blacklist.xml

This example application shows how blacklisted parameters work. The skill_partial_velocity has an attribute ‘referende_id’ instead of ‘reference_id’, causing it to be empty. The blacklist detects that and fires an error.

Models used

File contents

 1<?xml version="1.0" encoding="UTF-8"?>
 2
 3<!-- This example application shows how blacklisted parameters work. 
 4The skill_partial_velocity has an attribute 'referende_id' instead of 'reference_id', causing it to be empty.
 5The blacklist detects that and fires an error.
 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 skills -->
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 id="robot_driver.max_velocity">2.0</member>
34                <member id="robot_driver.max_acceleration">3.0</member>
35            </clone>
36        </member>
37
38        <member id="applications">
39
40            <!-- Use a skill sequence as a container -->
41            <clone prototype="skill_sequence">
42
43                <!-- Use the UR5 for this skill (and for its subskill) -->
44                <member id="robot" reference_id="environment.robot_ur5"/>
45
46                <!-- Add subskill(s) -->
47                <member id="skills">
48
49                    <!-- Move to target1 (lin) -->
50                    <clone prototype="skill_lin">
51                        <member id="tool_frame">tool</member>
52                        <member id="target_frame">target1</member>
53                    </clone>
54
55                    <clone prototype="skill_partial_velocity">
56                        <type id="world_frame" prototype="frame">
57                            <meta></meta>
58                            <data>world</data>
59                        </type>
60                        <member id="tool_frame">tool</member>
61                        <member id="velocity_frame" referende_id="world_frame"/>
62                        <member id="axes">z</member>
63                        <member id="velocities">0.01</member>
64                        <member id="monitors">
65                            <clone prototype="monitor_relative_distance">
66                                <member id="event">succeeded</member>
67                                <member id="reference_frame">world</member>
68                                <member id="frame">tool</member>
69                                <member id="coordinates">z</member>
70                                <member id="distances">0.01</member>
71                                <member id="target_offsets"></member>
72                                <member id="operator">absolute_greater</member>
73                            </clone>
74                        </member>
75                    </clone>
76
77                </member>
78
79            </clone>
80
81        </member>
82
83    </clone>
84
85</pitasc>