@wandelbots/nova-js 3.5.1 → 3.5.2-pr.feat-addTestForQueryUsingApiCAll.228.a9bede0
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- package/dist/AutoReconnectingWebsocket-By6EZkXv.d.mts.map +1 -1
- package/dist/AutoReconnectingWebsocket-dO-Xkvgo.d.cts.map +1 -1
- package/dist/index.d.mts.map +1 -1
- package/dist/lib/v2/index.cjs +517 -439
- package/dist/lib/v2/index.cjs.map +1 -1
- package/dist/lib/v2/index.mjs +517 -439
- package/dist/lib/v2/index.mjs.map +1 -1
- package/package.json +6 -1
- package/src/lib/v2/mock/MockNovaInstance.ts +18 -421
- package/src/lib/v2/mock/getCurrentRobotControllerState.ts +53 -0
- package/src/lib/v2/mock/getMotionGroupDescription.ts +307 -0
- package/src/lib/v2/mock/getMotionGroupKinematicModel.ts +53 -0
- package/src/lib/v2/mock/getRobotController.ts +17 -0
- package/src/lib/v2/mock/listCoordinateSystems.ts +24 -0
- package/src/lib/v2/mock/listRobotControllers.ts +7 -0
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export const getMotionGroupDescription = {
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method: "GET",
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path: "/cells/:cellId/controllers/:controllerId/motion-groups/:motionGroupId/description",
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handle() {
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return {
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motion_group_model: "UniversalRobots_UR5e",
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mounting: {
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position: [0, 0, 0],
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orientation: [0, 0, 0],
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},
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tcps: {
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Flange: {
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name: "Default-Flange",
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pose: {
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position: [0, 0, 0],
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orientation: [0, 0, 0],
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},
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},
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},
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payloads: {
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"FPay-0": {
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name: "FPay-0",
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payload: 0,
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center_of_mass: [0, 0, 0],
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moment_of_inertia: [0, 0, 0],
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},
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},
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cycle_time: 8,
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dh_parameters: [
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{
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alpha: 1.5707963267948966,
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d: 162.25,
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},
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{
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a: -425,
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},
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{
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a: -392.2,
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},
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{
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alpha: 1.5707963267948966,
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d: 133.3,
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},
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{
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alpha: -1.5707963267948966,
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d: 99.7,
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},
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{
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d: 99.6,
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},
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],
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operation_limits: {
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auto_limits: {
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joints: [
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{
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position: {
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lower_limit: -6.283185307179586,
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upper_limit: 6.283185307179586,
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},
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velocity: 3.34159255027771,
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acceleration: 40,
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torque: 150,
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},
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{
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position: {
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lower_limit: -6.283185307179586,
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upper_limit: 6.283185307179586,
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},
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velocity: 3.34159255027771,
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acceleration: 40,
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torque: 150,
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},
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{
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position: {
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lower_limit: -6.283185307179586,
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upper_limit: 6.283185307179586,
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},
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velocity: 3.34159255027771,
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acceleration: 40,
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torque: 150,
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},
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{
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position: {
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lower_limit: -6.283185307179586,
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upper_limit: 6.283185307179586,
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},
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velocity: 3.34159255027771,
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acceleration: 40,
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torque: 28,
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},
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{
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position: {
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lower_limit: -6.283185307179586,
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upper_limit: 6.283185307179586,
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},
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velocity: 3.34159255027771,
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acceleration: 40,
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torque: 28,
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},
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{
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position: {
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lower_limit: -6.283185307179586,
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upper_limit: 6.283185307179586,
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},
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velocity: 3.34159255027771,
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acceleration: 40,
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torque: 28,
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},
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],
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tcp: {
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velocity: 5000,
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},
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elbow: {
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velocity: 5000,
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},
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flange: {
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velocity: 5000,
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},
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},
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manual_limits: {
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joints: [
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{
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position: {
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lower_limit: -6.283185307179586,
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upper_limit: 6.283185307179586,
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},
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velocity: 3.34159255027771,
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acceleration: 40,
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torque: 150,
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},
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{
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position: {
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lower_limit: -6.283185307179586,
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upper_limit: 6.283185307179586,
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},
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velocity: 3.34159255027771,
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acceleration: 40,
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torque: 150,
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},
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{
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position: {
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lower_limit: -6.283185307179586,
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upper_limit: 6.283185307179586,
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},
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velocity: 3.34159255027771,
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acceleration: 40,
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torque: 150,
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},
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{
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position: {
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lower_limit: -6.283185307179586,
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upper_limit: 6.283185307179586,
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},
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velocity: 3.34159255027771,
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acceleration: 40,
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torque: 28,
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},
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{
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position: {
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lower_limit: -6.283185307179586,
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upper_limit: 6.283185307179586,
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},
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velocity: 3.34159255027771,
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acceleration: 40,
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torque: 28,
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},
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{
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position: {
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lower_limit: -6.283185307179586,
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upper_limit: 6.283185307179586,
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},
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velocity: 3.34159255027771,
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acceleration: 40,
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torque: 28,
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},
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],
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tcp: {
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velocity: 5000,
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},
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},
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manual_t1_limits: {
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joints: [
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{
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position: {
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lower_limit: -6.283185307179586,
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upper_limit: 6.283185307179586,
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},
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velocity: 3.34159255027771,
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acceleration: 40,
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torque: 150,
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},
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position: {
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lower_limit: -6.283185307179586,
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upper_limit: 6.283185307179586,
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},
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velocity: 3.34159255027771,
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acceleration: 40,
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torque: 150,
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{
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position: {
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lower_limit: -6.283185307179586,
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upper_limit: 6.283185307179586,
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},
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velocity: 3.34159255027771,
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acceleration: 40,
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torque: 150,
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},
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{
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position: {
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lower_limit: -6.283185307179586,
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upper_limit: 6.283185307179586,
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},
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velocity: 3.34159255027771,
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acceleration: 40,
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torque: 28,
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},
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{
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position: {
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lower_limit: -6.283185307179586,
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upper_limit: 6.283185307179586,
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},
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velocity: 3.34159255027771,
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acceleration: 40,
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torque: 28,
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},
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{
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position: {
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lower_limit: -6.283185307179586,
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upper_limit: 6.283185307179586,
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},
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velocity: 3.34159255027771,
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acceleration: 40,
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torque: 28,
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},
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],
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tcp: {
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velocity: 5000,
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},
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},
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manual_t2_limits: {
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joints: [
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{
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position: {
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lower_limit: -6.283185307179586,
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upper_limit: 6.283185307179586,
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},
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velocity: 3.34159255027771,
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acceleration: 40,
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torque: 150,
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},
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{
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position: {
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lower_limit: -6.283185307179586,
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upper_limit: 6.283185307179586,
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},
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velocity: 3.34159255027771,
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acceleration: 40,
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torque: 150,
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},
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{
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position: {
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lower_limit: -6.283185307179586,
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upper_limit: 6.283185307179586,
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},
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velocity: 3.34159255027771,
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acceleration: 40,
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torque: 150,
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},
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{
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position: {
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lower_limit: -6.283185307179586,
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upper_limit: 6.283185307179586,
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},
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velocity: 3.34159255027771,
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acceleration: 40,
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torque: 28,
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},
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{
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position: {
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lower_limit: -6.283185307179586,
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upper_limit: 6.283185307179586,
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},
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velocity: 3.34159255027771,
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acceleration: 40,
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torque: 28,
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},
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{
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position: {
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lower_limit: -6.283185307179586,
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upper_limit: 6.283185307179586,
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},
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velocity: 3.34159255027771,
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acceleration: 40,
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torque: 28,
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},
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],
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tcp: {
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velocity: 5000,
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},
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},
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},
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serial_number: "WBVirtualRobot",
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}
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},
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}
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export const getMotionGroupKinematicModel = {
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method: "GET",
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path: "/motion-group-models/:motionGroupModel/kinematic",
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handle() {
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return {
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dh_parameters: [
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{
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alpha: 1.5707963267948966,
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theta: 0.0,
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a: 0.0,
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d: 162.25,
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reverse_rotation_direction: false,
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},
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{
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alpha: 0.0,
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theta: 0.0,
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a: -425.0,
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d: 0.0,
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reverse_rotation_direction: false,
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},
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{
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alpha: 0.0,
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theta: 0.0,
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a: -392.2,
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d: 0.0,
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reverse_rotation_direction: false,
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},
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{
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alpha: 1.5707963267948966,
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theta: 0.0,
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a: 0.0,
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d: 133.3,
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reverse_rotation_direction: false,
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},
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{
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|
36
|
+
alpha: -1.5707963267948966,
|
|
37
|
+
theta: 0.0,
|
|
38
|
+
a: 0.0,
|
|
39
|
+
d: 99.7,
|
|
40
|
+
reverse_rotation_direction: false,
|
|
41
|
+
},
|
|
42
|
+
{
|
|
43
|
+
alpha: 0.0,
|
|
44
|
+
theta: 0.0,
|
|
45
|
+
a: 0.0,
|
|
46
|
+
d: 99.6,
|
|
47
|
+
reverse_rotation_direction: false,
|
|
48
|
+
},
|
|
49
|
+
],
|
|
50
|
+
inverse_solver: "Universalrobots",
|
|
51
|
+
}
|
|
52
|
+
},
|
|
53
|
+
}
|
|
@@ -0,0 +1,17 @@
|
|
|
1
|
+
import type { RobotController } from "@wandelbots/nova-api/v2"
|
|
2
|
+
|
|
3
|
+
export const getRobotController = {
|
|
4
|
+
method: "GET",
|
|
5
|
+
path: "/cells/:cellId/controllers/:controllerId",
|
|
6
|
+
handle() {
|
|
7
|
+
return {
|
|
8
|
+
configuration: {
|
|
9
|
+
initial_joint_position: "[0,-1.571,-1.571,-1.571,1.571,-1.571,0]",
|
|
10
|
+
kind: "VirtualController",
|
|
11
|
+
manufacturer: "universalrobots",
|
|
12
|
+
type: "universalrobots-ur5e",
|
|
13
|
+
},
|
|
14
|
+
name: "mock-ur5",
|
|
15
|
+
} satisfies RobotController
|
|
16
|
+
},
|
|
17
|
+
}
|
|
@@ -0,0 +1,24 @@
|
|
|
1
|
+
export const listCoordinateSystems = {
|
|
2
|
+
method: "GET",
|
|
3
|
+
path: "/cells/:cellId/controllers/:controllerId/coordinate-systems",
|
|
4
|
+
handle() {
|
|
5
|
+
return [
|
|
6
|
+
{
|
|
7
|
+
coordinate_system: "",
|
|
8
|
+
name: "world",
|
|
9
|
+
reference_coordinate_system: "",
|
|
10
|
+
position: [0, 0, 0],
|
|
11
|
+
orientation: [0, 0, 0],
|
|
12
|
+
orientation_type: "ROTATION_VECTOR",
|
|
13
|
+
},
|
|
14
|
+
{
|
|
15
|
+
coordinate_system: "CS-0",
|
|
16
|
+
name: "Default-CS",
|
|
17
|
+
reference_coordinate_system: "",
|
|
18
|
+
position: [0, 0, 0],
|
|
19
|
+
orientation: [0, 0, 0],
|
|
20
|
+
orientation_type: "ROTATION_VECTOR",
|
|
21
|
+
},
|
|
22
|
+
]
|
|
23
|
+
},
|
|
24
|
+
}
|