Commit 648aa486 authored by victor's avatar victor
Browse files

lin, approach and settle app

parent a3f71342
<?xml version="1.0" encoding="UTF-8"?>
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<include package="pitasc_library" file="universal_robots/ur.xml"/>
<include package="ilc" file="models/ilc_controllers.xml"/>
<include package="ilc" file="models/ilc_scripts.xml"/>
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<!-- Create a project -->
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<!-- Use the default configuration with recommended settings -->
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<!-- Add a UR5 -->
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<!-- Use a skill sequence as a container -->
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<!-- Use the UR5 for this skill (and for its subskill) -->
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<!-- Move ptp -->
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<clone id="approach_ilc" prototype="skill_guarded_approach">
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<member id="move_skill.tasks.velocity_feedforward.controllers">
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<pitasc>
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<include package="pitasc_library" file="universal_robots/ur.xml"/>
<include package="ilc" file="models/ilc_controllers.xml"/>
<include package="ilc" file="models/ilc_scripts.xml"/>
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<!-- Create a project -->
<clone prototype="project">
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<!-- Use the default configuration with recommended settings -->
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<member id="environment">
<!-- Add a UR5 -->
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<member id="components">
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</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"/>
<member id="skills">
<clone prototype="skill_ptp">
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<clone prototype="skill_guarded_approach">
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<member id="axes">z</member>
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<clone id="ilc_push_settle" prototype="skill_push_settle">
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<member id="scripts">
<clone prototype="script_error_logger">
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<!-- Controller must be declared before referencing -->
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<?xml version="1.0" encoding="UTF-8"?>
<pitasc>
<models>
<include package="pitasc_library" file="models/pitasc.xml"/>
<include package="pitasc_library" file="universal_robots/ur.xml"/>
<include package="ilc" file="models/ilc_controllers.xml"/>
<include package="ilc" file="models/ilc_scripts.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>
</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"/>
<member id="skills">
<!-- Move ptp -->
<clone prototype="skill_ptp">
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<clone id="setpoint" prototype="constant_setpoint">
<member id="data_source">
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<member id="coordinates" reference_id="coordinates"/>
<member id="prefix" reference_id="prefix"/>
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<clone id="ilc_controller" prototype="p_controller_ilc">
<member id="filename_in">/home/victor/ilc_ws/src/ilc/Logs/lin_ff_2_1D.txt</member>
<member id="data_source">
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<member id="setpoint_generator">
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<member id="coordinates">x, y, z</member>
<member id="prefix" reference_id="prefix"/>
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<!-- orientation controller -->
<clone prototype="tanh_controller">
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<member id="P_lin" reference_id="angular_controller_gain"/>
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<reference reference_id="collections.target_to_tool.chains[0]"/>
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<member id="setpoint_generator">
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<member id="coordinates">a, b, c</member>
<member id="prefix" reference_id="prefix"/>
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<member id="scripts">
<clone prototype="script_error_logger">
<member id="controllers">
<!-- Controller must be declared before referencing -->
<reference reference_id="tasks.tracking.controllers.ilc_controller"/>
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<member id="file_name">/home/victor/ilc_ws/src/ilc/Logs/logger_0_1D.csv</member>
<member id="filter">target_to_tool/z</member>
</clone>
</member>
</clone>
<clone prototype="skill_lin">
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<member id="target_frame">start_position</member>
<member id="scripts">
<clone prototype="script_trigger_ilc">
<member id="service_name">ilc_service</member>
<member id="file_in">/home/victor/ilc_ws/src/ilc/Logs/logger_0_1D.csv</member>
<member id="file_out">/home/victor/ilc_ws/src/ilc/Logs/lin_ff_2_1D.txt</member>
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<member id="traj_type">cos</member>
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<member id="transitions">
<clone prototype="transition">
<member id="event">succeeded</member>
<member id="target">skill_ptp</member>
</clone>
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</clone>
</member>
</clone>
</member>
</clone>
</pitasc>
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