cylindrical_helix.xml

This example application shows the usage of the skill_cylindrical_helix.

It performs a rotation around the helical axis and a translation along the same axis, resulting in a “screwdriver” motion.

Models used

File contents

 1<?xml version="1.0" encoding="UTF-8"?>
 2
 3<!-- This example application shows the usage of the skill_cylindrical_helix.
 4
 5It performs a rotation around the helical axis and a translation along the same
 6axis, resulting in a "screwdriver" motion.
 7-->
 8
 9<pitasc>
10
11    <models>
12        <include package="pitasc_library" file="models/pitasc.xml"/>
13        <include package="pitasc_library" file="models/skills.xml"/>
14
15        <include package="pitasc_library" file="universal_robots/ur.xml"/>
16    </models>
17
18    <clone prototype="project">
19
20        <member id="configuration">
21            <clone id="configuration" prototype="default_configuration"/>
22        </member>
23
24        <member id="environment">
25            <clone prototype="robot_ur5"/>
26        </member>
27
28        <member id="applications">
29            <clone prototype="skill_sequence">
30
31                <member id="robot" reference_id="environment.robot_ur5"/>
32
33                <member id="skills">
34
35                    <clone prototype="skill_cylindrical_helix">
36                        <member id="tool_frame">tool</member>
37                        <member id="pivot_frame">target1</member>
38                        <member id="radius">0.05</member>
39                        <member id="height">0.2</member>
40                        <!-- <member id="tool_direction.a">1.57</member> --> <!-- change tool orientation -->
41                    </clone>
42
43                </member>
44            </clone>
45        </member>
46    </clone>
47</pitasc>