virtual_uarm.td.json

{
    "@context":[
        "https://www.w3.org/2019/wot/td/v1",
        {
          "@language":"en"
        }
      ],
    "@type":"Thing",
    "title": "VirtualUarm",
    "id": "urn:dev:ops:32473-virtual-uarm",
    "description": "Uarm (Virtual)",
    "security": "nosec_sc",
    "securityDefinitions": { 
      "nosec_sc": {
        "scheme": "nosec" 
      }
    },
    "actions":{
        "goTo":{
            "title":"Go to position",
            "description":"Move to Position x,y,z given by the user with fixed speed",
            "input":{
                "properties":{
                    "x":{
                        "maximum":200,
                        "minimum":120,
                        "type":"integer"
                    },
                    "y":{
                        "maximum":200,
                        "minimum":-200,
                        "type":"number"
                    },
                    "z":{
                        "maximum":100,
                        "minimum":52,
                        "type":"integer"
                    }
                },
                "required":["x","y","z"],
                "type":"object"
            },
            "forms":[
                {
                "contentType":"application/json",
                "href":"http://localhost:9000/virtualuarm/actions/goTo",
                "htv:methodName":"POST",
                "op":["invokeaction"]
                }
            ]
        },
        "gripClose":{
            "title":"Close gripper",
            "description":"Close Uarm gripper",
            "forms":[
                {
                "contentType":"application/json",
                "href":"http://localhost:9000/virtualuarm/actions/gripClose",
                "htv:methodName":"POST",
                "op":["invokeaction"]
                }
            ]
        },
        "gripOpen":{
            "title":"Open gripper",
            "description":"Open Uarm gripper",
            "forms":[
                {
                    "contentType":"application/json",
                    "href":"http://localhost:9000/virtualuarm/actions/gripOpen",
                    "htv:methodName":"POST",
                    "op":["invokeaction"]
                }
            ]
        },
        "goHome": {
            "description": "Go to the set home position",
            "forms": [
              {
                "contentType": "application/json",
                "href": "http://localhost:9000/virtualuarm/actions/goHome",
                "htv:methodName": "POST",
                "op": "invokeaction"
              }
            ],
            "idempotent": false,
            "safe": false,
            "title": "Go Home"
          },
          "goWithSpeed": {
            "description": "Move to described position with set speed",
            "forms": [
              {
                "contentType": "application/json",
                "href": "http://localhost:9000/virtualuarm/actions/goWithSpeed",
                "htv:methodName": "POST",
                "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"
        }
    }
}