Commit 5d56eed3 authored by Lorenz Halt's avatar Lorenz Halt 🔀
Browse files

usb_application ohne ilc

parent e020d7fa
<?xml version="1.0" encoding="UTF-8"?>
<pitasc>
<models>
<include package="pitasc_library" file="models/pitasc.xml"/>
<include package="ilc" file="models/ilc_controllers.xml"/>
<include package="ilc" file="models/ilc_scripts.xml"/>
<include package="pitasc_library" file="skills/skill_cartesian_tracking.xml"/>
<include package="pitasc_library" file="monitors/geometry.xml"/>
<include package="pitasc_library" file="universal_robots/ur.xml"/>
<include package="pitasc_library" file="weiss_robotics/wsg50.xml"/>
</models>
<!-- Create a project -->
<clone prototype="project">
<member id="configuration">
<!-- Use the default configuration with recommended settings -->
<clone id="configuration" prototype="default_configuration"/>
</member>
<member id="environment">
<!-- Add a UR5 -->
<clone prototype="robot_ur5">
<member id="robot_driver.max_velocity">10</member>
<member id="robot_driver.max_acceleration">10</member>
<member id="components">
<clone prototype="force_sensor">
<member id="wrench_topic">wrench</member>
</clone>
<clone id="gripper" prototype="weiss_wsg50">
</clone>
</member>
</clone>
</member>
<member id="applications">
<!-- Use a skill sequence as a container -->
<clone prototype="skill_sequence">
<!-- Use the UR5 for this skill (and for its subskill) -->
<member id="robot" reference_id="environment.robot_ur5"/>
<!-- Add subskill(s) -->
<member id="skills">
<!-- Move to target1 (lin) -->
<!--
<clone prototype="weiss_wsg50_homing">
<member id="to_open">True</member>
</clone>
<clone id ="start_skill" prototype="skill_lin">
<member id="tool_frame">ee_link</member>
<member id="target_frame">usb_in_pos_0</member>
</clone>
<clone prototype="weiss_wsg50_grip">
<member id="position">13</member>
<member id="speed">50</member>
</clone>
<clone prototype="weiss_wsg50_set_force">
<member id="force">100</member>
</clone> -->
<clone prototype="weiss_wsg50_homing">
<member id="to_open">False</member>
</clone>
<clone prototype="weiss_wsg50_grip">
<member id="position">13</member>
<member id="speed">50</member>
</clone>
<clone prototype="weiss_wsg50_set_force">
<member id="force">100</member>
</clone>
<clone id ="start_skill" prototype="skill_lin">
<member id="tool_frame">ee_link</member>
<member id="target_frame">usb_pre_in_pos_0</member>
</clone>
<clone id="ilc_push_settle" prototype="skill_push_settle">
<member id="tool_frame">ee_link</member>
<member id="force.force_frame">kms40_low</member>
<member id="force.axes">y</member>
<member id="force.target_forces">10</member>
<member id="force.compliance">0.0005</member>
<member id="force.corner_frequency">7</member>
<member id="thresholds">1.0</member>
<member id="samples">20</member>
<member id="monitors">
<clone prototype="monitor_relative_distance">
<member id="reference_frame">kms40_low</member>
<member id="frame">ee_link</member>
<member id="coordinates">z</member>
<member id="distances">0.00015</member>
<member id="operator">absolute_greater</member>
</clone>
</member>
</clone>
<clone id="ilc_push_settle" prototype="skill_push_settle">
<member id="tool_frame">ee_link</member>
<member id="force.force_frame">kms40_low</member>
<member id="force.axes">y</member>
<member id="force.target_forces">0</member>
<member id="force.compliance">0.0005</member>
<member id="force.corner_frequency">7</member>
<member id="thresholds">1.0</member>
<member id="samples">20</member>
<member id="monitors">
<clone prototype="monitor_relative_distance">
<member id="reference_frame">kms40_low</member>
<member id="frame">ee_link</member>
<member id="coordinates">z</member>
<member id="distances">0.00015</member>
<member id="operator">absolute_greater</member>
</clone>
</member>
</clone>
<clone prototype="skill_lin">
<member id="tool_frame">ee_link</member>
<member id="target_frame">usb_pre_in_pos_0_left</member>
</clone>
<clone prototype="skill_lin">
<member id="tool_frame">ee_link</member>
<member id="target_frame">usb_pre_in_pos_0_high</member>
</clone>
<clone prototype="skill_lin">
<member id="tool_frame">ee_link</member>
<member id="target_frame">usb_pre_in_pos_0_left</member>
<clone prototype="transition">
<member id="event">succeeded</member>
<member id="target">start_skill</member>
</clone>
</clone>
</member>
</clone>
</member>
</clone>
</pitasc>
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