@wandelbots/nova-js
Version:
Official JS client for the Wandelbots API
308 lines (307 loc) • 8.28 kB
text/typescript
export const getMotionGroupDescription = {
method: "GET",
path: "/cells/:cellId/controllers/:controllerId/motion-groups/:motionGroupId/description",
handle() {
return {
motion_group_model: "UniversalRobots_UR5e",
mounting: {
position: [0, 0, 0],
orientation: [0, 0, 0],
},
tcps: {
Flange: {
name: "Default-Flange",
pose: {
position: [0, 0, 0],
orientation: [0, 0, 0],
},
},
},
payloads: {
"FPay-0": {
name: "FPay-0",
payload: 0,
center_of_mass: [0, 0, 0],
moment_of_inertia: [0, 0, 0],
},
},
cycle_time: 8,
dh_parameters: [
{
alpha: 1.5707963267948966,
d: 162.25,
},
{
a: -425,
},
{
a: -392.2,
},
{
alpha: 1.5707963267948966,
d: 133.3,
},
{
alpha: -1.5707963267948966,
d: 99.7,
},
{
d: 99.6,
},
],
operation_limits: {
auto_limits: {
joints: [
{
position: {
lower_limit: -6.283185307179586,
upper_limit: 6.283185307179586,
},
velocity: 3.34159255027771,
acceleration: 40,
torque: 150,
},
{
position: {
lower_limit: -6.283185307179586,
upper_limit: 6.283185307179586,
},
velocity: 3.34159255027771,
acceleration: 40,
torque: 150,
},
{
position: {
lower_limit: -6.283185307179586,
upper_limit: 6.283185307179586,
},
velocity: 3.34159255027771,
acceleration: 40,
torque: 150,
},
{
position: {
lower_limit: -6.283185307179586,
upper_limit: 6.283185307179586,
},
velocity: 3.34159255027771,
acceleration: 40,
torque: 28,
},
{
position: {
lower_limit: -6.283185307179586,
upper_limit: 6.283185307179586,
},
velocity: 3.34159255027771,
acceleration: 40,
torque: 28,
},
{
position: {
lower_limit: -6.283185307179586,
upper_limit: 6.283185307179586,
},
velocity: 3.34159255027771,
acceleration: 40,
torque: 28,
},
],
tcp: {
velocity: 5000,
},
elbow: {
velocity: 5000,
},
flange: {
velocity: 5000,
},
},
manual_limits: {
joints: [
{
position: {
lower_limit: -6.283185307179586,
upper_limit: 6.283185307179586,
},
velocity: 3.34159255027771,
acceleration: 40,
torque: 150,
},
{
position: {
lower_limit: -6.283185307179586,
upper_limit: 6.283185307179586,
},
velocity: 3.34159255027771,
acceleration: 40,
torque: 150,
},
{
position: {
lower_limit: -6.283185307179586,
upper_limit: 6.283185307179586,
},
velocity: 3.34159255027771,
acceleration: 40,
torque: 150,
},
{
position: {
lower_limit: -6.283185307179586,
upper_limit: 6.283185307179586,
},
velocity: 3.34159255027771,
acceleration: 40,
torque: 28,
},
{
position: {
lower_limit: -6.283185307179586,
upper_limit: 6.283185307179586,
},
velocity: 3.34159255027771,
acceleration: 40,
torque: 28,
},
{
position: {
lower_limit: -6.283185307179586,
upper_limit: 6.283185307179586,
},
velocity: 3.34159255027771,
acceleration: 40,
torque: 28,
},
],
tcp: {
velocity: 5000,
},
},
manual_t1_limits: {
joints: [
{
position: {
lower_limit: -6.283185307179586,
upper_limit: 6.283185307179586,
},
velocity: 3.34159255027771,
acceleration: 40,
torque: 150,
},
{
position: {
lower_limit: -6.283185307179586,
upper_limit: 6.283185307179586,
},
velocity: 3.34159255027771,
acceleration: 40,
torque: 150,
},
{
position: {
lower_limit: -6.283185307179586,
upper_limit: 6.283185307179586,
},
velocity: 3.34159255027771,
acceleration: 40,
torque: 150,
},
{
position: {
lower_limit: -6.283185307179586,
upper_limit: 6.283185307179586,
},
velocity: 3.34159255027771,
acceleration: 40,
torque: 28,
},
{
position: {
lower_limit: -6.283185307179586,
upper_limit: 6.283185307179586,
},
velocity: 3.34159255027771,
acceleration: 40,
torque: 28,
},
{
position: {
lower_limit: -6.283185307179586,
upper_limit: 6.283185307179586,
},
velocity: 3.34159255027771,
acceleration: 40,
torque: 28,
},
],
tcp: {
velocity: 5000,
},
},
manual_t2_limits: {
joints: [
{
position: {
lower_limit: -6.283185307179586,
upper_limit: 6.283185307179586,
},
velocity: 3.34159255027771,
acceleration: 40,
torque: 150,
},
{
position: {
lower_limit: -6.283185307179586,
upper_limit: 6.283185307179586,
},
velocity: 3.34159255027771,
acceleration: 40,
torque: 150,
},
{
position: {
lower_limit: -6.283185307179586,
upper_limit: 6.283185307179586,
},
velocity: 3.34159255027771,
acceleration: 40,
torque: 150,
},
{
position: {
lower_limit: -6.283185307179586,
upper_limit: 6.283185307179586,
},
velocity: 3.34159255027771,
acceleration: 40,
torque: 28,
},
{
position: {
lower_limit: -6.283185307179586,
upper_limit: 6.283185307179586,
},
velocity: 3.34159255027771,
acceleration: 40,
torque: 28,
},
{
position: {
lower_limit: -6.283185307179586,
upper_limit: 6.283185307179586,
},
velocity: 3.34159255027771,
acceleration: 40,
torque: 28,
},
],
tcp: {
velocity: 5000,
},
},
},
serial_number: "WBVirtualRobot",
}
},
}