open_pub/Uni-Lab-OS
1
0
Fork 0
mirror of https://github.com/dptech-corp/Uni-Lab-OS.git synced 2025-12-17 13:01:12 +00:00
Code Issues Packages Projects Releases Wiki Activity
Files
02c79363c1de62829231b67dabcd07f6a5e3702b
Uni-Lab-OS/unilabos/registry/devices/robot_linear_motion.yaml
Xuwznln 02c79363c1 feat: add sk & ak
2025-08-20 21:23:08 +08:00

993 lines
29 KiB
YAML
Raw Blame History

This file contains ambiguous Unicode characters

This file contains Unicode characters that might be confused with other characters. If you think that this is intentional, you can safely ignore this warning. Use the Escape button to reveal them.

linear_motion.grbl:
category:
- robot_linear_motion
class:
action_value_mappings:
auto-initialize:
feedback: {}
goal: {}
goal_default: {}
handles: {}
result: {}
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:
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:
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
status:
type: string
required:
- status
- position
- spindle_speed
type: object
version: 1.0.0
linear_motion.toyo_xyz.sim:
category:
- robot_linear_motion
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
motor.iCL42:
category:
- robot_linear_motion
class:
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:
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.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
Reference in New Issue View Git Blame Copy Permalink