transitions.xml
This example application shows the usage of a skill sequence. ptp -> lin -> idle -> approach
Models used
skill_idle_duration: lines 108
skill_lin: lines 38, 47, 53, 60, 73, 82, 93, 100
skill_sequence: lines 30, 43, 45, 78, 80
File contents
1<?xml version="1.0" encoding="UTF-8"?>
2
3<!-- This example application shows the usage of a skill sequence.
4ptp -> lin -> idle -> approach
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 <clone prototype="project">
17
18 <member id="configuration">
19 <clone id="configuration" prototype="default_configuration"/>
20 </member>
21
22 <member id="environment">
23 <clone prototype="robot_ur5">
24 <member id="robot_driver.max_velocity">2.0</member>
25 <member id="robot_driver.max_acceleration">3.0</member>
26 </clone>
27 </member>
28
29 <member id="applications">
30 <clone prototype="skill_sequence">
31
32 <!-- Use this robot for this skill and all its subskills -->
33 <member id="robot" reference_id="environment.robot_ur5"/>
34
35 <!-- Add skills -->
36 <member id="skills">
37
38 <clone prototype="skill_lin">
39 <member id="tool_frame">tool</member>
40 <member id="target_frame">target1</member>
41 </clone>
42
43 <clone prototype="skill_sequence">
44 <member id="skills">
45 <clone prototype="skill_sequence">
46 <member id="skills">
47 <clone prototype="skill_lin">
48 <member id="tool_frame">tool</member>
49 <member id="target_frame">target2</member>
50 <member id="positioning_monitor.event">custom_event</member>
51 </clone>
52
53 <clone id="should_not_be_executed" prototype="skill_lin">
54 <member id="tool_frame">tool</member>
55 <member id="target_frame">target3</member>
56 </clone>
57 </member>
58 </clone>
59
60 <clone id="should_not_be_executed" prototype="skill_lin">
61 <member id="tool_frame">tool</member>
62 <member id="target_frame">target3</member>
63 </clone>
64 </member>
65 <member id="transitions">
66 <clone prototype="transition">
67 <member id="event">custom_event</member>
68 <member id="target">should_be_executed</member>
69 </clone>
70 </member>
71 </clone>
72
73 <clone id="should_be_executed" prototype="skill_lin">
74 <member id="tool_frame">tool</member>
75 <member id="target_frame">target1</member>
76 </clone>
77
78 <clone prototype="skill_sequence">
79 <member id="skills">
80 <clone prototype="skill_sequence">
81 <member id="skills">
82 <clone prototype="skill_lin">
83 <member id="tool_frame">tool</member>
84 <member id="target_frame">target2</member>
85 <member id="transitions">
86 <clone prototype="transition">
87 <member id="event">succeeded</member>
88 <member id="target">succeeded</member>
89 </clone>
90 </member>
91 </clone>
92
93 <clone id="should_not_be_executed" prototype="skill_lin">
94 <member id="tool_frame">tool</member>
95 <member id="target_frame">target3</member>
96 </clone>
97 </member>
98 </clone>
99
100 <clone id="should_be_executed" prototype="skill_lin">
101 <member id="tool_frame">tool</member>
102 <member id="target_frame">target1</member>
103 </clone>
104 </member>
105 </clone>
106
107 <!-- Idle for 1 second -->
108 <clone prototype="skill_idle_duration">
109 <member id="duration">1.0</member>
110 </clone>
111
112 </member>
113
114 </clone>
115 </member>
116
117 </clone>
118
119</pitasc>