linear_axis.xml

This example application shows the usage of a linear axis First in cartesian movements then with joint movements

Models used

File contents

 1<?xml version="1.0" encoding="UTF-8"?>
 2
 3<!-- This example application shows the usage of a linear axis
 4    First in cartesian movements then with joint movements
 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="urdf_base_link">linear_axis</member>
25                <member id="urdf_joint_names">
26                    linear_axis_joint,
27                    shoulder_pan_joint,
28                    shoulder_lift_joint,
29                    elbow_joint,
30                    wrist_1_joint,
31                    wrist_2_joint,
32                    wrist_3_joint
33                </member>
34                <member id="robot_driver.max_velocity">2.0</member>
35                <member id="robot_driver.max_acceleration">3.0</member>
36                <member id="components">
37                    <clone prototype="force_sensor">
38                        <member id="wrench_topic">wrench</member>
39                    </clone>
40                </member>
41            </clone>
42        </member>
43
44        <member id="applications">
45            <clone prototype="skill_sequence">
46
47                <member id="robot" reference_id="environment.robot_ur5"/>
48
49                <!-- Skills -->
50                <member id="skills">
51
52                    <!-- Move to target1 (lin) -->
53                    <clone prototype="skill_lin">
54                        <member id="tool_frame">tool</member>
55                        <member id="target_frame">target1</member>
56                    </clone>
57
58                    <!-- Move to target2 (lin) -->
59                    <clone prototype="skill_lin">
60                        <member id="tool_frame">tool</member>
61                        <member id="target_frame">target2</member>
62                    </clone>
63
64                    <!-- Move to linear axis (joint) -->
65                    <clone prototype="skill_relative_ptp">
66                        <member id="relative_joint_state">-0.1,0, 0, 0, 0, 0, 0</member>
67                    </clone>
68
69                    <!-- Move to linear axis (joint) -->
70                    <clone prototype="skill_relative_ptp">
71                        <member id="relative_joint_state">+0.1, 0, 0, 0, 0, 0, 0</member>
72                    </clone>
73
74                </member>
75
76            </clone>
77        </member>
78
79    </clone>
80
81</pitasc>