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add TUM devices part 1
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@egekorkan
egekorkan committed Nov 13, 2024
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396 changes: 396 additions & 0 deletions events/2024.11.Munich/TDs/Flask-manual/Uarm-TUM.td.json
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{
"@context": "https://www.w3.org/2019/wot/td/v1",
"actions": {
"beep": {
"description": "Beep for 1 sec",
"forms": [
{
"contentType": "application/json",
"href": "http://172.16.1.150:8080/uarm/actions/beep",
"htv:methodName": "POST",
"op": "invokeaction"
},
{
"contentType": "application/json",
"href": "mqtt://dbbroker.local:1883/uarm/actions/beep",
"mqv:controlPacketValue": "PUBLISH",
"op": "invokeaction"
}
],
"idempotent": true,
"safe": false,
"title": "Beep"
},
"beepWithTime": {
"description": "Beep for a time set between 1-3 sec",
"forms": [
{
"contentType": "application/json",
"href": "http://172.16.1.150:8080/uarm/actions/beepwithtime",
"htv:methodName": "POST",
"op": "invokeaction"
},
{
"contentType": "application/json",
"href": "mqtt://dbbroker.local:1883/uarm/actions/beepwithtime",
"mqv:commandCode": 3,
"op": "invokeaction"
}
],
"idempotent": true,
"input": {
"maximum": 3,
"minimum": 1,
"type": "integer"
},
"safe": false,
"title": "Beep with Time set"
},
"go": {
"description": "Move to described Position with set speed",
"forms": [
{
"contentType": "application/json",
"href": "http://172.16.1.150:8080/uarm/actions/gowithspeed",
"htv:methodName": "POST",
"op": "invokeaction"
},
{
"contentType": "application/json",
"href": "mqtt://dbbroker.local:1883/uarm/actions/gowithspeed",
"mqv:controlPacketValue": "PUBLISH",
"op": "invokeaction"
}
],
"idempotent": true,
"input": {
"properties": {
"speed": {
"maximum": 10000,
"minimum": 100,
"type": "integer"
},
"x": {
"maximum": 200,
"minimum": 120,
"type": "integer"
},
"y": {
"maximum": 200,
"minimum": -200,
"type": "integer"
},
"z": {
"maximum": 100,
"minimum": 52,
"type": "integer"
}
},
"required": [
"x",
"y",
"z",
"speed"
],
"type": "object"
},
"safe": false,
"title": "Go to with speed"
},
"goHome": {
"description": "Go to the set home point",
"forms": [
{
"contentType": "application/json",
"href": "http://172.16.1.150:8080/uarm/actions/gohome",
"htv:methodName": "POST",
"op": "invokeaction"
},
{
"contentType": "application/json",
"href": "mqtt://dbbroker.local:1883/uarm/actions/gohome",
"mqv:controlPacketValue": "PUBLISH",
"op": "invokeaction"
}
],
"idempotent": false,
"safe": false,
"title": "Go Home"
},
"goTo": {
"description": "Move to Position x,y,z given by the user with fixed speed=3000",
"forms": [
{
"contentType": "application/json",
"href": "http://172.16.1.150:8080/uarm/actions/goto",
"htv:methodName": "POST",
"op": "invokeaction"
},
{
"contentType": "application/json",
"href": "mqtt://dbbroker.local:1883/uarm/actions/goto",
"mqv:controlPacketValue": "PUBLISH",
"op": "invokeaction"
}
],
"idempotent": true,
"input": {
"properties": {
"x": {
"maximum": 200,
"minimum": 120,
"type": "integer"
},
"y": {
"maximum": 200,
"minimum": -200,
"type": "integer"
},
"z": {
"maximum": 100,
"minimum": 52,
"type": "integer"
}
},
"required": [
"x",
"y",
"z"
],
"type": "object"
},
"safe": false,
"title": "Go to position"
},
"gripClose": {
"description": "Closes the grip",
"forms": [
{
"contentType": "application/json",
"href": "http://172.16.1.150:8080/uarm/actions/gripclose",
"htv:methodName": "POST",
"op": "invokeaction"
},
{
"contentType": "application/json",
"href": "mqtt://dbbroker.local:1883/uarm/actions/gripclose",
"mqv:controlPacketValue": "PUBLISH",
"op": "invokeaction"
}
],
"idempotent": true,
"safe": false,
"title": "Close Grip"
},
"gripOpen": {
"description": "Opens the grip",
"forms": [
{
"contentType": "application/json",
"href": "http://172.16.1.150:8080/uarm/actions/gripopen",
"htv:methodName": "POST",
"op": "invokeaction"
},
{
"contentType": "application/json",
"href": "mqtt://dbbroker.local:1883/uarm/actions/gripopen",
"mqv:controlPacketValue": "PUBLISH",
"op": "invokeaction"
}
],
"idempotent": true,
"safe": false,
"title": "Open Grip"
},
"reset": {
"description": "Reestablish connection to Uarm to correct for loss of location",
"forms": [
{
"contentType": "application/json",
"href": "http://172.16.1.150:8080/uarm/actions/reset",
"htv:methodName": "POST",
"op": "invokeaction"
}
],
"idempotent": true,
"safe": false,
"title": "Reset"
},
"turnLeft": {
"description": "Turn robot arm to left for 1 step",
"forms": [
{
"contentType": "application/json",
"href": "http://172.16.1.150:8080/uarm/actions/turnleft",
"htv:methodName": "POST",
"op": "invokeaction"
},
{
"contentType": "application/json",
"href": "mqtt://dbbroker.local:1883/uarm/actions/turnleft",
"mqv:controlPacketValue": "PUBLISH",
"op": "invokeaction"
}
],
"idempotent": false,
"output": {
"properties": {
"y": {
"maximum": 200,
"minimum": -200,
"type": "number"
}
},
"required": [
"y"
],
"type": "object"
},
"safe": false,
"title": "Turn Left"
},
"turnRight": {
"description": "Turn robot arm to right for 1 step",
"forms": [
{
"contentType": "application/json",
"href": "http://172.16.1.150:8080/uarm/actions/turnright",
"htv:methodName": "POST",
"op": "invokeaction"
},
{
"contentType": "application/json",
"href": "mqtt://dbbroker.local:1883/uarm/actions/turnright",
"mqv:controlPacketValue": "PUBLISH",
"op": "invokeaction"
}
],
"idempotent": false,
"input": {
"properties": {
"y": {
"maximum": 330,
"minimum": -330,
"type": "number"
}
},
"required": [
"y"
],
"type": "object"
},
"safe": false,
"title": "Turn Right"
}
},
"description": "Uarm resets every full hour automatically to negate accumulation of location errors",
"id": "urn:dev:ops:32473-UArm-001",
"properties": {
"homeLoc": {
"description": "Home location, can be set to a new value. goHome action goes there",
"forms": [
{
"contentType": "application/json",
"href": "http://172.16.1.150:8080/uarm/properties/homeloc",
"op": [
"readproperty",
"writeproperty"
]
},
{
"contentType": "application/json",
"href": "mqtt://dbbroker.local:1883/uarm/properties/homeloc",
"mqv:controlPacketValue": "SUBSCRIBE",
"op": [
"readproperty",
"observeproperty"
]
},
{
"contentType": "application/json",
"href": "mqtt://dbbroker.local:1883/uarm/properties/homeloc/writeproperty",
"mqv:controlPacketValue": "PUBLISH",
"op": "writeproperty"
}
],
"properties": {
"x": {
"maximum": 250,
"minimum": 50,
"type": "integer"
},
"y": {
"maximum": 330,
"minimum": -330,
"type": "integer"
},
"z": {
"maximum": 100,
"minimum": 52,
"type": "integer"
}
},
"required": [
"x",
"y",
"z"
],
"title": "Home location",
"type": "object"
},
"location": {
"description": "Gives back the current location",
"forms": [
{
"contentType": "application/json",
"href": "http://172.16.1.150:8080/uarm/properties/location",
"op": [
"readproperty"
]
},
{
"contentType": "application/json",
"href": "mqtt://dbbroker.local:1883/uarm/properties/location",
"mqv:controlPacketValue": "SUBSCRIBE",
"op": [
"readproperty",
"observeproperty"
]
}
],
"properties": {
"x": {
"maximum": 200,
"minimum": 120,
"type": "integer"
},
"y": {
"maximum": 200,
"minimum": -200,
"type": "integer"
},
"z": {
"maximum": 100,
"minimum": 52,
"type": "integer"
}
},
"required": [
"x",
"y",
"z"
],
"title": "Return location",
"type": "object"
}
},
"security": [
"nosec_sc"
],
"securityDefinitions": {
"nosec_sc": {
"scheme": "nosec"
}
},
"title": "Uarm"
}
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