mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
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Merge remote-tracking branch 'upstream/dev' into device_visualization
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zhangshixiang
@@ -1,55 +1,176 @@
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robotic_arm.UR:
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description: UR robotic arm
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category:
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- robot_arm
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class:
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module: unilabos.devices.agv.ur_arm_task:UrArmTask
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type: python
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status_types:
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arm_pose: Float64MultiArray
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gripper_pose: Float64
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arm_status: String
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gripper_status: String
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action_value_mappings:
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auto-arm_init:
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feedback: {}
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goal: {}
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goal_default: {}
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handles: []
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result: {}
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schema:
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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。
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properties:
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feedback: {}
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goal:
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properties: {}
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required: []
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type: object
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result: {}
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required:
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- goal
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title: arm_init参数
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type: object
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type: UniLabJsonCommand
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auto-load_pose_data:
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feedback: {}
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goal: {}
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goal_default:
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data: null
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handles: []
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result: {}
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schema:
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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。
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properties:
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feedback: {}
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goal:
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properties:
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data:
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type: string
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required:
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- data
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type: object
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result: {}
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required:
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- goal
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title: load_pose_data参数
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type: object
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type: UniLabJsonCommand
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auto-load_pose_file:
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feedback: {}
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goal: {}
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goal_default:
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file: null
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handles: []
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result: {}
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schema:
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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。
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properties:
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feedback: {}
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goal:
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properties:
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file:
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type: string
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required:
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- file
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type: object
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result: {}
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required:
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- goal
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title: load_pose_file参数
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type: object
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type: UniLabJsonCommand
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auto-reload_pose:
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feedback: {}
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goal: {}
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goal_default: {}
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handles: []
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result: {}
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schema:
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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。
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properties:
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feedback: {}
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goal:
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properties: {}
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required: []
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type: object
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result: {}
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required:
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- goal
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title: reload_pose参数
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type: object
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type: UniLabJsonCommand
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move_pos_task:
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type: SendCmd
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feedback: {}
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goal:
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command: command
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feedback: {}
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goal_default:
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command: ''
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handles: []
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result:
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success: success
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schema:
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properties:
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arm_pose:
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type: array
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items:
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schema:
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description: ''
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properties:
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feedback:
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properties:
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status:
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type: string
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required:
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- status
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title: SendCmd_Feedback
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type: object
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goal:
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properties:
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command:
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type: string
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required:
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- command
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title: SendCmd_Goal
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type: object
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result:
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properties:
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return_info:
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type: string
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success:
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type: boolean
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required:
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- return_info
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- success
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title: SendCmd_Result
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type: object
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required:
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- goal
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title: SendCmd
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type: object
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type: SendCmd
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module: unilabos.devices.agv.ur_arm_task:UrArmTask
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status_types:
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arm_pose: list
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arm_status: str
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gripper_pose: float
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gripper_status: str
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type: python
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config_info: []
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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。
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handles: []
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icon: ''
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init_param_schema:
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config:
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properties:
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host:
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type: string
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retry:
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default: 30
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type: string
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required:
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- host
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type: object
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data:
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properties:
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arm_pose:
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type: array
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arm_status:
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type: string
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gripper_pose:
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type: number
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gripper_pose:
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type: number
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arm_status:
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type: string
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description: 机械臂设备状态
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gripper_status:
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type: string
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description: 机械爪设备状态
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required:
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gripper_status:
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type: string
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required:
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- arm_pose
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- gripper_pose
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- arm_status
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- gripper_status
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additionalProperties: false
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type: object
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robotic_arm.elite:
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description: Elite robot arm
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class:
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module: unilabos.devices.arm.elite_robot:EliteRobot
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type: python
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status_types:
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arm_pose: Float64MultiArray
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action_value_mappings:
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modbus_task_cmd:
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type: SendCmd
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goal:
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command: command
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feedback: {}
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result: {}
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model:
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type: device
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mesh: elite_robot
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type: object
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