Initial commit

unilabos/devices/gripper/mock.py

@@ -0,0 +1,46 @@
+import time
+
+
+class MockGripper:
+    def __init__(self):
+        self._position: float = 0.0
+        self._velocity: float = 2.0
+        self._torque: float = 0.0
+        self._status = "Idle"
+    
+    @property
+    def position(self) -> float:
+        return self._position
+    
+    @property
+    def velocity(self) -> float:
+        return self._velocity
+    
+    @property
+    def torque(self) -> float:
+        return self._torque
+    
+    @property
+    def status(self) -> str:
+        return self._status
+    
+    def push_to(self, position: float, torque: float, velocity: float = 0.0):
+        self._status = "Running"
+        current_pos = self.position
+        if velocity == 0.0:
+            velocity = self.velocity
+        
+        move_time = abs(position - current_pos) / velocity
+        for i in range(20):
+            self._position = current_pos + (position - current_pos) / 20 * (i+1)
+            self._torque = torque / (20 - i)
+            self._velocity = velocity
+            time.sleep(move_time / 20)
+        self._torque = torque
+        self._status = "Idle"
+
+    def edit_id(self, wf_name: str = "gripper_run", params: str = "{}", resource: dict = {"Gripper1": {}}):
+        v = list(resource.values())[0]
+        v["sample_id"] = "EDITED"
+        time.sleep(10)
+        return resource