mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2026-02-05 22:15:04 +00:00
Merge remote-tracking branch 'upstream/dev' into device_visualization
This commit is contained in:
zhangshixiang
@@ -1,10 +1,10 @@
|
||||
io_snrd:
|
||||
description: IO Board with 16 IOs
|
||||
class:
|
||||
module: ilabos.device_comms.SRND_16_IO:SRND_16_IO
|
||||
type: python
|
||||
hardware_interface:
|
||||
name: modbus_client
|
||||
extra_info: []
|
||||
read: read_io_coil
|
||||
write: write_io_coil
|
||||
#io_snrd:
|
||||
# description: IO Board with 16 IOs
|
||||
# class:
|
||||
# module: unilabos.device_comms.SRND_16_IO:SRND_16_IO
|
||||
# type: python
|
||||
# hardware_interface:
|
||||
# name: modbus_client
|
||||
# extra_info: []
|
||||
# read: read_io_coil
|
||||
# write: write_io_coil
|
||||
@@ -1,7 +1,106 @@
|
||||
serial:
|
||||
description: Serial communication interface, used when sharing same serial port for multiple devices
|
||||
category:
|
||||
- serial
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-handle_serial_request:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
request: null
|
||||
response: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: handle_serial_request的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
request:
|
||||
type: string
|
||||
response:
|
||||
type: string
|
||||
required:
|
||||
- request
|
||||
- response
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: handle_serial_request参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-read_data:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: read_data的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: read_data参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-send_command:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
command: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: send_command的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: send_command参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
module: unilabos.ros.nodes.presets.serial_node:ROS2SerialNode
|
||||
status_types: {}
|
||||
type: ros2
|
||||
schema:
|
||||
properties: {}
|
||||
config_info: []
|
||||
description: Serial communication interface, used when sharing same serial port
|
||||
for multiple devices
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
baudrate:
|
||||
default: 9600
|
||||
type: integer
|
||||
device_id:
|
||||
type: string
|
||||
port:
|
||||
type: string
|
||||
resource_tracker:
|
||||
type: string
|
||||
required:
|
||||
- device_id
|
||||
- port
|
||||
type: object
|
||||
data:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
version: 1.0.0
|
||||
|
||||
73
unilabos/registry/devices/camera.yaml
Normal file
73
unilabos/registry/devices/camera.yaml
Normal file
@@ -0,0 +1,73 @@
|
||||
camera:
|
||||
category:
|
||||
- camera
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-destroy_node:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: 用于安全地关闭摄像头设备，释放摄像头资源，停止视频采集和发布服务。调用此函数将清理OpenCV摄像头连接并销毁ROS2节点。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: destroy_node参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-timer_callback:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: 定时器回调函数的参数schema。此函数负责定期采集摄像头视频帧，将OpenCV格式的图像转换为ROS Image消息格式，并发布到指定的视频话题。默认以10Hz频率执行，确保视频流的连续性和实时性。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: timer_callback参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
module: unilabos.ros.nodes.presets.camera:VideoPublisher
|
||||
status_types: {}
|
||||
type: ros2
|
||||
config_info: []
|
||||
description: VideoPublisher摄像头设备节点，用于实时视频采集和流媒体发布。该设备通过OpenCV连接本地摄像头（如USB摄像头、内置摄像头等），定时采集视频帧并将其转换为ROS2的sensor_msgs/Image消息格式发布到视频话题。主要用于实验室自动化系统中的视觉监控、图像分析、实时观察等应用场景。支持可配置的摄像头索引、发布频率等参数。
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
camera_index:
|
||||
default: 0
|
||||
type: string
|
||||
device_id:
|
||||
default: video_publisher
|
||||
type: string
|
||||
period:
|
||||
default: 0.1
|
||||
type: number
|
||||
resource_tracker:
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
data:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
version: 1.0.0
|
||||
@@ -1,67 +1,411 @@
|
||||
# 光学表征设备：红外、紫外可见、拉曼等
|
||||
raman_home_made:
|
||||
description: Raman spectroscopy device
|
||||
class:
|
||||
module: unilabos.devices.raman_uv.home_made_raman:RamanObj
|
||||
type: python
|
||||
status_types:
|
||||
status: String
|
||||
action_value_mappings:
|
||||
raman_cmd:
|
||||
type: SendCmd
|
||||
goal:
|
||||
command: command
|
||||
feedback: {}
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
additionalProperties: false
|
||||
type: object
|
||||
hplc.agilent:
|
||||
description: HPLC device
|
||||
category:
|
||||
- characterization_optic
|
||||
class:
|
||||
module: unilabos.devices.hplc.AgilentHPLC:HPLCDriver
|
||||
type: python
|
||||
status_types:
|
||||
device_status: String
|
||||
could_run: Bool
|
||||
driver_init_ok: Bool
|
||||
is_running: Bool
|
||||
finish_status: String
|
||||
status_text: String
|
||||
action_value_mappings:
|
||||
auto-check_status:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: 检查安捷伦HPLC设备状态的函数。用于监控设备的运行状态、连接状态、错误信息等关键指标。该函数定期查询设备状态，确保系统稳定运行，及时发现和报告设备异常。适用于自动化流程中的设备监控、故障诊断、系统维护等场景。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: check_status参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-extract_data_from_txt:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
file_path: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: 从文本文件中提取分析数据的函数。用于解析安捷伦HPLC生成的结果文件，提取峰面积、保留时间、浓度等关键分析数据。支持多种文件格式的自动识别和数据结构化处理，为后续数据分析和报告生成提供标准化的数据格式。适用于批量数据处理、结果验证、质量控制等分析工作流程。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
file_path:
|
||||
type: string
|
||||
required:
|
||||
- file_path
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: extract_data_from_txt参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-start_sequence:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
params: null
|
||||
resource: null
|
||||
wf_name: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: 启动安捷伦HPLC分析序列的函数。用于执行预定义的分析方法序列，包括样品进样、色谱分离、检测等完整的分析流程。支持参数配置、资源分配、工作流程管理等功能，实现全自动的样品分析。适用于批量样品处理、标准化分析、质量检测等需要连续自动分析的应用场景。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
params:
|
||||
type: string
|
||||
resource:
|
||||
type: object
|
||||
wf_name:
|
||||
type: string
|
||||
required:
|
||||
- wf_name
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: start_sequence参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-try_close_sub_device:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
device_name: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: 尝试关闭HPLC子设备的函数。用于安全地关闭泵、检测器、进样器等各个子模块，确保设备正常断开连接并保护硬件安全。该函数提供错误处理和状态确认机制，避免强制关闭可能造成的设备损坏。适用于设备维护、系统重启、紧急停机等需要安全关闭设备的场景。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
device_name:
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: try_close_sub_device参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-try_open_sub_device:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
device_name: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: 尝试打开HPLC子设备的函数。用于初始化和连接泵、检测器、进样器等各个子模块，建立设备通信并进行自检。该函数提供连接验证和错误恢复机制，确保子设备正常启动并准备就绪。适用于设备初始化、系统启动、设备重连等需要建立设备连接的场景。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
device_name:
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: try_open_sub_device参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
execute_command_from_outer:
|
||||
type: SendCmd
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
feedback: {}
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
properties:
|
||||
device_status:
|
||||
type: string
|
||||
could_run:
|
||||
type: boolean
|
||||
driver_init_ok:
|
||||
type: boolean
|
||||
is_running:
|
||||
type: boolean
|
||||
finish_status:
|
||||
type: string
|
||||
status_text:
|
||||
type: string
|
||||
required:
|
||||
- device_status
|
||||
- could_run
|
||||
- driver_init_ok
|
||||
- is_running
|
||||
- finish_status
|
||||
- status_text
|
||||
additionalProperties: false
|
||||
type: object
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
module: unilabos.devices.hplc.AgilentHPLC:HPLCDriver
|
||||
status_types:
|
||||
could_run: bool
|
||||
data_file: list
|
||||
device_status: str
|
||||
driver_init_ok: bool
|
||||
finish_status: str
|
||||
is_running: bool
|
||||
status_text: str
|
||||
success: bool
|
||||
type: python
|
||||
config_info: []
|
||||
description: 安捷伦高效液相色谱（HPLC）分析设备，用于复杂化合物的分离、检测和定量分析。该设备通过UI自动化技术控制安捷伦ChemStation软件，实现全自动的样品分析流程。具备序列启动、设备状态监控、数据文件提取、结果处理等功能。支持多样品批量处理和实时状态反馈，适用于药物分析、环境检测、食品安全、化学研究等需要高精度色谱分析的实验室应用。
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
driver_debug:
|
||||
default: false
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
could_run:
|
||||
type: boolean
|
||||
data_file:
|
||||
type: array
|
||||
device_status:
|
||||
type: string
|
||||
driver_init_ok:
|
||||
type: boolean
|
||||
finish_status:
|
||||
type: string
|
||||
is_running:
|
||||
type: boolean
|
||||
status_text:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- status_text
|
||||
- device_status
|
||||
- could_run
|
||||
- driver_init_ok
|
||||
- is_running
|
||||
- success
|
||||
- finish_status
|
||||
- data_file
|
||||
type: object
|
||||
version: 1.0.0
|
||||
raman_home_made:
|
||||
category:
|
||||
- characterization_optic
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-ccd_time:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
int_time: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: 设置CCD检测器积分时间的函数。用于配置拉曼光谱仪的信号采集时间，控制光谱数据的质量和信噪比。较长的积分时间可获得更高的信号强度和更好的光谱质量，但会增加测量时间。该函数允许根据样品特性和测量要求动态调整检测参数，优化测量效果。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
int_time:
|
||||
type: string
|
||||
required:
|
||||
- int_time
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: ccd_time参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-laser_on_power:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
output_voltage_laser: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: 设置激光器输出功率的函数。用于控制拉曼光谱仪激光器的功率输出，调节激光强度以适应不同样品的测量需求。适当的激光功率能够获得良好的拉曼信号同时避免样品损伤。该函数支持精确的功率控制，确保测量结果的稳定性和重现性。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
output_voltage_laser:
|
||||
type: string
|
||||
required:
|
||||
- output_voltage_laser
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: laser_on_power参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-raman_without_background:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
int_time: null
|
||||
laser_power: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: 执行无背景扣除的拉曼光谱测量函数。用于直接采集样品的拉曼光谱信号，不进行背景校正处理。该函数配置积分时间和激光功率参数，获取原始光谱数据用于后续的数据处理分析。适用于对光谱数据质量要求较高或需要自定义背景处理流程的测量场景。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
int_time:
|
||||
type: string
|
||||
laser_power:
|
||||
type: string
|
||||
required:
|
||||
- int_time
|
||||
- laser_power
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: raman_without_background参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-raman_without_background_average:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
average: null
|
||||
int_time: null
|
||||
laser_power: null
|
||||
sample_name: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: 执行多次平均的无背景拉曼光谱测量函数。通过多次测量取平均值来提高光谱数据的信噪比和测量精度，减少随机噪声影响。该函数支持自定义平均次数、积分时间、激光功率等参数，并可为样品指定名称便于数据管理。适用于对测量精度要求较高的定量分析和研究应用。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
average:
|
||||
type: string
|
||||
int_time:
|
||||
type: string
|
||||
laser_power:
|
||||
type: string
|
||||
sample_name:
|
||||
type: string
|
||||
required:
|
||||
- sample_name
|
||||
- int_time
|
||||
- laser_power
|
||||
- average
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: raman_without_background_average参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
raman_cmd:
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
module: unilabos.devices.raman_uv.home_made_raman:RamanObj
|
||||
status_types: {}
|
||||
type: python
|
||||
config_info: []
|
||||
description: 拉曼光谱分析设备，用于物质的分子结构和化学成分表征。该设备集成激光器和CCD检测器，通过串口通信控制激光功率和光谱采集。具备背景扣除、多次平均、自动数据处理等功能，支持高精度的拉曼光谱测量。适用于材料表征、化学分析、质量控制、研究开发等需要分子指纹识别和结构分析的实验应用。
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
baudrate_ccd:
|
||||
default: 921600
|
||||
type: string
|
||||
baudrate_laser:
|
||||
default: 9600
|
||||
type: string
|
||||
port_ccd:
|
||||
type: string
|
||||
port_laser:
|
||||
type: string
|
||||
required:
|
||||
- port_laser
|
||||
- port_ccd
|
||||
type: object
|
||||
data:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
version: 1.0.0
|
||||
|
||||
@@ -1,9 +1,35 @@
|
||||
hotel.thermo_orbitor_rs2_hotel:
|
||||
description: Thermo Orbitor RS2 Hotel
|
||||
class:
|
||||
category:
|
||||
- hotel
|
||||
class:
|
||||
action_value_mappings: {}
|
||||
module: unilabos.devices.resource_container.container:HotelContainer
|
||||
status_types:
|
||||
rotation: String
|
||||
type: python
|
||||
config_info: []
|
||||
description: Thermo Orbitor RS2 Hotel容器设备，用于实验室样品的存储和管理。该设备通过HotelContainer类实现容器的旋转控制和状态监控，主要用于存储实验样品、试剂瓶或其他实验器具，支持旋转功能以便于样品的自动化存取。适用于需要有序存储和快速访问大量样品的实验室自动化场景。
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
device_config:
|
||||
type: object
|
||||
rotation:
|
||||
type: object
|
||||
required:
|
||||
- rotation
|
||||
- device_config
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
rotation:
|
||||
type: string
|
||||
required:
|
||||
- rotation
|
||||
type: object
|
||||
model:
|
||||
type: device
|
||||
mesh: thermo_orbitor_rs2_hotel
|
||||
|
||||
type: device
|
||||
version: 1.0.0
|
||||
|
||||
@@ -1,56 +1,385 @@
|
||||
laiyu_add_solid:
|
||||
description: Laiyu Add Solid
|
||||
category:
|
||||
- laiyu_add_solid
|
||||
class:
|
||||
module: unilabos.devices.laiyu_add_solid.laiyu:Laiyu
|
||||
type: python
|
||||
status_types: {}
|
||||
action_value_mappings:
|
||||
add_powder_tube:
|
||||
feedback: {}
|
||||
goal:
|
||||
compound_mass: compound_mass
|
||||
powder_tube_number: powder_tube_number
|
||||
target_tube_position: target_tube_position
|
||||
goal_default:
|
||||
compound_mass: 0.0
|
||||
powder_tube_number: 0
|
||||
target_tube_position: ''
|
||||
handles: []
|
||||
result:
|
||||
actual_mass_mg: actual_mass_mg
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: SolidDispenseAddPowderTube_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
compound_mass:
|
||||
type: number
|
||||
powder_tube_number:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
target_tube_position:
|
||||
type: string
|
||||
required:
|
||||
- powder_tube_number
|
||||
- target_tube_position
|
||||
- compound_mass
|
||||
title: SolidDispenseAddPowderTube_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
actual_mass_mg:
|
||||
type: number
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- actual_mass_mg
|
||||
- success
|
||||
title: SolidDispenseAddPowderTube_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SolidDispenseAddPowderTube
|
||||
type: object
|
||||
type: SolidDispenseAddPowderTube
|
||||
auto-calculate_crc:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
data: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: Modbus CRC-16校验码计算函数。计算Modbus RTU通信协议所需的CRC-16校验码，确保数据传输的完整性和可靠性。该函数实现标准的CRC-16算法，用于构造完整的Modbus指令帧。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
data:
|
||||
type: string
|
||||
required:
|
||||
- data
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: calculate_crc参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-send_command:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
command: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: Modbus指令发送函数。构造完整的Modbus RTU指令帧（包含CRC校验），发送给分装设备并等待响应。该函数处理底层通信协议，确保指令的正确传输和响应接收，支持最长3分钟的响应等待时间。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: send_command参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
discharge:
|
||||
feedback: {}
|
||||
goal:
|
||||
float_input: float_input
|
||||
goal_default:
|
||||
float_in: 0.0
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: FloatSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
float_in:
|
||||
type: number
|
||||
required:
|
||||
- float_in
|
||||
title: FloatSingleInput_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: FloatSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: FloatSingleInput
|
||||
type: object
|
||||
type: FloatSingleInput
|
||||
move_to_plate:
|
||||
feedback: {}
|
||||
goal:
|
||||
string: string
|
||||
goal_default:
|
||||
string: ''
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: StrSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
string:
|
||||
type: string
|
||||
required:
|
||||
- string
|
||||
title: StrSingleInput_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: StrSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: StrSingleInput
|
||||
type: object
|
||||
type: StrSingleInput
|
||||
move_to_xyz:
|
||||
type: Point3DSeparateInput
|
||||
feedback: {}
|
||||
goal:
|
||||
x: x
|
||||
y: y
|
||||
z: z
|
||||
feedback: {}
|
||||
goal_default:
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: Point3DSeparateInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point3DSeparateInput_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: Point3DSeparateInput_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: Point3DSeparateInput
|
||||
type: object
|
||||
type: Point3DSeparateInput
|
||||
pick_powder_tube:
|
||||
type: IntSingleInput
|
||||
feedback: {}
|
||||
goal:
|
||||
int_input: int_input
|
||||
feedback: {}
|
||||
goal_default:
|
||||
int_input: 0
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: IntSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
int_input:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
required:
|
||||
- int_input
|
||||
title: IntSingleInput_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: IntSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: IntSingleInput
|
||||
type: object
|
||||
type: IntSingleInput
|
||||
put_powder_tube:
|
||||
type: IntSingleInput
|
||||
feedback: {}
|
||||
goal:
|
||||
int_input: int_input
|
||||
feedback: {}
|
||||
goal_default:
|
||||
int_input: 0
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: IntSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
int_input:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
required:
|
||||
- int_input
|
||||
title: IntSingleInput_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: IntSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: IntSingleInput
|
||||
type: object
|
||||
type: IntSingleInput
|
||||
reset:
|
||||
type: EmptyIn
|
||||
feedback: {}
|
||||
goal: {}
|
||||
feedback: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
add_powder_tube:
|
||||
type: SolidDispenseAddPowderTube
|
||||
goal:
|
||||
powder_tube_number: powder_tube_number
|
||||
target_tube_position: target_tube_position
|
||||
compound_mass: compound_mass
|
||||
feedback: {}
|
||||
result:
|
||||
actual_mass_mg: actual_mass_mg
|
||||
move_to_plate:
|
||||
type: StrSingleInput
|
||||
goal:
|
||||
string: string
|
||||
feedback: {}
|
||||
result: {}
|
||||
discharge:
|
||||
type: FloatSingleInput
|
||||
goal:
|
||||
float_input: float_input
|
||||
feedback: {}
|
||||
result: {}
|
||||
|
||||
schema:
|
||||
properties: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: EmptyIn
|
||||
type: object
|
||||
type: EmptyIn
|
||||
module: unilabos.devices.laiyu_add_solid.laiyu:Laiyu
|
||||
status_types:
|
||||
status: str
|
||||
type: python
|
||||
config_info: []
|
||||
description: 来渝固体粉末自动分装设备，用于实验室化学试剂的精确称量和分装。该设备通过Modbus RTU协议与控制系统通信，集成了精密天平、三轴运动平台、粉筒管理系统等组件。支持多种粉末试剂的自动拿取、精确称量、定点分装和归位操作。具备高精度称量、位置控制和批量处理能力，适用于化学合成、药物研发、材料制备等需要精确固体试剂配制的实验室应用场景。
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
baudrate:
|
||||
default: 115200
|
||||
type: string
|
||||
port:
|
||||
type: string
|
||||
timeout:
|
||||
default: 0.5
|
||||
type: string
|
||||
required:
|
||||
- port
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
type: object
|
||||
version: 1.0.0
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -1,56 +1,704 @@
|
||||
moveit.toyo_xyz:
|
||||
description: Toyo XYZ
|
||||
class:
|
||||
module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
|
||||
type: python
|
||||
action_value_mappings:
|
||||
set_position:
|
||||
type: SendCmd
|
||||
goal:
|
||||
command: command
|
||||
feedback: { }
|
||||
result: { }
|
||||
pick_and_place:
|
||||
type: SendCmd
|
||||
goal:
|
||||
command: command
|
||||
feedback: { }
|
||||
result: { }
|
||||
set_status:
|
||||
type: SendCmd
|
||||
goal:
|
||||
command: command
|
||||
feedback: { }
|
||||
result: { }
|
||||
|
||||
model:
|
||||
type: device
|
||||
mesh: toyo_xyz
|
||||
|
||||
moveit.arm_slider:
|
||||
description: Arm with Slider
|
||||
model:
|
||||
type: device
|
||||
mesh: arm_slider
|
||||
category:
|
||||
- moveit_config
|
||||
class:
|
||||
module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
|
||||
type: python
|
||||
action_value_mappings:
|
||||
set_position:
|
||||
type: SendCmd
|
||||
goal:
|
||||
command: command
|
||||
auto-check_tf_update_actions:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: check_tf_update_actions的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: check_tf_update_actions参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-moveit_joint_task:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
joint_names: null
|
||||
joint_positions: null
|
||||
move_group: null
|
||||
retry: 10
|
||||
speed: 1
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: moveit_joint_task的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
joint_names:
|
||||
type: string
|
||||
joint_positions:
|
||||
type: string
|
||||
move_group:
|
||||
type: string
|
||||
retry:
|
||||
default: 10
|
||||
type: string
|
||||
speed:
|
||||
default: 1
|
||||
type: string
|
||||
required:
|
||||
- move_group
|
||||
- joint_positions
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: moveit_joint_task参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-moveit_task:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
cartesian: false
|
||||
move_group: null
|
||||
offsets:
|
||||
- 0
|
||||
- 0
|
||||
- 0
|
||||
position: null
|
||||
quaternion: null
|
||||
retry: 10
|
||||
speed: 1
|
||||
target_link: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: moveit_task的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
cartesian:
|
||||
default: false
|
||||
type: string
|
||||
move_group:
|
||||
type: string
|
||||
offsets:
|
||||
default:
|
||||
- 0
|
||||
- 0
|
||||
- 0
|
||||
type: string
|
||||
position:
|
||||
type: string
|
||||
quaternion:
|
||||
type: string
|
||||
retry:
|
||||
default: 10
|
||||
type: string
|
||||
speed:
|
||||
default: 1
|
||||
type: string
|
||||
target_link:
|
||||
type: string
|
||||
required:
|
||||
- move_group
|
||||
- position
|
||||
- quaternion
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: moveit_task参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-post_init:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
ros_node: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: post_init的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
ros_node:
|
||||
type: string
|
||||
required:
|
||||
- ros_node
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: post_init参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-resource_manager:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
parent_link: null
|
||||
resource: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: resource_manager的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
parent_link:
|
||||
type: string
|
||||
resource:
|
||||
type: string
|
||||
required:
|
||||
- resource
|
||||
- parent_link
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: resource_manager参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-wait_for_resource_action:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: wait_for_resource_action的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: wait_for_resource_action参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
pick_and_place:
|
||||
type: SendCmd
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
feedback: {}
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
set_position:
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
set_status:
|
||||
type: SendCmd
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
feedback: {}
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
|
||||
status_types: {}
|
||||
type: python
|
||||
config_info: []
|
||||
description: 机械臂与滑块运动系统，基于MoveIt2运动规划框架的多自由度机械臂控制设备。该系统集成机械臂和线性滑块，通过ROS2和MoveIt2实现精确的轨迹规划和协调运动控制。支持笛卡尔空间和关节空间的运动规划、碰撞检测、逆运动学求解等功能。适用于复杂的pick-and-place操作、精密装配、多工位协作等需要高精度多轴协调运动的实验室自动化应用。
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
device_config:
|
||||
type: string
|
||||
joint_poses:
|
||||
type: string
|
||||
moveit_type:
|
||||
type: string
|
||||
rotation:
|
||||
type: string
|
||||
required:
|
||||
- moveit_type
|
||||
- joint_poses
|
||||
type: object
|
||||
data:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
model:
|
||||
mesh: arm_slider
|
||||
type: device
|
||||
version: 1.0.0
|
||||
moveit.toyo_xyz:
|
||||
category:
|
||||
- moveit_config
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-check_tf_update_actions:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: check_tf_update_actions的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: check_tf_update_actions参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-moveit_joint_task:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
joint_names: null
|
||||
joint_positions: null
|
||||
move_group: null
|
||||
retry: 10
|
||||
speed: 1
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: moveit_joint_task的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
joint_names:
|
||||
type: string
|
||||
joint_positions:
|
||||
type: string
|
||||
move_group:
|
||||
type: string
|
||||
retry:
|
||||
default: 10
|
||||
type: string
|
||||
speed:
|
||||
default: 1
|
||||
type: string
|
||||
required:
|
||||
- move_group
|
||||
- joint_positions
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: moveit_joint_task参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-moveit_task:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
cartesian: false
|
||||
move_group: null
|
||||
offsets:
|
||||
- 0
|
||||
- 0
|
||||
- 0
|
||||
position: null
|
||||
quaternion: null
|
||||
retry: 10
|
||||
speed: 1
|
||||
target_link: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: moveit_task的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
cartesian:
|
||||
default: false
|
||||
type: string
|
||||
move_group:
|
||||
type: string
|
||||
offsets:
|
||||
default:
|
||||
- 0
|
||||
- 0
|
||||
- 0
|
||||
type: string
|
||||
position:
|
||||
type: string
|
||||
quaternion:
|
||||
type: string
|
||||
retry:
|
||||
default: 10
|
||||
type: string
|
||||
speed:
|
||||
default: 1
|
||||
type: string
|
||||
target_link:
|
||||
type: string
|
||||
required:
|
||||
- move_group
|
||||
- position
|
||||
- quaternion
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: moveit_task参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-post_init:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
ros_node: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: post_init的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
ros_node:
|
||||
type: string
|
||||
required:
|
||||
- ros_node
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: post_init参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-resource_manager:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
parent_link: null
|
||||
resource: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: resource_manager的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
parent_link:
|
||||
type: string
|
||||
resource:
|
||||
type: string
|
||||
required:
|
||||
- resource
|
||||
- parent_link
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: resource_manager参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-wait_for_resource_action:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: wait_for_resource_action的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: wait_for_resource_action参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
pick_and_place:
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
set_position:
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
set_status:
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
|
||||
status_types: {}
|
||||
type: python
|
||||
config_info: []
|
||||
description: 东洋XYZ三轴运动平台，基于MoveIt2运动规划框架的精密定位设备。该设备通过ROS2和MoveIt2实现三维空间的精确运动控制，支持复杂轨迹规划、多点定位、速度控制等功能。具备高精度定位、平稳运动、实时轨迹监控等特性。适用于精密加工、样品定位、检测扫描、自动化装配等需要高精度三维运动控制的实验室和工业应用场景。
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
device_config:
|
||||
type: string
|
||||
joint_poses:
|
||||
type: string
|
||||
moveit_type:
|
||||
type: string
|
||||
rotation:
|
||||
type: string
|
||||
required:
|
||||
- moveit_type
|
||||
- joint_poses
|
||||
type: object
|
||||
data:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
model:
|
||||
mesh: toyo_xyz
|
||||
type: device
|
||||
version: 1.0.0
|
||||
|
||||
@@ -1,73 +1,479 @@
|
||||
separator.homemade:
|
||||
description: Separator device with homemade grbl controller
|
||||
class:
|
||||
module: unilabos.devices.separator.homemade_grbl_conductivity:SeparatorController
|
||||
type: python
|
||||
status_types:
|
||||
sensordata: Float64
|
||||
status: String
|
||||
action_value_mappings:
|
||||
stir:
|
||||
type: Stir
|
||||
goal:
|
||||
stir_time: stir_time,
|
||||
stir_speed: stir_speed
|
||||
settling_time: settling_time
|
||||
feedback:
|
||||
status: status
|
||||
result:
|
||||
success: success
|
||||
valve_open_cmd:
|
||||
type: SendCmd
|
||||
goal:
|
||||
command: command
|
||||
feedback:
|
||||
status: status
|
||||
result":
|
||||
success: success
|
||||
schema:
|
||||
type: object
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
description: The status of the device
|
||||
sensordata:
|
||||
type: number
|
||||
description: 电导传感器数据
|
||||
required:
|
||||
- status
|
||||
- sensordata
|
||||
additionalProperties: false
|
||||
|
||||
rotavap.one:
|
||||
description: Rotavap device
|
||||
category:
|
||||
- organic_miscellaneous
|
||||
class:
|
||||
module: unilabos.devices.rotavap.rotavap_one:RotavapOne
|
||||
type: python
|
||||
status_types:
|
||||
pump_time: Float64
|
||||
rotate_time: Float64
|
||||
action_value_mappings:
|
||||
auto-cmd_write:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
cmd: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: cmd_write的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
cmd:
|
||||
type: string
|
||||
required:
|
||||
- cmd
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: cmd_write参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-main_loop:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: main_loop的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: main_loop参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_pump_time:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
time: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: set_pump_time的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
time:
|
||||
type: string
|
||||
required:
|
||||
- time
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_pump_time参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_rotate_time:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
time: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: set_rotate_time的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
time:
|
||||
type: string
|
||||
required:
|
||||
- time
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_rotate_time参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
set_timer:
|
||||
type: SendCmd
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
feedback: {}
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
type: object
|
||||
properties:
|
||||
temperature:
|
||||
type: number
|
||||
description: 旋蒸水浴温度
|
||||
pump_time:
|
||||
type: number
|
||||
description: The pump time of the device
|
||||
rotate_time:
|
||||
type: number
|
||||
description: The rotate time of the device
|
||||
required:
|
||||
- pump_time
|
||||
- rotate_time
|
||||
additionalProperties: false
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
module: unilabos.devices.rotavap.rotavap_one:RotavapOne
|
||||
status_types: {}
|
||||
type: python
|
||||
config_info: []
|
||||
description: 旋转蒸发仪设备，用于有机化学实验中的溶剂回收和浓缩操作。该设备通过串口通信控制，集成旋转和真空泵功能，支持定时控制和自动化操作。具备旋转速度调节、真空度控制、温度管理等功能，实现高效的溶剂蒸发和回收。适用于有机合成、天然产物提取、药物制备等需要溶剂去除和浓缩的实验室应用场景。
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
port:
|
||||
type: string
|
||||
rate:
|
||||
default: 9600
|
||||
type: string
|
||||
required:
|
||||
- port
|
||||
type: object
|
||||
data:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
version: 1.0.0
|
||||
separator.homemade:
|
||||
category:
|
||||
- organic_miscellaneous
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-read_sensor_loop:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: read_sensor_loop的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: read_sensor_loop参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-valve_open:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
condition: null
|
||||
value: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: valve_open的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
condition:
|
||||
type: string
|
||||
value:
|
||||
type: string
|
||||
required:
|
||||
- condition
|
||||
- value
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: valve_open参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-write:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
data: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: write的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
data:
|
||||
type: string
|
||||
required:
|
||||
- data
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: write参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
stir:
|
||||
feedback:
|
||||
status: status
|
||||
goal:
|
||||
settling_time: settling_time
|
||||
stir_speed: stir_speed
|
||||
stir_time: stir_time,
|
||||
goal_default:
|
||||
event: ''
|
||||
settling_time: ''
|
||||
stir_speed: 0.0
|
||||
stir_time: 0.0
|
||||
time: ''
|
||||
time_spec: ''
|
||||
vessel:
|
||||
category: ''
|
||||
children: []
|
||||
config: ''
|
||||
data: ''
|
||||
id: ''
|
||||
name: ''
|
||||
parent: ''
|
||||
pose:
|
||||
orientation:
|
||||
w: 1.0
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0
|
||||
position:
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0
|
||||
sample_id: ''
|
||||
type: ''
|
||||
handles: []
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: Stir_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
event:
|
||||
type: string
|
||||
settling_time:
|
||||
type: string
|
||||
stir_speed:
|
||||
type: number
|
||||
stir_time:
|
||||
type: number
|
||||
time:
|
||||
type: string
|
||||
time_spec:
|
||||
type: string
|
||||
vessel:
|
||||
properties:
|
||||
category:
|
||||
type: string
|
||||
children:
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
config:
|
||||
type: string
|
||||
data:
|
||||
type: string
|
||||
id:
|
||||
type: string
|
||||
name:
|
||||
type: string
|
||||
parent:
|
||||
type: string
|
||||
pose:
|
||||
properties:
|
||||
orientation:
|
||||
properties:
|
||||
w:
|
||||
type: number
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
type:
|
||||
type: string
|
||||
required:
|
||||
- id
|
||||
- name
|
||||
- sample_id
|
||||
- children
|
||||
- parent
|
||||
- type
|
||||
- category
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
type: object
|
||||
required:
|
||||
- vessel
|
||||
- time
|
||||
- event
|
||||
- time_spec
|
||||
- stir_time
|
||||
- stir_speed
|
||||
- settling_time
|
||||
title: Stir_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
message:
|
||||
type: string
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- success
|
||||
- message
|
||||
- return_info
|
||||
title: Stir_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: Stir
|
||||
type: object
|
||||
type: Stir
|
||||
valve_open_cmd:
|
||||
feedback:
|
||||
status: status
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
module: unilabos.devices.separator.homemade_grbl_conductivity:SeparatorController
|
||||
status_types: {}
|
||||
type: python
|
||||
config_info: []
|
||||
description: 液-液分离器设备，基于自制Grbl控制器的自动化分离系统。该设备集成搅拌、沉降、阀门控制和电导率传感器，通过串口通信实现精确的分离操作控制。支持自动搅拌、分层沉降、基于传感器反馈的智能分液等功能。适用于有机化学中的萃取分离、相分离、液-液提取等需要精确分离控制的实验应用。
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
baudrate_executor:
|
||||
default: 115200
|
||||
type: integer
|
||||
baudrate_sensor:
|
||||
default: 115200
|
||||
type: integer
|
||||
port_executor:
|
||||
type: string
|
||||
port_sensor:
|
||||
type: string
|
||||
required:
|
||||
- port_executor
|
||||
- port_sensor
|
||||
type: object
|
||||
data:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
version: 1.0.0
|
||||
|
||||
@@ -1,85 +1,816 @@
|
||||
syringe_pump_with_valve.runze:
|
||||
description: Runze Syringe pump with valve
|
||||
solenoid_valve:
|
||||
category:
|
||||
- pump_and_valve
|
||||
class:
|
||||
module: unilabos.devices.pump_and_valve.runze_backbone:RunzeSyringePump
|
||||
action_value_mappings:
|
||||
auto-close:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: close的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: close参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-is_closed:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: is_closed的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: is_closed参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-is_open:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: is_open的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: is_open参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-open:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: open参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-read_data:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: read_data的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: read_data参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-send_command:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
command: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: send_command的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: send_command参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
set_valve_position:
|
||||
feedback: {}
|
||||
goal:
|
||||
string: position
|
||||
goal_default:
|
||||
string: ''
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: StrSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
string:
|
||||
type: string
|
||||
required:
|
||||
- string
|
||||
title: StrSingleInput_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: StrSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: StrSingleInput
|
||||
type: object
|
||||
type: StrSingleInput
|
||||
module: unilabos.devices.pump_and_valve.solenoid_valve:SolenoidValve
|
||||
status_types:
|
||||
status: str
|
||||
valve_position: str
|
||||
type: python
|
||||
config_info: []
|
||||
description: 电磁阀控制设备，用于精确的流体路径控制和开关操作。该设备通过串口通信控制电磁阀的开关状态，支持远程操作和状态监测。具备快速响应、可靠密封、状态反馈等特性，广泛应用于流体输送、样品进样、路径切换等需要精确流体控制的实验室自动化应用。
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
io_device_port:
|
||||
type: string
|
||||
required:
|
||||
- io_device_port
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
valve_position:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
- valve_position
|
||||
type: object
|
||||
version: 1.0.0
|
||||
solenoid_valve.mock:
|
||||
category:
|
||||
- pump_and_valve
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-is_closed:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: is_closed的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: is_closed参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-is_open:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: is_open的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: is_open参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_valve_position:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
position: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: set_valve_position的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
position:
|
||||
type: string
|
||||
required:
|
||||
- position
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_valve_position参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
close:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: EmptyIn
|
||||
type: object
|
||||
type: EmptyIn
|
||||
open:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: EmptyIn
|
||||
type: object
|
||||
type: EmptyIn
|
||||
module: unilabos.devices.pump_and_valve.solenoid_valve_mock:SolenoidValveMock
|
||||
status_types:
|
||||
status: str
|
||||
valve_position: str
|
||||
type: python
|
||||
config_info: []
|
||||
description: 模拟电磁阀设备，用于系统测试和开发调试。该设备模拟真实电磁阀的开关操作和状态变化，提供与实际设备相同的控制接口和反馈机制。支持流体路径的虚拟控制，便于在没有实际硬件的情况下进行流体系统的集成测试和算法验证。适用于系统开发、流程调试和培训演示等场景。
|
||||
handles:
|
||||
- data_type: fluid
|
||||
handler_key: in
|
||||
io_type: target
|
||||
label: in
|
||||
side: NORTH
|
||||
- data_type: fluid
|
||||
handler_key: out
|
||||
io_type: source
|
||||
label: out
|
||||
side: SOUTH
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
port:
|
||||
default: COM6
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
valve_position:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
- valve_position
|
||||
type: object
|
||||
version: 1.0.0
|
||||
syringe_pump_with_valve.runze:
|
||||
category:
|
||||
- pump_and_valve
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-close:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: close的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: close参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-initialize:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: initialize的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: initialize参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-pull_plunger:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
volume: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: pull_plunger的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
volume:
|
||||
type: number
|
||||
required:
|
||||
- volume
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: pull_plunger参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-push_plunger:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
volume: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: push_plunger的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
volume:
|
||||
type: number
|
||||
required:
|
||||
- volume
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: push_plunger参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-query_aux_input_status_1:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: query_aux_input_status_1的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: query_aux_input_status_1参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-query_aux_input_status_2:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: query_aux_input_status_2的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: query_aux_input_status_2参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-query_backlash_position:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: query_backlash_position的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: query_backlash_position参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-query_command_buffer_status:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: query_command_buffer_status的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: query_command_buffer_status参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-query_software_version:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: query_software_version的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: query_software_version参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-send_command:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
full_command: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: send_command的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
full_command:
|
||||
type: string
|
||||
required:
|
||||
- full_command
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: send_command参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_baudrate:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
baudrate: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: set_baudrate的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
baudrate:
|
||||
type: string
|
||||
required:
|
||||
- baudrate
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_baudrate参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_max_velocity:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
velocity: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: set_max_velocity的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
velocity:
|
||||
type: number
|
||||
required:
|
||||
- velocity
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_max_velocity参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_position:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
max_velocity: null
|
||||
position: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: set_position的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
max_velocity:
|
||||
type: number
|
||||
position:
|
||||
type: number
|
||||
required:
|
||||
- position
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_position参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_valve_position:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
position: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: set_valve_position的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
position:
|
||||
type: string
|
||||
required:
|
||||
- position
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_valve_position参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_velocity_grade:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
velocity: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: set_velocity_grade的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
velocity:
|
||||
type: string
|
||||
required:
|
||||
- velocity
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_velocity_grade参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-stop_operation:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: stop_operation的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: stop_operation参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-wait_error:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: wait_error的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: wait_error参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
hardware_interface:
|
||||
name: hardware_interface
|
||||
read: send_command
|
||||
write: send_command
|
||||
schema:
|
||||
type: object
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
description: The status of the device
|
||||
position:
|
||||
type: number
|
||||
description: The volume of the syringe
|
||||
speed_max:
|
||||
type: number
|
||||
description: The speed of the syringe
|
||||
valve_position:
|
||||
type: string
|
||||
description: The position of the valve
|
||||
required:
|
||||
- status
|
||||
- position
|
||||
- valve_position
|
||||
additionalProperties: false
|
||||
|
||||
solenoid_valve.mock:
|
||||
description: Mock solenoid valve
|
||||
class:
|
||||
module: unilabos.devices.pump_and_valve.solenoid_valve_mock:SolenoidValveMock
|
||||
type: python
|
||||
module: unilabos.devices.pump_and_valve.runze_backbone:RunzeSyringePump
|
||||
status_types:
|
||||
status: String
|
||||
valve_position: String
|
||||
action_value_mappings:
|
||||
open:
|
||||
type: EmptyIn
|
||||
goal: {}
|
||||
feedback: {}
|
||||
result: {}
|
||||
close:
|
||||
type: EmptyIn
|
||||
goal: {}
|
||||
feedback: {}
|
||||
result: {}
|
||||
handles:
|
||||
- handler_key: in
|
||||
label: in
|
||||
io_type: target
|
||||
data_type: fluid
|
||||
side: NORTH
|
||||
- handler_key: out
|
||||
label: out
|
||||
io_type: source
|
||||
data_type: fluid
|
||||
side: SOUTH
|
||||
max_velocity: float
|
||||
mode: int
|
||||
plunger_position: String
|
||||
position: float
|
||||
status: str
|
||||
valve_position: str
|
||||
velocity_end: String
|
||||
velocity_grade: String
|
||||
velocity_init: String
|
||||
type: python
|
||||
config_info: []
|
||||
description: 润泽精密注射泵设备，集成阀门控制的高精度流体输送系统。该设备通过串口通信控制，支持多种运行模式和精确的体积控制。具备可变速度控制、精密定位、阀门切换、实时状态监控等功能。适用于微量液体输送、精密进样、流速控制、化学反应进料等需要高精度流体操作的实验室自动化应用。
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
type: object
|
||||
properties:
|
||||
port:
|
||||
type: string
|
||||
description: "通信端口"
|
||||
default: "COM6"
|
||||
required:
|
||||
- port
|
||||
|
||||
solenoid_valve:
|
||||
description: Solenoid valve
|
||||
class:
|
||||
module: unilabos.devices.pump_and_valve.solenoid_valve:SolenoidValve
|
||||
type: python
|
||||
status_types:
|
||||
status: String
|
||||
valve_position: String
|
||||
action_value_mappings:
|
||||
set_valve_position:
|
||||
type: StrSingleInput
|
||||
goal:
|
||||
string: position
|
||||
feedback: {}
|
||||
result: {}
|
||||
config:
|
||||
properties:
|
||||
address:
|
||||
default: '1'
|
||||
type: string
|
||||
max_volume:
|
||||
default: 25.0
|
||||
type: number
|
||||
mode:
|
||||
type: string
|
||||
port:
|
||||
type: string
|
||||
required:
|
||||
- port
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
max_velocity:
|
||||
type: number
|
||||
mode:
|
||||
type: integer
|
||||
plunger_position:
|
||||
type: string
|
||||
position:
|
||||
type: number
|
||||
status:
|
||||
type: string
|
||||
valve_position:
|
||||
type: string
|
||||
velocity_end:
|
||||
type: string
|
||||
velocity_grade:
|
||||
type: string
|
||||
velocity_init:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
- mode
|
||||
- max_velocity
|
||||
- velocity_grade
|
||||
- velocity_init
|
||||
- velocity_end
|
||||
- valve_position
|
||||
- position
|
||||
- plunger_position
|
||||
type: object
|
||||
version: 1.0.0
|
||||
|
||||
@@ -1,29 +1,109 @@
|
||||
# 仙工智能底盘（知行使用）
|
||||
agv.SEER:
|
||||
description: SEER AGV
|
||||
category:
|
||||
- robot_agv
|
||||
class:
|
||||
module: unilabos.devices.agv.agv_navigator:AgvNavigator
|
||||
type: python
|
||||
status_types:
|
||||
pose: Float64MultiArray
|
||||
status: String
|
||||
action_value_mappings:
|
||||
auto-send:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
cmd: null
|
||||
ex_data: ''
|
||||
obj: receive_socket
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: AGV底层通信命令发送函数。通过TCP socket连接向AGV发送底层控制命令，支持pose（位置）、status（状态）、nav（导航）等命令类型。用于获取AGV当前位置坐标、运行状态或发送导航指令。该函数封装了AGV的通信协议，将命令转换为十六进制数据包并处理响应解析。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
cmd:
|
||||
type: string
|
||||
ex_data:
|
||||
default: ''
|
||||
type: string
|
||||
obj:
|
||||
default: receive_socket
|
||||
type: string
|
||||
required:
|
||||
- cmd
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: send参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
send_nav_task:
|
||||
type: SendCmd
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
feedback: {}
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
properties:
|
||||
pose:
|
||||
type: array
|
||||
items:
|
||||
type: number
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
module: unilabos.devices.agv.agv_navigator:AgvNavigator
|
||||
status_types:
|
||||
pose: list
|
||||
status: str
|
||||
type: python
|
||||
config_info: []
|
||||
description: SEER AGV自动导引车设备，用于实验室内物料和设备的自主移动运输。该AGV通过TCP socket与导航系统通信，具备精确的定位和路径规划能力。支持实时位置监控、状态查询和导航任务执行，可在预设的实验室环境中自主移动至指定位置。适用于样品运输、设备转移、多工位协作等实验室自动化物流场景。
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
host:
|
||||
type: string
|
||||
required:
|
||||
- host
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
pose:
|
||||
type: array
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- pose
|
||||
- status
|
||||
additionalProperties: false
|
||||
type: object
|
||||
type: object
|
||||
version: 1.0.0
|
||||
|
||||
@@ -1,55 +1,176 @@
|
||||
robotic_arm.UR:
|
||||
description: UR robotic arm
|
||||
category:
|
||||
- robot_arm
|
||||
class:
|
||||
module: unilabos.devices.agv.ur_arm_task:UrArmTask
|
||||
type: python
|
||||
status_types:
|
||||
arm_pose: Float64MultiArray
|
||||
gripper_pose: Float64
|
||||
arm_status: String
|
||||
gripper_status: String
|
||||
action_value_mappings:
|
||||
auto-arm_init:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: 机械臂初始化函数。执行UR机械臂的完整初始化流程，包括上电、释放制动器、解除保护停止状态等。该函数确保机械臂从安全停止状态恢复到可操作状态，是机械臂使用前的必要步骤。初始化完成后机械臂将处于就绪状态，可以接收后续的运动指令。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: arm_init参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-load_pose_data:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
data: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: 从JSON字符串加载位置数据函数。接收包含机械臂位置信息的JSON格式字符串，解析并存储位置数据供后续运动任务使用。位置数据通常包含多个预定义的工作位置坐标，用于实现精确的多点运动控制。适用于动态配置机械臂工作位置的场景。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
data:
|
||||
type: string
|
||||
required:
|
||||
- data
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: load_pose_data参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-load_pose_file:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
file: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: 从文件加载位置数据函数。读取指定的JSON文件并加载其中的机械臂位置信息。该函数支持从外部配置文件中获取预设的工作位置，便于位置数据的管理和重用。适用于需要从固定配置文件中读取复杂位置序列的应用场景。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
file:
|
||||
type: string
|
||||
required:
|
||||
- file
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: load_pose_file参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-reload_pose:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: 重新加载位置数据函数。重新读取并解析之前设置的位置文件，更新内存中的位置数据。该函数用于在位置文件被修改后刷新机械臂的位置配置，无需重新初始化整个系统。适用于动态更新机械臂工作位置的场景。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: reload_pose参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
move_pos_task:
|
||||
type: SendCmd
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
feedback: {}
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
properties:
|
||||
arm_pose:
|
||||
type: array
|
||||
items:
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
module: unilabos.devices.agv.ur_arm_task:UrArmTask
|
||||
status_types:
|
||||
arm_pose: list
|
||||
arm_status: str
|
||||
gripper_pose: float
|
||||
gripper_status: str
|
||||
type: python
|
||||
config_info: []
|
||||
description: Universal Robots机械臂设备，用于实验室精密操作和自动化作业。该设备集成了UR机械臂本体、Robotiq夹爪和RTDE通信接口，支持六自由度精确运动控制和力觉反馈。具备实时位置监控、状态反馈、轨迹规划等功能，可执行复杂的多点位运动任务。适用于样品抓取、精密装配、实验器具操作等需要高精度和高重复性的实验室自动化场景。
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
host:
|
||||
type: string
|
||||
retry:
|
||||
default: 30
|
||||
type: string
|
||||
required:
|
||||
- host
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
arm_pose:
|
||||
type: array
|
||||
arm_status:
|
||||
type: string
|
||||
gripper_pose:
|
||||
type: number
|
||||
gripper_pose:
|
||||
type: number
|
||||
arm_status:
|
||||
type: string
|
||||
description: 机械臂设备状态
|
||||
gripper_status:
|
||||
type: string
|
||||
description: 机械爪设备状态
|
||||
required:
|
||||
gripper_status:
|
||||
type: string
|
||||
required:
|
||||
- arm_pose
|
||||
- gripper_pose
|
||||
- arm_status
|
||||
- gripper_status
|
||||
additionalProperties: false
|
||||
type: object
|
||||
|
||||
robotic_arm.elite:
|
||||
description: Elite robot arm
|
||||
class:
|
||||
module: unilabos.devices.arm.elite_robot:EliteRobot
|
||||
type: python
|
||||
status_types:
|
||||
arm_pose: Float64MultiArray
|
||||
action_value_mappings:
|
||||
modbus_task_cmd:
|
||||
type: SendCmd
|
||||
goal:
|
||||
command: command
|
||||
feedback: {}
|
||||
result: {}
|
||||
model:
|
||||
type: device
|
||||
mesh: elite_robot
|
||||
type: object
|
||||
@@ -1,37 +1,596 @@
|
||||
gripper.mock:
|
||||
description: Mock gripper
|
||||
class:
|
||||
module: unilabos.devices.gripper.mock:MockGripper
|
||||
type: python
|
||||
status_types:
|
||||
position: Float64
|
||||
torque: Float64
|
||||
status: String
|
||||
action_value_mappings:
|
||||
push_to:
|
||||
type: GripperCommand
|
||||
goal:
|
||||
command.position: position
|
||||
command.max_effort: torque
|
||||
feedback:
|
||||
position: position
|
||||
effort: torque
|
||||
result:
|
||||
position: position
|
||||
effort: torque
|
||||
|
||||
gripper.misumi_rz:
|
||||
description: Misumi RZ gripper
|
||||
category:
|
||||
- robot_gripper
|
||||
class:
|
||||
module: unilabos.devices.motor:Grasp.EleGripper
|
||||
type: python
|
||||
status_types:
|
||||
status: String
|
||||
action_value_mappings:
|
||||
auto-data_loop:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: data_loop的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: data_loop参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-data_reader:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: data_reader的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: data_reader参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-gripper_move:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
force: null
|
||||
pos: null
|
||||
speed: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: 夹爪抓取运动控制函数。控制夹爪的开合运动，支持位置、速度、力矩的精确设定。位置参数控制夹爪开合程度，速度参数控制运动快慢，力矩参数控制夹持强度。该函数提供安全的力控制，避免损坏被抓取物体，适用于各种形状和材质的物品抓取。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
force:
|
||||
type: string
|
||||
pos:
|
||||
type: string
|
||||
speed:
|
||||
type: string
|
||||
required:
|
||||
- pos
|
||||
- speed
|
||||
- force
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: gripper_move参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-init_gripper:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: 夹爪初始化函数。执行Misumi RZ夹爪的完整初始化流程，包括Modbus通信建立、电机参数配置、传感器校准等。该函数确保夹爪系统从安全状态恢复到可操作状态，是夹爪使用前的必要步骤。初始化完成后夹爪将处于就绪状态，可接收抓取和旋转指令。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: init_gripper参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-modbus_crc:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
data: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: modbus_crc的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
data:
|
||||
type: string
|
||||
required:
|
||||
- data
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: modbus_crc参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-move_and_rotate:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
grasp_F: null
|
||||
grasp_pos: null
|
||||
grasp_v: null
|
||||
spin_F: null
|
||||
spin_pos: null
|
||||
spin_v: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: move_and_rotate的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
grasp_F:
|
||||
type: string
|
||||
grasp_pos:
|
||||
type: string
|
||||
grasp_v:
|
||||
type: string
|
||||
spin_F:
|
||||
type: string
|
||||
spin_pos:
|
||||
type: string
|
||||
spin_v:
|
||||
type: string
|
||||
required:
|
||||
- spin_pos
|
||||
- grasp_pos
|
||||
- spin_v
|
||||
- grasp_v
|
||||
- spin_F
|
||||
- grasp_F
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: move_and_rotate参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-node_gripper_move:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
cmd: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: 节点夹爪移动任务函数。接收逗号分隔的命令字符串，解析位置、速度、力矩参数并执行夹爪抓取动作。该函数等待运动完成并返回执行结果，提供同步的运动控制接口。适用于需要可靠完成确认的精密抓取操作。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
cmd:
|
||||
type: string
|
||||
required:
|
||||
- cmd
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: node_gripper_move参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-node_rotate_move:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
cmd: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: 节点旋转移动任务函数。接收逗号分隔的命令字符串，解析角度、速度、力矩参数并执行夹爪旋转动作。该函数等待旋转完成并返回执行结果，提供同步的旋转控制接口。适用于需要精确角度定位和完成确认的旋转操作。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
cmd:
|
||||
type: string
|
||||
required:
|
||||
- cmd
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: node_rotate_move参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-read_address:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
address: null
|
||||
data_len: null
|
||||
id: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: read_address的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
address:
|
||||
type: string
|
||||
data_len:
|
||||
type: string
|
||||
id:
|
||||
type: string
|
||||
required:
|
||||
- id
|
||||
- address
|
||||
- data_len
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: read_address参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-rotate_move_abs:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
force: null
|
||||
pos: null
|
||||
speed: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: 夹爪绝对位置旋转控制函数。控制夹爪主轴旋转到指定的绝对角度位置，支持360度连续旋转。位置参数指定目标角度，速度参数控制旋转速率，力矩参数设定旋转阻力限制。该函数提供高精度的角度定位，适用于需要精确方向控制的操作场景。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
force:
|
||||
type: string
|
||||
pos:
|
||||
type: string
|
||||
speed:
|
||||
type: string
|
||||
required:
|
||||
- pos
|
||||
- speed
|
||||
- force
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: rotate_move_abs参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-send_cmd:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
address: null
|
||||
data: null
|
||||
fun: null
|
||||
id: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: send_cmd的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
address:
|
||||
type: string
|
||||
data:
|
||||
type: string
|
||||
fun:
|
||||
type: string
|
||||
id:
|
||||
type: string
|
||||
required:
|
||||
- id
|
||||
- fun
|
||||
- address
|
||||
- data
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: send_cmd参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-wait_for_gripper:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: wait_for_gripper的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: wait_for_gripper参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-wait_for_gripper_init:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: wait_for_gripper_init的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: wait_for_gripper_init参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-wait_for_rotate:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: wait_for_rotate的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: wait_for_rotate参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
execute_command_from_outer:
|
||||
type: SendCmd
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
feedback: {}
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
module: unilabos.devices.motor.Grasp:EleGripper
|
||||
status_types:
|
||||
status: str
|
||||
type: python
|
||||
config_info: []
|
||||
description: Misumi RZ系列电子夹爪设备，集成旋转和抓取双重功能的精密夹爪系统。该设备通过Modbus RTU协议与控制系统通信，支持位置、速度、力矩的精确控制。具备高精度的位置反馈、实时状态监控和故障检测功能。适用于需要精密抓取和旋转操作的实验室自动化场景，如样品管理、精密装配、器件操作等应用。
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
baudrate:
|
||||
default: 115200
|
||||
type: string
|
||||
id:
|
||||
default: 9
|
||||
type: string
|
||||
port:
|
||||
type: string
|
||||
pos_error:
|
||||
default: -11
|
||||
type: string
|
||||
required:
|
||||
- port
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
type: object
|
||||
version: 1.0.0
|
||||
gripper.mock:
|
||||
category:
|
||||
- robot_gripper
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-edit_id:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
params: '{}'
|
||||
resource:
|
||||
Gripper1: {}
|
||||
wf_name: gripper_run
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: 模拟夹爪资源ID编辑函数。用于测试和演示资源管理功能，模拟修改夹爪资源的标识信息。该函数接收工作流名称、参数和资源对象，模拟真实的资源更新过程并返回修改后的资源信息。适用于系统测试和开发调试场景。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
params:
|
||||
default: '{}'
|
||||
type: string
|
||||
resource:
|
||||
default:
|
||||
Gripper1: {}
|
||||
type: object
|
||||
wf_name:
|
||||
default: gripper_run
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: edit_id参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
push_to:
|
||||
feedback:
|
||||
effort: torque
|
||||
position: position
|
||||
goal:
|
||||
command.max_effort: torque
|
||||
command.position: position
|
||||
goal_default:
|
||||
command:
|
||||
max_effort: 0.0
|
||||
position: 0.0
|
||||
handles: []
|
||||
result:
|
||||
effort: torque
|
||||
position: position
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties:
|
||||
effort:
|
||||
type: number
|
||||
position:
|
||||
type: number
|
||||
reached_goal:
|
||||
type: boolean
|
||||
stalled:
|
||||
type: boolean
|
||||
required:
|
||||
- position
|
||||
- effort
|
||||
- stalled
|
||||
- reached_goal
|
||||
title: GripperCommand_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
command:
|
||||
properties:
|
||||
max_effort:
|
||||
type: number
|
||||
position:
|
||||
type: number
|
||||
required:
|
||||
- position
|
||||
- max_effort
|
||||
title: GripperCommand
|
||||
type: object
|
||||
required:
|
||||
- command
|
||||
title: GripperCommand_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
effort:
|
||||
type: number
|
||||
position:
|
||||
type: number
|
||||
reached_goal:
|
||||
type: boolean
|
||||
stalled:
|
||||
type: boolean
|
||||
required:
|
||||
- position
|
||||
- effort
|
||||
- stalled
|
||||
- reached_goal
|
||||
title: GripperCommand_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: GripperCommand
|
||||
type: object
|
||||
type: GripperCommand
|
||||
module: unilabos.devices.gripper.mock:MockGripper
|
||||
status_types:
|
||||
position: float
|
||||
status: str
|
||||
torque: float
|
||||
velocity: float
|
||||
type: python
|
||||
config_info: []
|
||||
description: 模拟夹爪设备，用于系统测试和开发调试。该设备模拟真实夹爪的位置、速度、力矩等物理特性，支持虚拟的抓取和移动操作。提供与真实夹爪相同的接口和状态反馈，便于在没有实际硬件的情况下进行系统集成测试和算法验证。适用于软件开发、系统调试和培训演示等场景。
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
position:
|
||||
type: number
|
||||
status:
|
||||
type: string
|
||||
torque:
|
||||
type: number
|
||||
velocity:
|
||||
type: number
|
||||
required:
|
||||
- position
|
||||
- velocity
|
||||
- torque
|
||||
- status
|
||||
type: object
|
||||
version: 1.0.0
|
||||
|
||||
@@ -1,57 +1,640 @@
|
||||
linear_motion.grbl:
|
||||
description: Grbl CNC
|
||||
category:
|
||||
- robot_linear_motion
|
||||
class:
|
||||
module: unilabos.devices.cnc.grbl_sync:GrblCNC
|
||||
type: python
|
||||
action_value_mappings:
|
||||
move_through_points: &move_through_points
|
||||
type: NavigateThroughPoses
|
||||
goal:
|
||||
poses[].pose.position: positions[]
|
||||
feedback:
|
||||
current_pose.pose.position: position
|
||||
navigation_time.sec: time_spent
|
||||
estimated_time_remaining.sec: time_remaining
|
||||
number_of_poses_remaining: pose_number_remaining
|
||||
auto-initialize:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
set_spindle_speed:
|
||||
type: SingleJointPosition
|
||||
schema:
|
||||
description: CNC设备初始化函数。执行Grbl CNC的完整初始化流程，包括归零操作、轴校准和状态复位。该函数将所有轴移动到原点位置(0,0,0)，确保设备处于已知的参考状态。初始化完成后设备进入空闲状态，可接收后续的运动指令。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: initialize参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_position:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
position: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: CNC绝对位置设定函数。控制CNC设备移动到指定的三维坐标位置(x,y,z)。该函数支持安全限位检查，防止超出设备工作范围。移动过程中会监控设备状态，确保安全到达目标位置。适用于精确定位和轨迹控制操作。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
position:
|
||||
type: string
|
||||
required:
|
||||
- position
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_position参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-stop_operation:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: CNC操作停止函数。立即停止当前正在执行的所有CNC运动，包括轴移动和主轴旋转。该函数用于紧急停止或任务中断，确保设备和工件的安全。停止后设备将保持当前位置，等待新的指令。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: stop_operation参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-wait_error:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: wait_error的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: wait_error参数
|
||||
type: object
|
||||
type: UniLabJsonCommandAsync
|
||||
move_through_points:
|
||||
feedback:
|
||||
current_pose.pose.position: position
|
||||
estimated_time_remaining.sec: time_remaining
|
||||
navigation_time.sec: time_spent
|
||||
number_of_poses_remaining: pose_number_remaining
|
||||
goal:
|
||||
position: spindle_speed
|
||||
poses[].pose.position: positions[]
|
||||
goal_default:
|
||||
behavior_tree: ''
|
||||
poses:
|
||||
- header:
|
||||
frame_id: ''
|
||||
stamp:
|
||||
nanosec: 0
|
||||
sec: 0
|
||||
pose:
|
||||
orientation:
|
||||
w: 1.0
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0
|
||||
position:
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties:
|
||||
current_pose:
|
||||
properties:
|
||||
header:
|
||||
properties:
|
||||
frame_id:
|
||||
type: string
|
||||
stamp:
|
||||
properties:
|
||||
nanosec:
|
||||
maximum: 4294967295
|
||||
minimum: 0
|
||||
type: integer
|
||||
sec:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
required:
|
||||
- sec
|
||||
- nanosec
|
||||
title: Time
|
||||
type: object
|
||||
required:
|
||||
- stamp
|
||||
- frame_id
|
||||
title: Header
|
||||
type: object
|
||||
pose:
|
||||
properties:
|
||||
orientation:
|
||||
properties:
|
||||
w:
|
||||
type: number
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
type: object
|
||||
required:
|
||||
- header
|
||||
- pose
|
||||
title: PoseStamped
|
||||
type: object
|
||||
distance_remaining:
|
||||
type: number
|
||||
estimated_time_remaining:
|
||||
properties:
|
||||
nanosec:
|
||||
maximum: 4294967295
|
||||
minimum: 0
|
||||
type: integer
|
||||
sec:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
required:
|
||||
- sec
|
||||
- nanosec
|
||||
title: Duration
|
||||
type: object
|
||||
navigation_time:
|
||||
properties:
|
||||
nanosec:
|
||||
maximum: 4294967295
|
||||
minimum: 0
|
||||
type: integer
|
||||
sec:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
required:
|
||||
- sec
|
||||
- nanosec
|
||||
title: Duration
|
||||
type: object
|
||||
number_of_poses_remaining:
|
||||
maximum: 32767
|
||||
minimum: -32768
|
||||
type: integer
|
||||
number_of_recoveries:
|
||||
maximum: 32767
|
||||
minimum: -32768
|
||||
type: integer
|
||||
required:
|
||||
- current_pose
|
||||
- navigation_time
|
||||
- estimated_time_remaining
|
||||
- number_of_recoveries
|
||||
- distance_remaining
|
||||
- number_of_poses_remaining
|
||||
title: NavigateThroughPoses_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
behavior_tree:
|
||||
type: string
|
||||
poses:
|
||||
items:
|
||||
properties:
|
||||
header:
|
||||
properties:
|
||||
frame_id:
|
||||
type: string
|
||||
stamp:
|
||||
properties:
|
||||
nanosec:
|
||||
maximum: 4294967295
|
||||
minimum: 0
|
||||
type: integer
|
||||
sec:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
required:
|
||||
- sec
|
||||
- nanosec
|
||||
title: Time
|
||||
type: object
|
||||
required:
|
||||
- stamp
|
||||
- frame_id
|
||||
title: Header
|
||||
type: object
|
||||
pose:
|
||||
properties:
|
||||
orientation:
|
||||
properties:
|
||||
w:
|
||||
type: number
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
type: object
|
||||
required:
|
||||
- header
|
||||
- pose
|
||||
title: PoseStamped
|
||||
type: object
|
||||
type: array
|
||||
required:
|
||||
- poses
|
||||
- behavior_tree
|
||||
title: NavigateThroughPoses_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
result:
|
||||
properties: {}
|
||||
required: []
|
||||
title: Empty
|
||||
type: object
|
||||
required:
|
||||
- result
|
||||
title: NavigateThroughPoses_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: NavigateThroughPoses
|
||||
type: object
|
||||
type: NavigateThroughPoses
|
||||
set_spindle_speed:
|
||||
feedback:
|
||||
position: spindle_speed
|
||||
goal:
|
||||
position: spindle_speed
|
||||
goal_default:
|
||||
max_velocity: 0.0
|
||||
min_duration:
|
||||
nanosec: 0
|
||||
sec: 0
|
||||
position: 0.0
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
type: object
|
||||
properties:
|
||||
position:
|
||||
type: array
|
||||
items:
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties:
|
||||
error:
|
||||
type: number
|
||||
header:
|
||||
properties:
|
||||
frame_id:
|
||||
type: string
|
||||
stamp:
|
||||
properties:
|
||||
nanosec:
|
||||
maximum: 4294967295
|
||||
minimum: 0
|
||||
type: integer
|
||||
sec:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
required:
|
||||
- sec
|
||||
- nanosec
|
||||
title: Time
|
||||
type: object
|
||||
required:
|
||||
- stamp
|
||||
- frame_id
|
||||
title: Header
|
||||
type: object
|
||||
position:
|
||||
type: number
|
||||
velocity:
|
||||
type: number
|
||||
required:
|
||||
- header
|
||||
- position
|
||||
- velocity
|
||||
- error
|
||||
title: SingleJointPosition_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
max_velocity:
|
||||
type: number
|
||||
min_duration:
|
||||
properties:
|
||||
nanosec:
|
||||
maximum: 4294967295
|
||||
minimum: 0
|
||||
type: integer
|
||||
sec:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
required:
|
||||
- sec
|
||||
- nanosec
|
||||
title: Duration
|
||||
type: object
|
||||
position:
|
||||
type: number
|
||||
required:
|
||||
- position
|
||||
- min_duration
|
||||
- max_velocity
|
||||
title: SingleJointPosition_Goal
|
||||
type: object
|
||||
result:
|
||||
properties: {}
|
||||
required: []
|
||||
title: SingleJointPosition_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SingleJointPosition
|
||||
type: object
|
||||
type: SingleJointPosition
|
||||
module: unilabos.devices.cnc.grbl_sync:GrblCNC
|
||||
status_types:
|
||||
position: unilabos.messages:Point3D
|
||||
spindle_speed: float
|
||||
status: str
|
||||
type: python
|
||||
config_info: []
|
||||
description: Grbl数控机床（CNC）设备，用于实验室精密加工和三轴定位操作。该设备基于Grbl固件，通过串口通信控制步进电机实现X、Y、Z三轴的精确运动。支持绝对定位、轨迹规划、主轴控制和实时状态监控。具备安全限位保护和运动平滑控制功能。适用于精密钻孔、铣削、雕刻、样品制备等需要高精度定位和加工的实验室应用场景。
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
address:
|
||||
default: '1'
|
||||
type: string
|
||||
limits:
|
||||
default:
|
||||
- -150
|
||||
- 150
|
||||
- -200
|
||||
- 0
|
||||
- -80
|
||||
- 0
|
||||
type: array
|
||||
port:
|
||||
type: string
|
||||
required:
|
||||
- port
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
position:
|
||||
type: string
|
||||
spindle_speed:
|
||||
type: number
|
||||
description: The position of the device
|
||||
spindle_speed:
|
||||
type: number
|
||||
description: The spindle speed of the device
|
||||
required:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
- position
|
||||
- spindle_speed
|
||||
additionalProperties: false
|
||||
|
||||
|
||||
type: object
|
||||
version: 1.0.0
|
||||
motor.iCL42:
|
||||
description: iCL42 motor
|
||||
category:
|
||||
- robot_linear_motion
|
||||
class:
|
||||
module: unilabos.devices.motor.iCL42:iCL42Driver
|
||||
type: python
|
||||
status_types:
|
||||
motor_position: Int64
|
||||
is_executing_run: Bool
|
||||
success: Bool
|
||||
action_value_mappings:
|
||||
auto-execute_run_motor:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
mode: null
|
||||
position: null
|
||||
velocity: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: 步进电机执行运动函数。直接执行电机运动命令，包括位置设定、速度控制和路径规划。该函数处理底层的电机控制协议，消除警告信息，设置运动参数并启动电机运行。适用于需要直接控制电机运动的应用场景。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
mode:
|
||||
type: string
|
||||
position:
|
||||
type: number
|
||||
velocity:
|
||||
type: integer
|
||||
required:
|
||||
- mode
|
||||
- position
|
||||
- velocity
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: execute_run_motor参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-init_device:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: iCL42电机设备初始化函数。建立与iCL42步进电机驱动器的串口通信连接，配置通信参数包括波特率、数据位、校验位等。该函数是电机使用前的必要步骤，确保驱动器处于可控状态并准备接收运动指令。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: init_device参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-run_motor:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
mode: null
|
||||
position: null
|
||||
velocity: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: 步进电机运动控制函数。根据指定的运动模式、目标位置和速度参数控制电机运动。支持多种运动模式和精确的位置控制，自动处理运动轨迹规划和执行。该函数提供异步执行和状态反馈，确保运动的准确性和可靠性。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
mode:
|
||||
type: string
|
||||
position:
|
||||
type: number
|
||||
velocity:
|
||||
type: integer
|
||||
required:
|
||||
- mode
|
||||
- position
|
||||
- velocity
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: run_motor参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
execute_command_from_outer:
|
||||
type: SendCmd
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
feedback: {}
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result:
|
||||
success: success
|
||||
success: success
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
module: unilabos.devices.motor.iCL42:iCL42Driver
|
||||
status_types:
|
||||
is_executing_run: bool
|
||||
motor_position: int
|
||||
success: bool
|
||||
type: python
|
||||
config_info: []
|
||||
description: iCL42步进电机驱动器，用于实验室设备的精密线性运动控制。该设备通过串口通信控制iCL42型步进电机驱动器，支持多种运动模式和精确的位置、速度控制。具备位置反馈、运行状态监控和故障检测功能。适用于自动进样器、样品传送、精密定位平台等需要准确线性运动控制的实验室自动化设备。
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
device_address:
|
||||
default: 1
|
||||
type: integer
|
||||
device_com:
|
||||
default: COM9
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
is_executing_run:
|
||||
type: boolean
|
||||
motor_position:
|
||||
type: integer
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- motor_position
|
||||
- is_executing_run
|
||||
- success
|
||||
type: object
|
||||
version: 1.0.0
|
||||
|
||||
@@ -1,5 +1,315 @@
|
||||
lh_joint_publisher:
|
||||
category:
|
||||
- sim_nodes
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-check_tf_update_actions:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: check_tf_update_actions的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: check_tf_update_actions参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-find_resource_parent:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
resource_id: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: find_resource_parent的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
resource_id:
|
||||
type: string
|
||||
required:
|
||||
- resource_id
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: find_resource_parent参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-inverse_kinematics:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
parent_id: null
|
||||
x: null
|
||||
x_joint: null
|
||||
y: null
|
||||
y_joint: null
|
||||
z: null
|
||||
z_joint: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: inverse_kinematics的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
parent_id:
|
||||
type: string
|
||||
x:
|
||||
type: string
|
||||
x_joint:
|
||||
type: object
|
||||
y:
|
||||
type: string
|
||||
y_joint:
|
||||
type: object
|
||||
z:
|
||||
type: string
|
||||
z_joint:
|
||||
type: object
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
- parent_id
|
||||
- x_joint
|
||||
- y_joint
|
||||
- z_joint
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: inverse_kinematics参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-lh_joint_action_callback:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
goal_handle: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: lh_joint_action_callback的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
goal_handle:
|
||||
type: string
|
||||
required:
|
||||
- goal_handle
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: lh_joint_action_callback参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-lh_joint_pub_callback:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: lh_joint_pub_callback的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: lh_joint_pub_callback参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-move_joints:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
option: null
|
||||
resource_names: null
|
||||
speed: 0.1
|
||||
x: null
|
||||
x_joint: null
|
||||
y: null
|
||||
y_joint: null
|
||||
z: null
|
||||
z_joint: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: move_joints的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
option:
|
||||
type: string
|
||||
resource_names:
|
||||
type: string
|
||||
speed:
|
||||
default: 0.1
|
||||
type: string
|
||||
x:
|
||||
type: string
|
||||
x_joint:
|
||||
type: string
|
||||
y:
|
||||
type: string
|
||||
y_joint:
|
||||
type: string
|
||||
z:
|
||||
type: string
|
||||
z_joint:
|
||||
type: string
|
||||
required:
|
||||
- resource_names
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
- option
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: move_joints参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-move_to:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
joint_positions: null
|
||||
parent_id: null
|
||||
speed: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: move_to的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
joint_positions:
|
||||
type: string
|
||||
parent_id:
|
||||
type: string
|
||||
speed:
|
||||
type: string
|
||||
required:
|
||||
- joint_positions
|
||||
- speed
|
||||
- parent_id
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: move_to参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-resource_move:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
channels: null
|
||||
link_name: null
|
||||
resource_id: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: resource_move的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
channels:
|
||||
type: array
|
||||
link_name:
|
||||
type: string
|
||||
resource_id:
|
||||
type: string
|
||||
required:
|
||||
- resource_id
|
||||
- link_name
|
||||
- channels
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: resource_move参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-send_resource_action:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
link_name: null
|
||||
resource_id_list: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: send_resource_action的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
link_name:
|
||||
type: string
|
||||
resource_id_list:
|
||||
type: array
|
||||
required:
|
||||
- resource_id_list
|
||||
- link_name
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: send_resource_action参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
module: unilabos.devices.ros_dev.liquid_handler_joint_publisher:LiquidHandlerJointPublisher
|
||||
status_types: {}
|
||||
type: ros2
|
||||
|
||||
config_info: []
|
||||
description: 液体处理器关节发布器，用于ROS2仿真系统中的液体处理设备运动控制。该节点通过发布关节状态驱动仿真模型中的机械臂运动，支持三维坐标到关节空间的逆运动学转换、多关节协调控制、资源跟踪和TF变换。具备精确的位置控制、速度调节、pick-and-place操作等功能。适用于液体处理系统的虚拟仿真、运动规划验证、系统集成测试等应用场景。
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
device_id:
|
||||
default: lh_joint_publisher
|
||||
type: string
|
||||
rate:
|
||||
default: 50
|
||||
type: string
|
||||
resource_tracker:
|
||||
type: string
|
||||
resources_config:
|
||||
type: array
|
||||
required:
|
||||
- resources_config
|
||||
- resource_tracker
|
||||
type: object
|
||||
data:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
version: 1.0.0
|
||||
|
||||
@@ -1,65 +1,758 @@
|
||||
heaterstirrer.dalong:
|
||||
description: DaLong heater stirrer
|
||||
chiller:
|
||||
category:
|
||||
- temperature
|
||||
class:
|
||||
module: unilabos.devices.heaterstirrer.dalong:HeaterStirrer_DaLong
|
||||
type: python
|
||||
status_types:
|
||||
temp: Float64
|
||||
temp_warning: Float64
|
||||
stir_speed: Float64
|
||||
action_value_mappings:
|
||||
set_temp_warning:
|
||||
type: SendCmd
|
||||
goal:
|
||||
command: temp
|
||||
auto-build_modbus_frame:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
device_address: null
|
||||
function_code: null
|
||||
register_address: null
|
||||
value: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: build_modbus_frame的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
device_address:
|
||||
type: integer
|
||||
function_code:
|
||||
type: integer
|
||||
register_address:
|
||||
type: integer
|
||||
value:
|
||||
type: integer
|
||||
required:
|
||||
- device_address
|
||||
- function_code
|
||||
- register_address
|
||||
- value
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: build_modbus_frame参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-convert_temperature_to_modbus_value:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
decimal_points: 1
|
||||
temperature: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: convert_temperature_to_modbus_value的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
decimal_points:
|
||||
default: 1
|
||||
type: integer
|
||||
temperature:
|
||||
type: number
|
||||
required:
|
||||
- temperature
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: convert_temperature_to_modbus_value参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-modbus_crc:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
data: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: modbus_crc的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
data:
|
||||
type: string
|
||||
required:
|
||||
- data
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: modbus_crc参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-stop:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: stop的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: stop参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
set_temperature:
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result:
|
||||
success: success
|
||||
set_temp_target:
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
goal:
|
||||
command: temp
|
||||
module: unilabos.devices.temperature.chiller:Chiller
|
||||
status_types: {}
|
||||
type: python
|
||||
config_info: []
|
||||
description: 实验室制冷设备，用于精确的温度控制和冷却操作。该设备通过Modbus RTU协议与控制系统通信，支持精确的温度设定和监控。具备快速降温、恒温控制和温度保持功能，广泛应用于需要低温环境的化学反应、样品保存、结晶操作等实验场景。提供稳定可靠的冷却性能，确保实验过程的温度精度。
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
port:
|
||||
type: string
|
||||
rate:
|
||||
default: 9600
|
||||
type: string
|
||||
required:
|
||||
- port
|
||||
type: object
|
||||
data:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
version: 1.0.0
|
||||
heaterstirrer.dalong:
|
||||
category:
|
||||
- temperature
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-close:
|
||||
feedback: {}
|
||||
result:
|
||||
success: success
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: close的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: close参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_stir_speed:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
speed: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: set_stir_speed的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
speed:
|
||||
type: number
|
||||
required:
|
||||
- speed
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_stir_speed参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_temp_inner:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
temp: null
|
||||
type: warning
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: set_temp_inner的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
temp:
|
||||
type: number
|
||||
type:
|
||||
default: warning
|
||||
type: string
|
||||
required:
|
||||
- temp
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_temp_inner参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
heatchill:
|
||||
type: HeatChill
|
||||
goal:
|
||||
vessel: vessel
|
||||
temp: temp
|
||||
time: time
|
||||
purpose: purpose
|
||||
feedback:
|
||||
status: status
|
||||
result:
|
||||
success: success
|
||||
|
||||
chiller:
|
||||
description: Chiller
|
||||
class:
|
||||
module: unilabos.devices.temperature.chiller:Chiller
|
||||
type: python
|
||||
action_value_mappings:
|
||||
set_temperature:
|
||||
type: SendCmd
|
||||
goal:
|
||||
command: command
|
||||
feedback: {}
|
||||
purpose: purpose
|
||||
temp: temp
|
||||
time: time
|
||||
vessel: vessel
|
||||
goal_default:
|
||||
pressure: ''
|
||||
purpose: ''
|
||||
reflux_solvent: ''
|
||||
stir: false
|
||||
stir_speed: 0.0
|
||||
temp: 0.0
|
||||
temp_spec: ''
|
||||
time: ''
|
||||
time_spec: ''
|
||||
vessel:
|
||||
category: ''
|
||||
children: []
|
||||
config: ''
|
||||
data: ''
|
||||
id: ''
|
||||
name: ''
|
||||
parent: ''
|
||||
pose:
|
||||
orientation:
|
||||
w: 1.0
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0
|
||||
position:
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0
|
||||
sample_id: ''
|
||||
type: ''
|
||||
handles: []
|
||||
result:
|
||||
success: success
|
||||
tempsensor:
|
||||
description: Temperature sensor
|
||||
class:
|
||||
module: unilabos.devices.temperature.sensor_node:TempSensorNode
|
||||
type: python
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: HeatChill_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
pressure:
|
||||
type: string
|
||||
purpose:
|
||||
type: string
|
||||
reflux_solvent:
|
||||
type: string
|
||||
stir:
|
||||
type: boolean
|
||||
stir_speed:
|
||||
type: number
|
||||
temp:
|
||||
type: number
|
||||
temp_spec:
|
||||
type: string
|
||||
time:
|
||||
type: string
|
||||
time_spec:
|
||||
type: string
|
||||
vessel:
|
||||
properties:
|
||||
category:
|
||||
type: string
|
||||
children:
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
config:
|
||||
type: string
|
||||
data:
|
||||
type: string
|
||||
id:
|
||||
type: string
|
||||
name:
|
||||
type: string
|
||||
parent:
|
||||
type: string
|
||||
pose:
|
||||
properties:
|
||||
orientation:
|
||||
properties:
|
||||
w:
|
||||
type: number
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
type:
|
||||
type: string
|
||||
required:
|
||||
- id
|
||||
- name
|
||||
- sample_id
|
||||
- children
|
||||
- parent
|
||||
- type
|
||||
- category
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
type: object
|
||||
required:
|
||||
- vessel
|
||||
- temp
|
||||
- time
|
||||
- temp_spec
|
||||
- time_spec
|
||||
- pressure
|
||||
- reflux_solvent
|
||||
- stir
|
||||
- stir_speed
|
||||
- purpose
|
||||
title: HeatChill_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
message:
|
||||
type: string
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- success
|
||||
- message
|
||||
- return_info
|
||||
title: HeatChill_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: HeatChill
|
||||
type: object
|
||||
type: HeatChill
|
||||
set_temp_target:
|
||||
feedback: {}
|
||||
goal:
|
||||
command: temp
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
set_temp_warning:
|
||||
feedback: {}
|
||||
goal:
|
||||
command: temp
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
module: unilabos.devices.heaterstirrer.dalong:HeaterStirrer_DaLong
|
||||
status_types:
|
||||
value: Float64
|
||||
warning: Float64
|
||||
status: str
|
||||
stir_speed: float
|
||||
temp: float
|
||||
temp_target: float
|
||||
temp_warning: float
|
||||
type: python
|
||||
config_info: []
|
||||
description: 大龙加热搅拌器，集成加热和搅拌双重功能的实验室设备。该设备通过串口通信控制，支持精确的温度调节、搅拌速度控制和安全保护功能。具备实时温度监测、目标温度设定、安全温度报警等特性。适用于化学合成、样品制备、反应控制等需要同时进行加热和搅拌的实验操作，提供稳定均匀的反应环境。
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
baudrate:
|
||||
default: 9600
|
||||
type: integer
|
||||
port:
|
||||
default: COM6
|
||||
type: string
|
||||
temp_warning:
|
||||
default: 50.0
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
stir_speed:
|
||||
type: number
|
||||
temp:
|
||||
type: number
|
||||
temp_target:
|
||||
type: number
|
||||
temp_warning:
|
||||
type: number
|
||||
required:
|
||||
- status
|
||||
- stir_speed
|
||||
- temp
|
||||
- temp_warning
|
||||
- temp_target
|
||||
type: object
|
||||
version: 1.0.0
|
||||
tempsensor:
|
||||
category:
|
||||
- temperature
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-build_modbus_request:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
device_id: null
|
||||
function_code: null
|
||||
register_address: null
|
||||
register_count: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: build_modbus_request的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
device_id:
|
||||
type: string
|
||||
function_code:
|
||||
type: string
|
||||
register_address:
|
||||
type: string
|
||||
register_count:
|
||||
type: string
|
||||
required:
|
||||
- device_id
|
||||
- function_code
|
||||
- register_address
|
||||
- register_count
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: build_modbus_request参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-calculate_crc:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
data: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: calculate_crc的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
data:
|
||||
type: string
|
||||
required:
|
||||
- data
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: calculate_crc参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-read_modbus_response:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
response: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: read_modbus_response的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
response:
|
||||
type: string
|
||||
required:
|
||||
- response
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: read_modbus_response参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-send_prototype_command:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
command: null
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: send_prototype_command的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: send_prototype_command参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
set_warning:
|
||||
type: SendCmd
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
feedback: {}
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: []
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
type: object
|
||||
type: SendCmd
|
||||
module: unilabos.devices.temperature.sensor_node:TempSensorNode
|
||||
status_types:
|
||||
value: float
|
||||
type: python
|
||||
config_info: []
|
||||
description: 高精度温度传感器设备，用于实验室环境和设备的温度监测。该传感器通过Modbus RTU协议与控制系统通信，提供实时准确的温度数据。具备高精度测量、报警温度设定、数据稳定性好等特点。适用于反应器监控、环境温度监测、设备保护等需要精确温度测量的实验场景，为实验安全和数据可靠性提供保障。
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
address:
|
||||
type: string
|
||||
baudrate:
|
||||
default: 9600
|
||||
type: string
|
||||
port:
|
||||
type: string
|
||||
warning:
|
||||
type: string
|
||||
required:
|
||||
- port
|
||||
- warning
|
||||
- address
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
value:
|
||||
type: number
|
||||
required:
|
||||
- value
|
||||
type: object
|
||||
version: 1.0.0
|
||||
|
||||
@@ -1,81 +1,358 @@
|
||||
vacuum_pump.mock:
|
||||
description: Mock vacuum pump
|
||||
class:
|
||||
module: unilabos.devices.pump_and_valve.vacuum_pump_mock:VacuumPumpMock
|
||||
type: python
|
||||
status_types:
|
||||
status: String
|
||||
action_value_mappings:
|
||||
open:
|
||||
type: EmptyIn
|
||||
goal: {}
|
||||
feedback: {}
|
||||
result: {}
|
||||
close:
|
||||
type: EmptyIn
|
||||
goal: {}
|
||||
feedback: {}
|
||||
result: {}
|
||||
set_status:
|
||||
type: StrSingleInput
|
||||
goal:
|
||||
string: string
|
||||
feedback: {}
|
||||
result: {}
|
||||
handles:
|
||||
- handler_key: out
|
||||
label: out
|
||||
data_type: fluid
|
||||
io_type: source
|
||||
data_source: handle
|
||||
data_key: fluid_in
|
||||
init_param_schema:
|
||||
type: object
|
||||
properties:
|
||||
port:
|
||||
type: string
|
||||
description: "通信端口"
|
||||
default: "COM6"
|
||||
required:
|
||||
- port
|
||||
|
||||
gas_source.mock:
|
||||
description: Mock gas source
|
||||
category:
|
||||
- vacuum_and_purge
|
||||
class:
|
||||
module: unilabos.devices.pump_and_valve.vacuum_pump_mock:VacuumPumpMock
|
||||
type: python
|
||||
status_types:
|
||||
status: String
|
||||
action_value_mappings:
|
||||
open:
|
||||
type: EmptyIn
|
||||
goal: {}
|
||||
auto-is_closed:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: is_closed的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: is_closed参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-is_open:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: is_open的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: is_open参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
close:
|
||||
type: EmptyIn
|
||||
goal: {}
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: EmptyIn
|
||||
type: object
|
||||
type: EmptyIn
|
||||
open:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: EmptyIn
|
||||
type: object
|
||||
type: EmptyIn
|
||||
set_status:
|
||||
type: StrSingleInput
|
||||
feedback: {}
|
||||
goal:
|
||||
string: string
|
||||
feedback: {}
|
||||
goal_default:
|
||||
string: ''
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: StrSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
string:
|
||||
type: string
|
||||
required:
|
||||
- string
|
||||
title: StrSingleInput_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: StrSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: StrSingleInput
|
||||
type: object
|
||||
type: StrSingleInput
|
||||
module: unilabos.devices.pump_and_valve.vacuum_pump_mock:VacuumPumpMock
|
||||
status_types:
|
||||
status: str
|
||||
type: python
|
||||
config_info: []
|
||||
description: 模拟气体源设备，用于系统测试和开发调试。该设备模拟真实气体源的开关控制和状态监测功能，支持气体供应的启停操作。提供与真实气体源相同的接口和状态反馈，便于在没有实际硬件的情况下进行系统集成测试和算法验证。适用于气路系统调试、软件开发和实验流程验证等场景。
|
||||
handles:
|
||||
- handler_key: out
|
||||
label: out
|
||||
data_type: fluid
|
||||
io_type: source
|
||||
data_source: executor
|
||||
data_key: fluid_out
|
||||
- data_key: fluid_out
|
||||
data_source: executor
|
||||
data_type: fluid
|
||||
handler_key: out
|
||||
io_type: source
|
||||
label: out
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
type: object
|
||||
properties:
|
||||
port:
|
||||
type: string
|
||||
description: "通信端口"
|
||||
default: "COM6"
|
||||
required:
|
||||
- port
|
||||
config:
|
||||
properties:
|
||||
port:
|
||||
default: COM6
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
type: object
|
||||
version: 1.0.0
|
||||
vacuum_pump.mock:
|
||||
category:
|
||||
- vacuum_and_purge
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-is_closed:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: is_closed的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: is_closed参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-is_open:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: is_open的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: is_open参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
close:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: EmptyIn
|
||||
type: object
|
||||
type: EmptyIn
|
||||
open:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: EmptyIn
|
||||
type: object
|
||||
type: EmptyIn
|
||||
set_status:
|
||||
feedback: {}
|
||||
goal:
|
||||
string: string
|
||||
goal_default:
|
||||
string: ''
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: StrSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
string:
|
||||
type: string
|
||||
required:
|
||||
- string
|
||||
title: StrSingleInput_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: StrSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: StrSingleInput
|
||||
type: object
|
||||
type: StrSingleInput
|
||||
module: unilabos.devices.pump_and_valve.vacuum_pump_mock:VacuumPumpMock
|
||||
status_types:
|
||||
status: str
|
||||
type: python
|
||||
config_info: []
|
||||
description: 模拟真空泵设备，用于系统测试和开发调试。该设备模拟真实真空泵的抽气功能和状态控制，支持真空系统的启停操作和状态监测。提供与真实真空泵相同的接口和控制逻辑，便于在没有实际硬件的情况下进行真空系统的集成测试。适用于真空工艺调试、软件开发和实验流程验证等场景。
|
||||
handles:
|
||||
- data_key: fluid_in
|
||||
data_source: handle
|
||||
data_type: fluid
|
||||
handler_key: out
|
||||
io_type: source
|
||||
label: out
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
port:
|
||||
default: COM6
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
type: object
|
||||
version: 1.0.0
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -1,27 +1,183 @@
|
||||
zhida_hplc:
|
||||
description: Zhida HPLC
|
||||
category:
|
||||
- zhida_hplc
|
||||
class:
|
||||
module: unilabos.devices.zhida_hplc.zhida:ZhidaClient
|
||||
type: python
|
||||
status_types:
|
||||
status: String
|
||||
action_value_mappings:
|
||||
abort:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: EmptyIn
|
||||
type: object
|
||||
type: EmptyIn
|
||||
auto-close:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: HPLC设备连接关闭函数。安全地断开与智达HPLC设备的TCP socket连接，释放网络资源。该函数确保连接的正确关闭，避免网络资源泄露。通常在设备使用完毕或系统关闭时调用。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: close参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-connect:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: HPLC设备连接建立函数。与智达HPLC设备建立TCP socket通信连接，配置通信超时参数。该函数是设备使用前的必要步骤，建立成功后可进行状态查询、方法获取、任务启动等操作。连接失败时会抛出异常。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: connect参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
get_methods:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: []
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: EmptyIn
|
||||
type: object
|
||||
type: EmptyIn
|
||||
start:
|
||||
type: StrSingleInput
|
||||
feedback: {}
|
||||
goal:
|
||||
string: string
|
||||
feedback: {}
|
||||
goal_default:
|
||||
string: ''
|
||||
handles: []
|
||||
result: {}
|
||||
abort:
|
||||
type: EmptyIn
|
||||
goal: {}
|
||||
feedback: {}
|
||||
result: {}
|
||||
get_methods:
|
||||
type: EmptyIn
|
||||
goal: {}
|
||||
feedback: {}
|
||||
result: {}
|
||||
|
||||
schema:
|
||||
properties: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: StrSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
string:
|
||||
type: string
|
||||
required:
|
||||
- string
|
||||
title: StrSingleInput_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: StrSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: StrSingleInput
|
||||
type: object
|
||||
type: StrSingleInput
|
||||
module: unilabos.devices.zhida_hplc.zhida:ZhidaClient
|
||||
status_types:
|
||||
methods: dict
|
||||
status: dict
|
||||
type: python
|
||||
config_info: []
|
||||
description: 智达高效液相色谱（HPLC）分析设备，用于实验室样品的分离、检测和定量分析。该设备通过TCP socket与HPLC控制系统通信，支持远程控制和状态监控。具备自动进样、梯度洗脱、多检测器数据采集等功能，可执行复杂的色谱分析方法。适用于化学分析、药物检测、环境监测、生物样品分析等需要高精度分离分析的实验室应用场景。
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
host:
|
||||
default: 192.168.1.47
|
||||
type: string
|
||||
port:
|
||||
default: 5792
|
||||
type: string
|
||||
timeout:
|
||||
default: 10.0
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
methods:
|
||||
type: object
|
||||
status:
|
||||
type: object
|
||||
required:
|
||||
- status
|
||||
- methods
|
||||
type: object
|
||||
version: 1.0.0
|
||||
|
||||
@@ -1,14 +1,20 @@
|
||||
import copy
|
||||
import io
|
||||
import os
|
||||
import sys
|
||||
import inspect
|
||||
import importlib
|
||||
from pathlib import Path
|
||||
from typing import Any
|
||||
from typing import Any, Dict, List
|
||||
|
||||
import yaml
|
||||
|
||||
from unilabos.ros.msgs.message_converter import msg_converter_manager, ros_action_to_json_schema
|
||||
from unilabos.resources.graphio import resource_plr_to_ulab, tree_to_list
|
||||
from unilabos.ros.msgs.message_converter import msg_converter_manager, ros_action_to_json_schema, String
|
||||
from unilabos.utils import logger
|
||||
from unilabos.utils.decorator import singleton
|
||||
from unilabos.utils.import_manager import get_enhanced_class_info, get_class
|
||||
from unilabos.utils.type_check import NoAliasDumper
|
||||
|
||||
DEFAULT_PATHS = [Path(__file__).absolute().parent]
|
||||
|
||||
@@ -32,7 +38,7 @@ class Registry:
|
||||
# 其他状态变量
|
||||
# self.is_host_mode = False # 移至BasicConfig中
|
||||
|
||||
def setup(self):
|
||||
def setup(self, complete_registry=False):
|
||||
# 检查是否已调用过setup
|
||||
if self._setup_called:
|
||||
logger.critical("[UniLab Registry] setup方法已被调用过，不允许多次调用")
|
||||
@@ -60,7 +66,9 @@ class Registry:
|
||||
},
|
||||
"feedback": {},
|
||||
"result": {"success": "success"},
|
||||
"schema": ros_action_to_json_schema(self.ResourceCreateFromOuter),
|
||||
"schema": ros_action_to_json_schema(
|
||||
self.ResourceCreateFromOuter, "用于创建或更新物料资源，每次传入多个物料信息。"
|
||||
),
|
||||
"goal_default": yaml.safe_load(
|
||||
io.StringIO(get_yaml_from_goal_type(self.ResourceCreateFromOuter.Goal))
|
||||
),
|
||||
@@ -81,18 +89,28 @@ class Registry:
|
||||
},
|
||||
"feedback": {},
|
||||
"result": {"success": "success"},
|
||||
"schema": ros_action_to_json_schema(self.ResourceCreateFromOuterEasy),
|
||||
"schema": ros_action_to_json_schema(
|
||||
self.ResourceCreateFromOuterEasy, "用于创建或更新物料资源，每次传入一个物料信息。"
|
||||
),
|
||||
"goal_default": yaml.safe_load(
|
||||
io.StringIO(get_yaml_from_goal_type(self.ResourceCreateFromOuterEasy.Goal))
|
||||
),
|
||||
"handles": {
|
||||
"output": [{
|
||||
"handler_key": "labware",
|
||||
"label": "Labware",
|
||||
"data_type": "resource",
|
||||
"data_source": "handle",
|
||||
"data_key": "liquid"
|
||||
}]
|
||||
"output": [
|
||||
{
|
||||
"handler_key": "labware",
|
||||
"label": "Labware",
|
||||
"data_type": "resource",
|
||||
"data_source": "handle",
|
||||
"data_key": "liquid",
|
||||
}
|
||||
]
|
||||
},
|
||||
# todo: support nested keys, switch to non ros message schema
|
||||
"placeholder_keys": {
|
||||
"res_id": "unilabos_resources", # 将当前实验室的全部物料id作为下拉框可选择
|
||||
"device_id": "unilabos_devices", # 将当前实验室的全部设备id作为下拉框可选择
|
||||
"parent": "unilabos_resources", # 将当前实验室的全部物料id作为下拉框可选择
|
||||
},
|
||||
},
|
||||
"test_latency": {
|
||||
@@ -100,17 +118,21 @@ class Registry:
|
||||
"goal": {},
|
||||
"feedback": {},
|
||||
"result": {"latency_ms": "latency_ms", "time_diff_ms": "time_diff_ms"},
|
||||
"schema": ros_action_to_json_schema(self.EmptyIn),
|
||||
"schema": ros_action_to_json_schema(
|
||||
self.EmptyIn, "用于测试延迟的动作，返回延迟时间和时间差。"
|
||||
),
|
||||
"goal_default": {},
|
||||
"handles": {},
|
||||
},
|
||||
},
|
||||
},
|
||||
"version": "1.0.0",
|
||||
"category": [],
|
||||
"config_info": [],
|
||||
"icon": "icon_device.webp",
|
||||
"registry_type": "device",
|
||||
"handles": [],
|
||||
"init_param_schema": {},
|
||||
"schema": {"properties": {}, "additionalProperties": False, "type": "object"},
|
||||
"file_path": "/",
|
||||
}
|
||||
}
|
||||
@@ -121,33 +143,60 @@ class Registry:
|
||||
sys_path = path.parent
|
||||
logger.debug(f"[UniLab Registry] Path {i+1}/{len(self.registry_paths)}: {sys_path}")
|
||||
sys.path.append(str(sys_path))
|
||||
self.load_device_types(path)
|
||||
self.load_resource_types(path)
|
||||
self.load_device_types(path, complete_registry)
|
||||
self.load_resource_types(path, complete_registry)
|
||||
logger.info("[UniLab Registry] 注册表设置完成")
|
||||
# 标记setup已被调用
|
||||
self._setup_called = True
|
||||
|
||||
def load_resource_types(self, path: os.PathLike):
|
||||
def load_resource_types(self, path: os.PathLike, complete_registry: bool):
|
||||
abs_path = Path(path).absolute()
|
||||
resource_path = abs_path / "resources"
|
||||
files = list(resource_path.glob("*/*.yaml"))
|
||||
logger.debug(f"[UniLab Registry] resources: {resource_path.exists()}, total: {len(files)}")
|
||||
current_resource_number = len(self.resource_type_registry) + 1
|
||||
for i, file in enumerate(files):
|
||||
data = yaml.safe_load(open(file, encoding="utf-8"))
|
||||
with open(file, encoding="utf-8", mode="r") as f:
|
||||
data = yaml.safe_load(io.StringIO(f.read()))
|
||||
complete_data = {}
|
||||
if data:
|
||||
# 为每个资源添加文件路径信息
|
||||
for resource_id, resource_info in data.items():
|
||||
resource_info["file_path"] = str(file.absolute()).replace("\\", "/")
|
||||
if "description" not in resource_info:
|
||||
resource_info["description"] = ""
|
||||
if "version" not in resource_info:
|
||||
resource_info["version"] = "1.0.0"
|
||||
if "category" not in resource_info:
|
||||
resource_info["category"] = [file.stem]
|
||||
elif file.stem not in resource_info["category"]:
|
||||
resource_info["category"].append(file.stem)
|
||||
if "config_info" not in resource_info:
|
||||
resource_info["config_info"] = []
|
||||
if "icon" not in resource_info:
|
||||
resource_info["icon"] = ""
|
||||
if "handles" not in resource_info:
|
||||
resource_info["handles"] = []
|
||||
if "init_param_schema" not in resource_info:
|
||||
resource_info["init_param_schema"] = {}
|
||||
if complete_registry:
|
||||
class_info = resource_info.get("class", {})
|
||||
if len(class_info) and "module" in class_info:
|
||||
if class_info.get("type") == "pylabrobot":
|
||||
res_class = get_class(class_info["module"])
|
||||
if callable(res_class) and not isinstance(
|
||||
res_class, type
|
||||
): # 有的是类，有的是函数，这里暂时只登记函数类的
|
||||
res_instance = res_class(res_class.__name__)
|
||||
res_ulr = tree_to_list([resource_plr_to_ulab(res_instance)])
|
||||
resource_info["config_info"] = res_ulr
|
||||
resource_info["registry_type"] = "resource"
|
||||
complete_data[resource_id] = copy.deepcopy(dict(sorted(resource_info.items()))) # 稍后dump到文件
|
||||
|
||||
complete_data = dict(sorted(complete_data.items()))
|
||||
complete_data = copy.deepcopy(complete_data)
|
||||
if complete_registry:
|
||||
with open(file, "w", encoding="utf-8") as f:
|
||||
yaml.dump(complete_data, f, allow_unicode=True, default_flow_style=False, Dumper=NoAliasDumper)
|
||||
|
||||
self.resource_type_registry.update(data)
|
||||
logger.debug(
|
||||
f"[UniLab Registry] Resource-{current_resource_number} File-{i+1}/{len(files)} "
|
||||
@@ -157,6 +206,54 @@ class Registry:
|
||||
else:
|
||||
logger.debug(f"[UniLab Registry] Res File-{i+1}/{len(files)} Not Valid YAML File: {file.absolute()}")
|
||||
|
||||
def _extract_class_docstrings(self, module_string: str) -> Dict[str, str]:
|
||||
"""
|
||||
从模块字符串中提取类和方法的docstring信息
|
||||
|
||||
Args:
|
||||
module_string: 模块字符串，格式为 "module.path:ClassName"
|
||||
|
||||
Returns:
|
||||
包含类和方法docstring信息的字典
|
||||
"""
|
||||
docstrings = {"class_docstring": "", "methods": {}}
|
||||
|
||||
if not module_string or ":" not in module_string:
|
||||
return docstrings
|
||||
|
||||
try:
|
||||
module_path, class_name = module_string.split(":", 1)
|
||||
|
||||
# 动态导入模块
|
||||
module = importlib.import_module(module_path)
|
||||
|
||||
# 获取类
|
||||
if hasattr(module, class_name):
|
||||
cls = getattr(module, class_name)
|
||||
|
||||
# 获取类的docstring
|
||||
class_doc = inspect.getdoc(cls)
|
||||
if class_doc:
|
||||
docstrings["class_docstring"] = class_doc.strip()
|
||||
|
||||
# 获取所有方法的docstring
|
||||
for method_name, method in inspect.getmembers(cls, predicate=inspect.isfunction):
|
||||
method_doc = inspect.getdoc(method)
|
||||
if method_doc:
|
||||
docstrings["methods"][method_name] = method_doc.strip()
|
||||
|
||||
# 也获取属性方法的docstring
|
||||
for method_name, method in inspect.getmembers(cls, predicate=lambda x: isinstance(x, property)):
|
||||
if hasattr(method, "fget") and method.fget:
|
||||
method_doc = inspect.getdoc(method.fget)
|
||||
if method_doc:
|
||||
docstrings["methods"][method_name] = method_doc.strip()
|
||||
|
||||
except Exception as e:
|
||||
logger.warning(f"[UniLab Registry] 无法提取docstring信息，模块: {module_string}, 错误: {str(e)}")
|
||||
|
||||
return docstrings
|
||||
|
||||
def _replace_type_with_class(self, type_name: str, device_id: str, field_name: str) -> Any:
|
||||
"""
|
||||
将类型名称替换为实际的类对象
|
||||
@@ -176,7 +273,14 @@ class Registry:
|
||||
if not type_name or type_name == "":
|
||||
logger.warning(f"[UniLab Registry] 设备 {device_id} 的 {field_name} 类型为空，跳过替换")
|
||||
return type_name
|
||||
if "." in type_name:
|
||||
convert_manager = { # 将python基本对象转为ros2基本对象
|
||||
"str": "String",
|
||||
"bool": "Bool",
|
||||
"int": "Int64",
|
||||
"float": "Float64",
|
||||
}
|
||||
type_name = convert_manager.get(type_name, type_name) # 替换为ROS2类型
|
||||
if ":" in type_name:
|
||||
type_class = msg_converter_manager.get_class(type_name)
|
||||
else:
|
||||
type_class = msg_converter_manager.search_class(type_name)
|
||||
@@ -186,7 +290,97 @@ class Registry:
|
||||
logger.error(f"[UniLab Registry] 无法找到类型 '{type_name}' 用于设备 {device_id} 的 {field_name}")
|
||||
sys.exit(1)
|
||||
|
||||
def load_device_types(self, path: os.PathLike):
|
||||
def _generate_schema_from_info(
|
||||
self,
|
||||
param_name: str,
|
||||
param_type: str,
|
||||
param_default: Any,
|
||||
) -> Dict[str, Any]:
|
||||
"""
|
||||
根据参数信息生成JSON Schema
|
||||
"""
|
||||
prop_schema = {}
|
||||
# 根据类型设置schema FIXME 不完整
|
||||
if param_type:
|
||||
param_type_lower = param_type.lower()
|
||||
if param_type_lower in ["str", "string"]:
|
||||
prop_schema["type"] = "string"
|
||||
elif param_type_lower in ["int", "integer"]:
|
||||
prop_schema["type"] = "integer"
|
||||
elif param_type_lower in ["float", "number"]:
|
||||
prop_schema["type"] = "number"
|
||||
elif param_type_lower in ["bool", "boolean"]:
|
||||
prop_schema["type"] = "boolean"
|
||||
elif param_type_lower in ["list", "array"]:
|
||||
prop_schema["type"] = "array"
|
||||
elif param_type_lower in ["dict", "object"]:
|
||||
prop_schema["type"] = "object"
|
||||
else:
|
||||
# 默认为字符串类型
|
||||
prop_schema["type"] = "string"
|
||||
else:
|
||||
# 如果没有类型信息，默认为字符串
|
||||
prop_schema["type"] = "string"
|
||||
|
||||
# 设置默认值
|
||||
if param_default is not None:
|
||||
prop_schema["default"] = param_default
|
||||
|
||||
return prop_schema
|
||||
|
||||
def _generate_status_types_schema(self, status_types: Dict[str, Any]) -> Dict[str, Any]:
|
||||
"""
|
||||
根据状态类型生成JSON Schema
|
||||
"""
|
||||
status_schema = {
|
||||
"type": "object",
|
||||
"properties": {},
|
||||
"required": [],
|
||||
}
|
||||
for status_name, status_type in status_types.items():
|
||||
status_schema["properties"][status_name] = self._generate_schema_from_info(
|
||||
status_name, status_type["return_type"], None
|
||||
)
|
||||
status_schema["required"].append(status_name)
|
||||
return status_schema
|
||||
|
||||
def _generate_unilab_json_command_schema(
|
||||
self, method_args: List[Dict[str, Any]], method_name: str
|
||||
) -> Dict[str, Any]:
|
||||
"""
|
||||
根据UniLabJsonCommand方法信息生成JSON Schema，暂不支持嵌套类型
|
||||
|
||||
Args:
|
||||
method_args: 方法信息字典，包含args等
|
||||
method_name: 方法名称
|
||||
|
||||
Returns:
|
||||
JSON Schema格式的参数schema
|
||||
"""
|
||||
schema = {
|
||||
"type": "object",
|
||||
"properties": {},
|
||||
"required": [],
|
||||
}
|
||||
for arg_info in method_args:
|
||||
param_name = arg_info.get("name", "")
|
||||
param_type = arg_info.get("type", "")
|
||||
param_default = arg_info.get("default")
|
||||
param_required = arg_info.get("required", True)
|
||||
schema["properties"][param_name] = self._generate_schema_from_info(param_name, param_type, param_default)
|
||||
if param_required:
|
||||
schema["required"].append(param_name)
|
||||
|
||||
return {
|
||||
"title": f"{method_name}参数",
|
||||
"description": f"",
|
||||
"type": "object",
|
||||
"properties": {"goal": schema, "feedback": {}, "result": {}},
|
||||
"required": ["goal"],
|
||||
}
|
||||
|
||||
def load_device_types(self, path: os.PathLike, complete_registry: bool):
|
||||
# return
|
||||
abs_path = Path(path).absolute()
|
||||
devices_path = abs_path / "devices"
|
||||
device_comms_path = abs_path / "device_comms"
|
||||
@@ -199,12 +393,26 @@ class Registry:
|
||||
from unilabos.app.web.utils.action_utils import get_yaml_from_goal_type
|
||||
|
||||
for i, file in enumerate(files):
|
||||
data = yaml.safe_load(open(file, encoding="utf-8"))
|
||||
with open(file, encoding="utf-8", mode="r") as f:
|
||||
data = yaml.safe_load(io.StringIO(f.read()))
|
||||
complete_data = {}
|
||||
action_str_type_mapping = {
|
||||
"UniLabJsonCommand": "UniLabJsonCommand",
|
||||
"UniLabJsonCommandAsync": "UniLabJsonCommandAsync",
|
||||
}
|
||||
status_str_type_mapping = {}
|
||||
if data:
|
||||
# 在添加到注册表前处理类型替换
|
||||
for device_id, device_config in data.items():
|
||||
# 添加文件路径信息 - 使用规范化的完整文件路径
|
||||
device_config["file_path"] = str(file.absolute()).replace("\\", "/")
|
||||
if "version" not in device_config:
|
||||
device_config["version"] = "1.0.0"
|
||||
if "category" not in device_config:
|
||||
device_config["category"] = [file.stem]
|
||||
elif file.stem not in device_config["category"]:
|
||||
device_config["category"].append(file.stem)
|
||||
if "config_info" not in device_config:
|
||||
device_config["config_info"] = []
|
||||
if "description" not in device_config:
|
||||
device_config["description"] = ""
|
||||
if "icon" not in device_config:
|
||||
@@ -213,42 +421,145 @@ class Registry:
|
||||
device_config["handles"] = []
|
||||
if "init_param_schema" not in device_config:
|
||||
device_config["init_param_schema"] = {}
|
||||
device_config["registry_type"] = "device"
|
||||
if "class" in device_config:
|
||||
# 处理状态类型
|
||||
if "status_types" in device_config["class"]:
|
||||
for status_name, status_type in device_config["class"]["status_types"].items():
|
||||
device_config["class"]["status_types"][status_name] = self._replace_type_with_class(
|
||||
status_type, device_id, f"状态 {status_name}"
|
||||
)
|
||||
|
||||
# 处理动作值映射
|
||||
if "action_value_mappings" in device_config["class"]:
|
||||
if "status_types" not in device_config["class"]:
|
||||
device_config["class"]["status_types"] = {}
|
||||
if "action_value_mappings" not in device_config["class"]:
|
||||
device_config["class"]["action_value_mappings"] = {}
|
||||
enhanced_info = {}
|
||||
if complete_registry:
|
||||
device_config["class"]["status_types"].clear()
|
||||
enhanced_info = get_enhanced_class_info(device_config["class"]["module"], use_dynamic=True)
|
||||
device_config["class"]["status_types"].update(
|
||||
{k: v["return_type"] for k, v in enhanced_info["status_methods"].items()}
|
||||
)
|
||||
for status_name, status_type in device_config["class"]["status_types"].items():
|
||||
if status_type in ["Any", "None", "Unknown"]:
|
||||
status_type = "String" # 替换成ROS的String，便于显示
|
||||
device_config["class"]["status_types"][status_name] = status_type
|
||||
target_type = self._replace_type_with_class(status_type, device_id, f"状态 {status_name}")
|
||||
if target_type in [
|
||||
dict,
|
||||
list,
|
||||
]: # 对于嵌套类型返回的对象，暂时处理成字符串，无法直接进行转换
|
||||
target_type = String
|
||||
status_str_type_mapping[status_type] = target_type
|
||||
device_config["class"]["status_types"] = dict(
|
||||
sorted(device_config["class"]["status_types"].items())
|
||||
)
|
||||
if complete_registry:
|
||||
# 保存原有的description信息
|
||||
old_descriptions = {}
|
||||
for action_name, action_config in device_config["class"]["action_value_mappings"].items():
|
||||
if "handles" not in action_config:
|
||||
action_config["handles"] = []
|
||||
if "type" in action_config:
|
||||
action_config["type"] = self._replace_type_with_class(
|
||||
action_config["type"], device_id, f"动作 {action_name}"
|
||||
if "description" in action_config.get("schema", {}):
|
||||
description = action_config["schema"]["description"]
|
||||
if len(description):
|
||||
old_descriptions[action_name] = action_config["schema"]["description"]
|
||||
|
||||
device_config["class"]["action_value_mappings"] = {
|
||||
k: v
|
||||
for k, v in device_config["class"]["action_value_mappings"].items()
|
||||
if not k.startswith("auto-")
|
||||
}
|
||||
# 处理动作值映射
|
||||
device_config["class"]["action_value_mappings"].update(
|
||||
{
|
||||
f"auto-{k}": {
|
||||
"type": "UniLabJsonCommandAsync" if v["is_async"] else "UniLabJsonCommand",
|
||||
"goal": {},
|
||||
"feedback": {},
|
||||
"result": {},
|
||||
"schema": self._generate_unilab_json_command_schema(v["args"], k),
|
||||
"goal_default": {i["name"]: i["default"] for i in v["args"]},
|
||||
"handles": [],
|
||||
}
|
||||
# 不生成已配置action的动作
|
||||
for k, v in enhanced_info["action_methods"].items()
|
||||
if k not in device_config["class"]["action_value_mappings"]
|
||||
}
|
||||
)
|
||||
|
||||
# 恢复原有的description信息（auto开头的不修改）
|
||||
for action_name, description in old_descriptions.items():
|
||||
if action_name in device_config["class"]["action_value_mappings"]: # 有一些会被删除
|
||||
device_config["class"]["action_value_mappings"][action_name]["schema"][
|
||||
"description"
|
||||
] = description
|
||||
device_config["init_param_schema"] = {}
|
||||
device_config["init_param_schema"]["config"] = self._generate_unilab_json_command_schema(
|
||||
enhanced_info["init_params"], "__init__"
|
||||
)["properties"]["goal"]
|
||||
device_config["init_param_schema"]["data"] = self._generate_status_types_schema(
|
||||
enhanced_info["status_methods"]
|
||||
)
|
||||
|
||||
device_config.pop("schema", None)
|
||||
device_config["class"]["action_value_mappings"] = dict(
|
||||
sorted(device_config["class"]["action_value_mappings"].items())
|
||||
)
|
||||
for action_name, action_config in device_config["class"]["action_value_mappings"].items():
|
||||
if "handles" not in action_config:
|
||||
action_config["handles"] = []
|
||||
if "type" in action_config:
|
||||
action_type_str: str = action_config["type"]
|
||||
# 通过Json发放指令，而不是通过特殊的ros action进行处理
|
||||
if not action_type_str.startswith("UniLabJsonCommand"):
|
||||
target_type = self._replace_type_with_class(
|
||||
action_type_str, device_id, f"动作 {action_name}"
|
||||
)
|
||||
if action_config["type"] is not None:
|
||||
action_str_type_mapping[action_type_str] = target_type
|
||||
if target_type is not None:
|
||||
action_config["goal_default"] = yaml.safe_load(
|
||||
io.StringIO(get_yaml_from_goal_type(action_config["type"].Goal))
|
||||
io.StringIO(get_yaml_from_goal_type(target_type.Goal))
|
||||
)
|
||||
action_config["schema"] = ros_action_to_json_schema(action_config["type"])
|
||||
action_config["schema"] = ros_action_to_json_schema(target_type)
|
||||
else:
|
||||
logger.warning(
|
||||
f"[UniLab Registry] 设备 {device_id} 的动作 {action_name} 类型为空，跳过替换"
|
||||
)
|
||||
|
||||
self.device_type_registry.update(data)
|
||||
|
||||
for device_id in data.keys():
|
||||
complete_data[device_id] = copy.deepcopy(dict(sorted(device_config.items()))) # 稍后dump到文件
|
||||
for status_name, status_type in device_config["class"]["status_types"].items():
|
||||
device_config["class"]["status_types"][status_name] = status_str_type_mapping[status_type]
|
||||
for action_name, action_config in device_config["class"]["action_value_mappings"].items():
|
||||
action_config["type"] = action_str_type_mapping[action_config["type"]]
|
||||
for additional_action in ["_execute_driver_command", "_execute_driver_command_async"]:
|
||||
device_config["class"]["action_value_mappings"][additional_action] = {
|
||||
"type": self._replace_type_with_class(
|
||||
"StrSingleInput", device_id, f"动作 {additional_action}"
|
||||
),
|
||||
"goal": {"string": "string"},
|
||||
"feedback": {},
|
||||
"result": {},
|
||||
"schema": ros_action_to_json_schema(
|
||||
self._replace_type_with_class(
|
||||
"StrSingleInput", device_id, f"动作 {additional_action}"
|
||||
)
|
||||
),
|
||||
"goal_default": yaml.safe_load(
|
||||
io.StringIO(
|
||||
get_yaml_from_goal_type(
|
||||
self._replace_type_with_class(
|
||||
"StrSingleInput", device_id, f"动作 {additional_action}"
|
||||
).Goal
|
||||
)
|
||||
)
|
||||
),
|
||||
"handles": [],
|
||||
}
|
||||
if "registry_type" not in device_config:
|
||||
device_config["registry_type"] = "device"
|
||||
device_config["file_path"] = str(file.absolute()).replace("\\", "/")
|
||||
device_config["registry_type"] = "device"
|
||||
logger.debug(
|
||||
f"[UniLab Registry] Device-{current_device_number} File-{i+1}/{len(files)} Add {device_id} "
|
||||
+ f"[{data[device_id].get('name', '未命名设备')}]"
|
||||
)
|
||||
current_device_number += 1
|
||||
complete_data = dict(sorted(complete_data.items()))
|
||||
complete_data = copy.deepcopy(complete_data)
|
||||
with open(file, "w", encoding="utf-8") as f:
|
||||
yaml.dump(complete_data, f, allow_unicode=True, default_flow_style=False, Dumper=NoAliasDumper)
|
||||
self.device_type_registry.update(data)
|
||||
else:
|
||||
logger.debug(
|
||||
f"[UniLab Registry] Device File-{i+1}/{len(files)} Not Valid YAML File: {file.absolute()}"
|
||||
@@ -257,7 +568,35 @@ class Registry:
|
||||
def obtain_registry_device_info(self):
|
||||
devices = []
|
||||
for device_id, device_info in self.device_type_registry.items():
|
||||
msg = {"id": device_id, **device_info}
|
||||
device_info_copy = copy.deepcopy(device_info)
|
||||
if "class" in device_info_copy and "action_value_mappings" in device_info_copy["class"]:
|
||||
action_mappings = device_info_copy["class"]["action_value_mappings"]
|
||||
for action_name, action_config in action_mappings.items():
|
||||
if "schema" in action_config and action_config["schema"]:
|
||||
schema = action_config["schema"]
|
||||
# 确保schema结构存在
|
||||
if (
|
||||
"properties" in schema
|
||||
and "goal" in schema["properties"]
|
||||
and "properties" in schema["properties"]["goal"]
|
||||
):
|
||||
schema["properties"]["goal"]["properties"] = {
|
||||
"unilabos_device_id": {
|
||||
"type": "string",
|
||||
"default": "",
|
||||
"description": "UniLabOS设备ID，用于指定执行动作的具体设备实例",
|
||||
},
|
||||
**schema["properties"]["goal"]["properties"],
|
||||
}
|
||||
# 将 placeholder_keys 信息添加到 schema 中
|
||||
if "placeholder_keys" in action_config and action_config.get("schema", {}).get(
|
||||
"properties", {}
|
||||
).get("goal", {}):
|
||||
action_config["schema"]["properties"]["goal"]["_unilabos_placeholder_info"] = action_config[
|
||||
"placeholder_keys"
|
||||
]
|
||||
|
||||
msg = {"id": device_id, **device_info_copy}
|
||||
devices.append(msg)
|
||||
return devices
|
||||
|
||||
@@ -273,7 +612,7 @@ class Registry:
|
||||
lab_registry = Registry()
|
||||
|
||||
|
||||
def build_registry(registry_paths=None):
|
||||
def build_registry(registry_paths=None, complete_registry=False):
|
||||
"""
|
||||
构建或获取Registry单例实例
|
||||
|
||||
@@ -297,6 +636,6 @@ def build_registry(registry_paths=None):
|
||||
lab_registry.registry_paths.append(path)
|
||||
|
||||
# 初始化注册表
|
||||
lab_registry.setup()
|
||||
lab_registry.setup(complete_registry)
|
||||
|
||||
return lab_registry
|
||||
|
||||
@@ -1,8 +1,17 @@
|
||||
OTDeck:
|
||||
description: Opentrons deck
|
||||
class:
|
||||
category:
|
||||
- deck
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.deck:OTDeck
|
||||
type: pylabrobot
|
||||
config_info: []
|
||||
description: Opentrons deck
|
||||
file_path: C:/Users/10230/PycharmProjects/Uni-Lab-OS/unilabos/registry/resources/opentrons/deck.yaml
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
model:
|
||||
mesh: opentrons_liquid_handler
|
||||
type: device
|
||||
mesh: opentrons_liquid_handler
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
|
||||
@@ -1,5 +1,39 @@
|
||||
Opentrons_96_adapter_Vb:
|
||||
description: Opentrons 96 adapter Vb
|
||||
class:
|
||||
category:
|
||||
- plate_adapters
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.plate_adapters:Opentrons_96_adapter_Vb
|
||||
type: pylabrobot
|
||||
type: pylabrobot
|
||||
config_info:
|
||||
- children: []
|
||||
class: ''
|
||||
config:
|
||||
barcode: null
|
||||
category: plate_adapter
|
||||
model: Opentrons_96_adapter_Vb
|
||||
rotation:
|
||||
type: Rotation
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0
|
||||
size_x: 127.76
|
||||
size_y: 85.48
|
||||
size_z: 18.55
|
||||
type: PlateAdapter
|
||||
data: {}
|
||||
id: Opentrons_96_adapter_Vb
|
||||
name: Opentrons_96_adapter_Vb
|
||||
parent: null
|
||||
position:
|
||||
x: 0
|
||||
y: 0
|
||||
z: 0
|
||||
sample_id: null
|
||||
type: container
|
||||
description: Opentrons 96 adapter Vb
|
||||
file_path: C:/Users/10230/PycharmProjects/Uni-Lab-OS/unilabos/registry/resources/opentrons/plate_adapters.yaml
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -1,28 +1,35 @@
|
||||
container:
|
||||
description: regular organic container
|
||||
icon: Flask.webp
|
||||
class:
|
||||
category:
|
||||
- container
|
||||
class:
|
||||
module: unilabos.resources.container:RegularContainer
|
||||
type: unilabos
|
||||
config_info: []
|
||||
description: regular organic container
|
||||
file_path: C:/Users/10230/PycharmProjects/Uni-Lab-OS/unilabos/registry/resources/organic/container.yaml
|
||||
handles:
|
||||
- handler_key: top
|
||||
label: top
|
||||
io_type: target
|
||||
data_type: fluid
|
||||
side: NORTH
|
||||
data_source: handle
|
||||
data_key: fluid_in
|
||||
- handler_key: bottom
|
||||
label: bottom
|
||||
io_type: source
|
||||
data_type: fluid
|
||||
side: SOUTH
|
||||
data_source: handle
|
||||
data_key: fluid_out
|
||||
- handler_key: bind
|
||||
label: bind
|
||||
io_type: target
|
||||
data_type: mechanical
|
||||
side: SOUTH
|
||||
data_source: handle
|
||||
data_key: mechanical_port
|
||||
- data_key: fluid_in
|
||||
data_source: handle
|
||||
data_type: fluid
|
||||
handler_key: top
|
||||
io_type: target
|
||||
label: top
|
||||
side: NORTH
|
||||
- data_key: fluid_out
|
||||
data_source: handle
|
||||
data_type: fluid
|
||||
handler_key: bottom
|
||||
io_type: source
|
||||
label: bottom
|
||||
side: SOUTH
|
||||
- data_key: mechanical_port
|
||||
data_source: handle
|
||||
data_type: mechanical
|
||||
handler_key: bind
|
||||
io_type: target
|
||||
label: bind
|
||||
side: SOUTH
|
||||
icon: Flask.webp
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
|
||||
Reference in New Issue
Block a user