mimic_gripper.xml

This example application shows the behaviour of pitasc with limited mimic joints

Models used

File contents

 1<?xml version="1.0" encoding="UTF-8"?>
 2
 3<!-- This example application shows the behaviour of pitasc with limited mimic joints
 4-->
 5
 6<pitasc>
 7
 8    <models>
 9        <include package="pitasc_library" file="models/pitasc.xml"/>
10        <include package="pitasc_library" file="models/skills.xml"/>
11
12        <include package="pitasc_library" file="universal_robots/ur.xml"/>
13    </models>
14
15    <clone prototype="project">
16
17        <member id="configuration">
18            <clone id="configuration" prototype="default_configuration"/>
19        </member>
20
21        <member id="environment">
22            <clone prototype="robot_ur5">
23                <member id="urdf_ee_link">finger_left</member>
24                <member id="urdf_joint_names">
25                    shoulder_pan_joint,
26                    shoulder_lift_joint,
27                    elbow_joint,
28                    wrist_1_joint,
29                    wrist_2_joint,
30                    wrist_3_joint,
31                    finger_left_joint
32                </member>
33                <member id="robot_driver.max_velocity">2.0</member>
34                <member id="robot_driver.max_acceleration">3.0</member>
35                <member id="components">
36                    <clone prototype="force_sensor">
37                        <member id="wrench_topic">wrench</member>
38                    </clone>
39                </member>
40            </clone>
41        </member>
42
43        <member id="applications">
44            <clone prototype="skill_sequence">
45
46                <member id="robot" reference_id="environment.robot_ur5"/>
47
48                <!-- Skills -->
49                <member id="skills">
50
51                    <!-- First move open gripper directly via joint -->
52                    <clone prototype="skill_relative_ptp">
53                        <member id="relative_joint_state">0, 0, 0, 0, 0, 0, 0.02</member>
54                    </clone>
55
56                    <clone prototype="skill_relative_ptp">
57                        <member id="relative_joint_state">0, 0, 0, 0, 0, 0, +0.08</member>
58                    </clone>
59
60                    <!-- Then move to position while respecting the joint limits -->
61                    <clone prototype="skill_lin">
62                        <member id="tool_frame">finger_left</member>
63                        <member id="target_frame">target2</member>
64                    </clone>
65
66
67                </member>
68
69            </clone>
70        </member>
71
72    </clone>
73
74</pitasc>