usb_application ohne ilc

apps/rob_usb_no_ilc.xml

+<?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>