partial_lin.xml
Move to a target (LIN) in the z axis while keeping the other axes constant.
Models used
skill_lin: lines 48
skill_partial_lin: lines 54
skill_sequence: lines 40
File contents
1<?xml version="1.0" encoding="UTF-8"?>
2
3<!--
4Move to a target (LIN) in the z axis while keeping the other axes constant.
5-->
6
7<pitasc>
8
9 <models>
10 <!-- Include pitasc -->
11 <include package="pitasc_library" file="models/pitasc.xml"/>
12
13 <!-- Include the UR5 -->
14 <include package="pitasc_library" file="universal_robots/ur.xml"/>
15
16 <!-- Include the skills -->
17 <include package="pitasc_library" file="models/skills.xml"/>
18
19 </models>
20
21 <!-- Create a project -->
22 <clone prototype="project">
23
24 <member id="configuration">
25 <!-- Use the default configuration with recommended settings -->
26 <clone id="configuration" prototype="default_configuration"/>
27 </member>
28
29 <member id="environment">
30 <!-- Add a UR5 -->
31 <clone prototype="robot_ur5">
32 <member id="robot_driver.max_velocity">2.0</member>
33 <member id="robot_driver.max_acceleration">3.0</member>
34 </clone>
35 </member>
36
37 <member id="applications">
38
39 <!-- Use a skill sequence as a container -->
40 <clone prototype="skill_sequence">
41
42 <!-- Use the UR5 for this skill (and for its subskill) -->
43 <member id="robot" reference_id="environment.robot_ur5"/>
44
45 <!-- Add subskill(s) -->
46 <member id="skills">
47
48 <clone prototype="skill_lin">
49 <member id="tool_frame">tool</member>
50 <member id="target_frame">target1</member>
51 </clone>
52
53 <!-- Move to target1 (lin) but offset x -->
54 <clone prototype="skill_partial_lin">
55 <member id="tool_frame">tool</member>
56 <member id="target_frame">target1</member>
57 <member id="axes">z</member>
58 <member id="target_offsets">0.05</member>
59 </clone>
60
61 </member>
62
63 </clone>
64
65 </member>
66
67 </clone>
68
69</pitasc>