frame_editor.xml

This example application shows the usage of scripts.

Models used

File contents

 1<?xml version="1.0" encoding="UTF-8"?>
 2
 3<!-- This example application shows the usage of scripts.
 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        <include package="pitasc_library" file="frame_editor/frame_editor.xml" />
13
14        <include package="pitasc_library" file="universal_robots/ur.xml" />
15    </models>
16
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">0.5</member>
26                <member id="robot_driver.max_acceleration">2.0</member>
27            </clone>
28        </member>
29
30        <member id="applications">
31            <clone prototype="skill_sequence">
32                <member id="robot" reference_id="environment.robot_ur5" />
33                <member id="skills">
34
35                    <clone prototype="frame_editor_align">
36                        <member id="frame">marker_frame_editor</member>
37                        <member id="source">target1</member>
38                        <member id="axes">x,y,a,b</member>
39                    </clone>
40
41                    <clone prototype="frame_editor_copy">
42                        <member id="frame">marker_frame_editor_2</member>
43                        <member id="source">marker_frame_editor</member>
44                        <member id="parent">target1</member>
45                    </clone>
46
47                    <clone prototype="skill_idle_duration">
48                        <member id="duration">1.0</member>
49                    </clone>
50
51                    <clone prototype="frame_editor_set_parent">
52                        <member id="frame">marker_frame_editor_2</member>
53                        <member id="parent">target2</member>
54                    </clone>
55
56                    <clone prototype="frame_editor_set">
57                        <member id="frame">marker_frame_editor_2</member>
58                        <member id="pose">0.1, 0.1, 0.1, $(pi/2), 0, $(pi/2)</member>
59                        <member id="parent">target1</member>
60                    </clone>
61
62                    <clone prototype="frame_editor_save_yaml">
63                        <member id="filename">test_save_file</member>
64                    </clone>
65
66                    <clone prototype="frame_editor_remove">
67                        <member id="frame">marker_frame_editor_2</member>
68                    </clone>
69
70                    <clone prototype="frame_editor_load_yaml">
71                        <member id="filename">test_save_file</member>
72                    </clone>
73
74
75                </member>
76
77            </clone>
78        </member>
79
80    </clone>
81
82</pitasc>