simple_idle.xml
This example application shows a minimal project.
A UR5 idles for 3 seconds. Then the application terminates.
Models used
skill_idle_duration: lines 52
skill_relative_ptp: lines 47
skill_sequence: lines 38
File contents
1<?xml version="1.0" encoding="UTF-8"?>
2
3<!-- This example application shows a minimal project.
4
5A UR5 idles for 3 seconds. Then the application terminates.
6-->
7
8<pitasc>
9
10 <models>
11 <!-- Include pitasc -->
12 <include package="pitasc_library" file="models/pitasc.xml"/>
13
14 <!-- Include the UR5 -->
15 <include package="pitasc_library" file="universal_robots/ur.xml"/>
16
17 <!-- Include the idle skill -->
18 <include package="pitasc_library" file="models/skills.xml"/>
19
20 </models>
21
22 <!-- Create a project -->
23 <clone prototype="project">
24
25 <member id="configuration">
26 <!-- Use the default configuration with recommended settings -->
27 <clone id="configuration" prototype="default_configuration"/>
28 </member>
29
30 <member id="environment">
31 <!-- Add a UR5 -->
32 <clone prototype="robot_ur5"/>
33 </member>
34
35 <member id="applications">
36
37 <!-- Use a skill sequence as a container -->
38 <clone prototype="skill_sequence">
39
40 <!-- Use the UR5 for this skill (and for its subskill) -->
41 <member id="robot" reference_id="environment.robot_ur5"/>
42
43 <!-- Add subskill(s) -->
44 <member id="skills">
45
46 <!-- needed, because pitasc does not create the robot publisher otherwise -->
47 <clone prototype="skill_relative_ptp">
48 <member id="relative_joint_state">0, 0, 0, 0, 0, 0</member>
49 </clone>
50
51 <!-- Idle for 3 seconds -->
52 <clone prototype="skill_idle_duration">
53 <member id="duration">3.0</member>
54 </clone>
55
56 </member>
57
58 </clone>
59
60 </member>
61
62 </clone>
63
64</pitasc>