Add ABB120 demo suite and docs
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wangdequan
@@ -7,9 +7,16 @@
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<link rel="stylesheet" href="./virtual-controller.css">
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</head>
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<body>
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<main class="workbench" data-robot="abb_irb120_3_58">
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<main class="workbench" data-robot="abb_irb120_3_58" data-suite="working2-abb120-spec" data-job="W2-JOB-latest">
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<header class="command-bar">
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<strong>ABB120 Station</strong>
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<div class="station-title">
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<strong>ABB120 Station</strong>
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<span data-field="job">W2-JOB-latest</span>
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</div>
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<label class="program-picker">
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<span>Program</span>
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<select data-program-select aria-label="Program"></select>
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</label>
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<button type="button" data-command="load">Load</button>
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<button type="button" data-command="run">Run</button>
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<button type="button" data-command="pause">Pause</button>
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@@ -17,21 +24,28 @@
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<button type="button" data-command="stop">Stop</button>
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<button type="button" data-command="reset">Reset</button>
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<button type="button" data-command="export">Export</button>
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<label class="frame-control">
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<span>Sample</span>
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<input type="range" min="0" max="0" value="0" data-frame-slider aria-label="Execution sample">
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<output data-field="frame">0 / 0</output>
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</label>
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</header>
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<aside class="object-tree">
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<h2>Station</h2>
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<ul>
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<ul data-object-tree>
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<li>Robot: abb_irb120_3_58</li>
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<li>Tool: tool0</li>
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<li>Frame: world</li>
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<li>Path: pick_place</li>
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<li>Operation: pick_op</li>
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<li>Program: main</li>
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<li>Reports</li>
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<li>Program: W2_60_IOWaitPulse</li>
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<li>Suite: working2-abb120-spec</li>
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<li>Job: W2-JOB-latest</li>
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</ul>
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</aside>
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<section class="viewport" aria-label="station viewport">
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<div class="robot-arm">
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<div class="robot-arm" aria-hidden="true">
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<span class="joint j1"></span>
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<span class="link l1"></span>
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<span class="joint j2"></span>
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@@ -41,23 +55,27 @@
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<span class="joint j4"></span>
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</div>
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<svg viewBox="0 0 480 240" role="img" aria-label="path trace">
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<path d="M70 170 C150 80 260 80 410 150" fill="none" stroke="#1f7a8c" stroke-width="4"/>
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<circle cx="70" cy="170" r="6"/>
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<circle cx="250" cy="90" r="6"/>
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<circle cx="410" cy="150" r="6"/>
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<path data-path-trace d="M70 170 C150 80 260 80 410 150" fill="none" stroke="#1f7a8c" stroke-width="4"/>
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<circle data-path-start cx="70" cy="170" r="6"/>
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<circle data-path-current cx="70" cy="170" r="8"/>
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<circle data-path-end cx="410" cy="150" r="6"/>
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</svg>
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</section>
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<aside class="pendant">
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<h2>Controller</h2>
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<dl>
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<dt>State</dt><dd data-field="state">ready</dd>
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<dt>Program</dt><dd data-field="program">W2_60_IOWaitPulse</dd>
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<dt>Mode</dt><dd data-field="mode">auto</dd>
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<dt>Motors</dt><dd data-field="motors">on</dd>
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<dt>PC</dt><dd data-field="pc">main:0</dd>
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<dt>Time</dt><dd data-field="runtime">0 / 0 s @ 50 ms</dd>
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<dt>Joints</dt><dd data-field="joints">[0, 0, 0, 0, 0, 0]</dd>
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<dt>TCP</dt><dd data-field="tcp">[0, 0, 580, 0, 0, 0]</dd>
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<dt>TCP</dt><dd data-field="tcp">pos [0.374, 0, 0.63] q [0, 0.707107, 0, 0.707107]</dd>
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</dl>
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</aside>
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<section class="editor">
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<nav>
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<button type="button" data-tab="grl" aria-pressed="true">GRL</button>
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@@ -69,6 +87,7 @@
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run_path pick_place
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end</pre>
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</section>
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<section class="bottom-panel">
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<div><strong>Log</strong><span data-field="log">ready</span></div>
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<div><strong>Diagnostics</strong><span data-field="diagnostics">ready</span></div>
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@@ -76,7 +95,54 @@ end</pre>
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<div><strong>Wait</strong><span data-field="wait">none</span></div>
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<div><strong>Motion Queue</strong><span data-field="queue">empty</span></div>
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<div><strong>Trace</strong><span data-field="trace">0 events</span></div>
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<div><strong>Reports</strong><span data-field="reports">A120-REPORT</span></div>
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<div><strong>Reports</strong><span data-field="reports">W2-REPORT</span></div>
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<div><strong>Parser</strong><span data-field="parser">idle</span><progress data-parser-progress max="1" value="0" aria-label="Parser progress"></progress></div>
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<div><strong>Storage</strong><span data-field="storage">checking browser storage</span></div>
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<div class="steps-panel">
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<strong>Program Steps</strong>
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<span data-field="step-status">step 0</span>
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<div class="steps-table-wrap">
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<table>
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<thead>
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<tr>
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<th>#</th>
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<th>Time</th>
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<th>Line</th>
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<th>Step</th>
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<th>Source</th>
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<th>Motion/Target</th>
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<th>Samples</th>
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</tr>
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</thead>
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<tbody data-step-table></tbody>
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</table>
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</div>
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</div>
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<div class="trajectory-panel">
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<strong>Trajectory Frames</strong>
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<span data-field="frame-time">t=0 s</span>
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<div class="trajectory-table-wrap">
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<table>
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<thead>
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<tr>
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<th>#</th>
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<th>t</th>
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<th>Motion</th>
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<th>Target</th>
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<th>TCP XYZ</th>
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<th>TCP Q</th>
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<th>J1</th>
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<th>J2</th>
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<th>J3</th>
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<th>J4</th>
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<th>J5</th>
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<th>J6</th>
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</tr>
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</thead>
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<tbody data-frame-table></tbody>
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</table>
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</div>
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</div>
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</section>
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</main>
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<script src="./virtual-controller.js"></script>
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