moveit.arm_slider: 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: 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