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Merge pull request #7 from yagizyalcintas/UR-10
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Ur 10
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@egekorkan
egekorkan authored Nov 11, 2021
2 parents 824e328 + df8d46f commit 8e3d89f
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358 changes: 358 additions & 0 deletions Devices/UR10-py/TM.json
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{
"@type": "tm:ThingModel",
"@context": "https://www.w3.org/2019/wot/td/v1",
"id": "de:tum:ei:esi:ur10",
"title": "Ur-10",
"base": "http://{{HTTP_IP_ADDRESS}}/ur10/",

"properties": {
"homePosition": {
"title": "Home position",
"description": "Home position on x-y-z space and joint degrees values",
"type": "object",
"required": [ "x", "y", "z" ],
"properties": {
"x": {
"type": "integer"
},
"y": {
"type": "integer"
},
"z": {
"type": "integer"
},
"base": {
"type": "number"
},
"shoulder": {
"type": "number"
},
"elbow": {
"type": "number"
},
"wrist1": {
"type": "number"
},
"wrist2": {
"type": "number"
},
"wrist3": {
"type": "number"
}
},
"readOnly": true
},
"currentCoordinates": {
"title": "Current Cartesian Coordinates",
"description": "Gives back the current location in cartesian coordinates",
"type": "object",
"required": [ "x", "y", "z" ],
"properties": {
"x": {
"type": "integer",
"minimum": "{{MIN_X}}",
"maximum": "{{MAX_X}}"
},
"y": {
"type": "integer",
"minimum": "{{MIN_Y}}",
"maximum": "{{MAX_Y}}"
},
"z": {
"type": "integer",
"minimum": "{{MIN_Z}}",
"maximum": "{{MAX_Z}}"
}
},
"readOnly": true
},
"currentJointDegrees": {
"title": "Current Joint Position",
"description": "Gives back the current degree values for joints",
"type": "object",
"required": [ "base", "shoulder", "elbow", "wrist1", "wrist2", "wrist3" ],
"properties": {
"base": {
"type": "number",
"minimum": "{{MIN_BASE_DEGREE}}",
"maximum": "{{MAX_BASE_DEGREE}}"
},
"shoulder": {
"type": "number",
"minimum": "{{MIN_SHOULDER_DEGREE}}",
"maximum": "{{MAX_SHOULDER_DEGREE}}"
},
"elbow": {
"type": "number",
"minimum": "{{MIN_ELBOW_DEGREE}}",
"maximum": "{{MAX_ELBOW_DEGREE}}"
},
"wrist1": {
"type": "number",
"minimum": "{{MIN_WRIST1_DEGREE}}",
"maximum": "{{MAX_WRIST1_DEGREE}}"
},
"wrist2": {
"type": "number",
"minimum": "{{MIN_WRIST2_DEGREE}}",
"maximum": "{{MAX_WRIST2_DEGREE}}"
},
"wrist3": {
"type": "number",
"minimum": "{{MIN_WRIST3_DEGREE}}",
"maximum": "{{MAX_WRIST3_DEGREE}}"
}
},
"readOnly": true

},
"moveSpeed": {
"title": "Speed",
"description": "Its value sets the moving speed of all UR-10 robot arm joints, default value is 0.5 but can be changed",
"type": "number",
"minimum": 0.1,
"maximum": 1.0,
"readOnly": false,
"writeOnly": false

},
"moveAcceleration": {
"title": "Acceleration",
"description": "Its value sets the moving acceleration of all UR-10 robot arm joints, default value is 0.5 but can be changed",
"type": "number",
"minimum": 0.1,
"maximum": 1.0,
"readOnly": false,
"writeOnly": false

}
},

"actions": {
"goHome": {
"title": "Go Home",
"description": "Go to the home position",

"idempotent": false,
"safe": false
},
"turnBase": {
"title": "Turn Base",
"description": "Turn the robot arm Base joint a certain amount within borders",
"input": {
"type": "object",
"required": [ "base" ],
"properties": {

"base": {
"type": "number",
"minimum": "{{MIN_BASE_DEGREE}}",
"maximum": "{{MAX_BASE_DEGREE}}"
}
}
},
"idempotent": false,
"safe": false
},
"turnShoulder": {
"title": "Turn Shoulder",
"description": "Turn the robot arm shoulder joint a certain amount within borders",
"input": {
"type": "object",
"required": [ "shoulder" ],
"properties": {

"shoulder": {
"type": "number",
"minimum": "{{MIN_SHOULDER_DEGREE}}",
"maximum": "{{MAX_SHOULDER_DEGREE}}"
}
}
},


"idempotent": false,
"safe": false
},
"turnElbow": {
"title": "Turn Elbow",
"description": "Turn the robot arm elbow joint a certain amount within borders",
"input": {
"type": "object",
"required": [ "elbow" ],
"properties": {

"elbow": {
"type": "number",
"minimum": "{{MIN_ELBOW_DEGREE}}",
"maximum": "{{MAX_ELBOW_DEGREE}}"
}
}
},

"idempotent": false,
"safe": false
},
"turnWrist1": {
"title": "Turn Wrist1",
"description": "Turn the robot arm Wrist1 joint a certain amount within borders",
"input": {
"type": "object",
"required": [ "wrist1" ],
"properties": {

"wrist1": {
"type": "number",
"minimum": "{{MIN_WRIST1_DEGREE}}",
"maximum": "{{MAX_WRIST1_DEGREE}}"
}
}
},


"idempotent": false,
"safe": false
},
"turnWrist2": {
"title": "Turn Wrist2",
"description": "Turn the robot arm Wrist2 joint a certain amount within borders",
"input": {
"type": "object",
"required": [ "wrist2" ],
"properties": {
"wrist2": {
"type": "number",
"minimum": "{{MIN_WRIST1_DEGREE}}",
"maximum": "{{MAX_WRIST1_DEGREE}}"
}
}
},


"idempotent": false,
"safe": false
},
"turnWrist3": {
"title": "Turn Wrist3",
"description": "Turn the robot arm Wrist3 joint a certain amount within borders",
"input": {
"type": "object",
"required": [ "wrist3" ],
"properties": {

"wrist3": {
"type": "number",
"minimum": "{{MIN_WRIST1_DEGREE}}",
"maximum": "{{MAX_WRIST1_DEGREE}}"
}
}
},


"idempotent": false,
"safe": false
},
"setJointDegrees": {
"title": "Set the joint positions ",
"description": "Turn the robot arm joints to a specific degree",
"input": {
"type": "object",
"properties": {
"base": {
"type": "number",
"minimum": "{{MIN_BASE_DEGREE}}",
"maximum": "{{MAX_BASE_DEGREE}}"
},
"shoulder": {
"type": "number",
"minimum": "{{MIN_SHOULDER_DEGREE}}",
"maximum": "{{MAX_SHOULDER_DEGREE}}"
},
"elbow": {
"type": "number",
"minimum": "{{MIN_ELBOW_DEGREE}}",
"maximum": "{{MAX_ELBOW_DEGREE}}"
},
"wrist1": {
"type": "number",
"minimum": "{{MIN_WRIST1_DEGREE}}",
"maximum": "{{MAX_WRIST1_DEGREE}}"
},
"wrist2": {
"type": "number",
"minimum": "{{MIN_WRIST2_DEGREE}}",
"maximum": "{{MAX_WRIST2_DEGREE}}"
},
"wrist3": {
"type": "number",
"minimum": "{{MIN_WRIST3_DEGREE}}",
"maximum": "{{MAX_WRIST3_DEGREE}}"
}
}
},

"idempotent": true,
"safe": false

},

"goTo": {
"title": "Go to position",
"description": "Move to position in cartesian coordinates with the assigned speed and acceleration, default values are .... ",
"input": {
"type": "object",
"properties": {
"x": {
"type": "integer",
"minimum": "{{MIN_X}}",
"maximum": "{{MAX_X}}"
},
"y": {
"type": "integer",
"minimum": "{{MIN_Y}}",
"maximum": "{{MAX_Y}}"
},
"z": {
"type": "integer",
"minimum": "{{MIN_Z}}",
"maximum": "{{MAX_Z}}"
},
"s": {
"type": "number",
"minimum": "{{MIN_SPEED}}",
"maximum": "{{MAX_SPEED}}"
},
"a": {
"type": "number",
"minimum": "{{MIN_ACC}}",
"maximum": "{{MAX_ACC}}"
}
}
},

"idempotent": true,
"safe": false
},
"gripClose": {
"title": "Close Grip",
"description": "Closes the grip",
"idempotent": true,
"safe": false
},
"gripCloseLight": {
"title": "Close Grip",
"description": "Closes the grip with 25 Newton of force",
"idempotent": true,
"safe": false
},
"gripOpen": {
"title": "Open Grip",
"description": "Opens the grip",

"idempotent": true,
"safe": false
}

}

}
36 changes: 36 additions & 0 deletions Devices/UR10-py/config.json
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{
"@type": "UR-10 Robot Arm",
"securityDefinitions":{"nosec_sc": {"scheme": "nosec"}},
"HTTP_IP_ADDRESS": "172.16.1.219",
"MIN_X":-1300,
"MIN_Y":-1300,
"MIN_Z":-1300,
"MIN_BASE_DEGREE":-360,
"MIN_SHOULDER_DEGREE":-360,
"MIN_ELBOW_DEGREE":-360,
"MIN_WRIST1_DEGREE":-360,
"MIN_WRIST2_DEGREE":-360,
"MIN_WRIST3_DEGREE":-360,
"MAX_X":1300,
"MAX_Y":1300,
"MAX_Z":1300,
"MAX_BASE_DEGREE": 360,
"MAX_SHOULDER_DEGREE":360,
"MAX_ELBOW_DEGREE":360,
"MAX_WRIST1_DEGREE":360,
"MAX_WRIST2_DEGREE":360,
"MAX_WRIST3_DEGREE":360,
"MIN_SPEED":0.1,
"MAX_SPEED":1.0,
"MIN_ACC":0.1,
"MAX_ACC":1.0,
"MIN_X_MOVEMENT":-2600,
"MAX_X_MOVEMENT":2600,
"MIN_Y_MOVEMENT":-2600,
"MAX_Y_MOVEMENT":2600,
"MIN_Z_MOVEMENT":-2600,
"MAX_Z_MOVEMENT":2600,
"robotIP":"172.16.1.130",
"routerIP": "172.16.1.1",
"routerPort":80
}
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