_05" prototype="skill_idle">
189 </clone>
190 <clone id="app_06" prototype="skill_idle">
191 </clone>
192 <clone id="app_07" prototype="skill_idle">
193 </clone>
194 <clone id="app_08" prototype="skill_idle">
195 </clone>
196 <clone id="app_09" prototype="skill_idle">
197 </clone>
198 <clone id="app_10" prototype="skill_idle">
199 </clone>
200 <clone id="app_11" prototype="skill_idle">
201 </clone>
202 <clone id="app_12" prototype="skill_idle">
203 </clone>
204 <clone id="app_13" prototype="skill_idle">
205 </clone>
206 <clone id="app_14" prototype="skill_idle">
207 </clone>
208 <clone id="app_15" prototype="skill_idle">
209 </clone>
210 <clone id="app_16" prototype="skill_idle">
211 </clone>
212 <clone id="app_17" prototype="skill_idle">
213 </clone>
214 <clone id="app_18" prototype="skill_idle">
215 </clone>
216 <clone id="app_19" prototype="skill_idle">
217 </clone>
218 <clone id="app_20" prototype="skill_idle">
219 </clone>
220 <clone id="app_01" prototype="skill_idle">
221 </clone>
222 <clone id="app_02" prototype="skill_idle">
223 </clone>
224 <clone id="app_03" prototype="skill_idle">
225 </clone>
226 <clone id="app_04" prototype="skill_idle">
227 </clone>
228 <clone id="app_05" prototype="skill_idle">
229 </clone>
230 <clone id="app_06" prototype="skill_idle">
231 </clone>
232 <clone id="app_07" prototype="skill_idle">
233 </clone>
234 <clone id="app_08" prototype="skill_idle">
235 </clone>
236 <clone id="app_09" prototype="skill_idle">
237 </clone>
238 <clone id="app_10" prototype="skill_idle">
239 </clone>
240 <clone id="app_11" prototype="skill_idle">
241 </clone>
242 <clone id="app_12" prototype="skill_idle">
243 </clone>
244 <clone id="app_13" prototype="skill_idle">
245 </clone>
246 <clone id="app_14" prototype="skill_idle">
247 </clone>
248 <clone id="app_15" prototype="skill_idle">
249 </clone>
250 <clone id="app_16" prototype="skill_idle">
251 </clone>
252 <clone id="app_17" prototype="skill_idle">
253 </clone>
254 <clone id="app_18" prototype="skill_idle">
255 </clone>
256 <clone id="app_19" prototype="skill_idle">
257 </clone>
258 <clone id="app_20" prototype="skill_idle">
259 </clone>
260 </member>
261
262 </clone>
263
264</pitasc>