robotic_arm.SCARA_with_slider.virtual: category: - robot_arm 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: 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 robotic_arm.UR: category: - robot_arm class: 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: 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.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_status: type: string required: - arm_pose - gripper_pose - arm_status - gripper_status type: object version: 1.0.0 robotic_arm.elite: category: - robot_arm class: action_value_mappings: auto-close: feedback: {} goal: {} goal_default: {} handles: {} result: {} schema: description: '' properties: feedback: {} goal: properties: {} required: [] type: object result: {} required: - goal title: close参数 type: object type: UniLabJsonCommand auto-modbus_close: feedback: {} goal: {} goal_default: {} handles: {} result: {} schema: description: '' properties: feedback: {} goal: properties: {} required: [] type: object result: {} required: - goal title: modbus_close参数 type: object type: UniLabJsonCommand auto-modbus_read_holding_registers: feedback: {} goal: {} goal_default: quantity: null start_addr: null unit_id: null handles: {} result: {} schema: description: '' properties: feedback: {} goal: properties: quantity: type: string start_addr: type: string unit_id: type: string required: - unit_id - start_addr - quantity type: object result: {} required: - goal title: modbus_read_holding_registers参数 type: object type: UniLabJsonCommand auto-modbus_task: feedback: {} goal: {} goal_default: job_id: null handles: {} result: {} schema: description: '' properties: feedback: {} goal: properties: job_id: type: string required: - job_id type: object result: {} required: - goal title: modbus_task参数 type: object type: UniLabJsonCommand auto-modbus_write_single_register: feedback: {} goal: {} goal_default: register_addr: null unit_id: null value: null handles: {} result: {} schema: description: '' properties: feedback: {} goal: properties: register_addr: type: string unit_id: type: string value: type: string required: - unit_id - register_addr - value type: object result: {} required: - goal title: modbus_write_single_register参数 type: object type: UniLabJsonCommand auto-parse_success_response: feedback: {} goal: {} goal_default: response: null handles: {} result: {} schema: description: '' properties: feedback: {} goal: properties: response: type: string required: - response type: object result: {} required: - goal title: parse_success_response参数 type: object type: UniLabJsonCommand auto-send_command: feedback: {} goal: {} goal_default: command: null handles: {} result: {} schema: description: '' properties: feedback: {} goal: properties: command: type: string required: - command type: object result: {} required: - goal title: send_command参数 type: object type: UniLabJsonCommand modbus_task_cmd: 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.arm.elite_robot:EliteRobot status_types: actual_joint_positions: String arm_pose: list type: python config_info: [] description: Elite robot arm handles: [] icon: '' init_param_schema: config: properties: device_id: type: string host: type: string required: - device_id - host type: object data: properties: actual_joint_positions: type: string arm_pose: type: array required: - arm_pose - actual_joint_positions type: object model: mesh: elite_robot type: device version: 1.0.0