lin_time_optimal.xml

This example application shows a minimal project.

A UR5 moves to a target (LIN). Then the application terminates.

Models used

File contents

 1<?xml version="1.0" encoding="UTF-8"?>
 2
 3<!-- This example application shows a minimal project.
 4
 5A UR5 moves to a target (LIN). Then the application terminates.
 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                    <!-- Move to target2 -->
56                    <clone prototype="skill_lin_time_optimal">
57                        <member id="tool_frame">tool</member>
58                        <member id="target_frame">target2</member>
59                        <member id="max_linear_velocity">0.5</member>
60                    </clone>
61
62                    <!-- Move to target3-->
63                    <clone prototype="skill_lin_time_optimal">
64                        <member id="tool_frame">tool</member>
65                        <member id="target_frame">target3</member>
66                        <member id="max_linear_velocity">0.5</member>
67                    </clone>
68
69
70                </member>
71
72            </clone>
73
74        </member>
75
76    </clone>
77
78</pitasc>