mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2026-02-07 15:35:10 +00:00
933 lines
26 KiB
YAML
933 lines
26 KiB
YAML
moveit.arm_slider:
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class:
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action_value_mappings:
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auto-check_tf_update_actions:
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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: UniLabJsonCommand check_tf_update_actions 的参数schema
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properties:
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feedback: {}
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|
goal:
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description: UniLabJsonCommand check_tf_update_actions 的参数schema
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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: check_tf_update_actions 命令参数
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type: object
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type: UniLabJsonCommand
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auto-moveit_joint_task:
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feedback: {}
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goal: {}
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goal_default:
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joint_names: null
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joint_positions: null
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move_group: null
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retry: 10
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speed: 1
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handles: []
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result: {}
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schema:
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description: UniLabJsonCommand moveit_joint_task 的参数schema
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properties:
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feedback: {}
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goal:
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description: UniLabJsonCommand moveit_joint_task 的参数schema
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properties:
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joint_names:
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description: '参数: joint_names'
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type: string
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joint_positions:
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description: '参数: joint_positions'
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type: string
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move_group:
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description: '参数: move_group'
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type: string
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retry:
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default: 10
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description: '参数: retry'
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type: string
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speed:
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default: 1
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description: '参数: speed'
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type: string
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required:
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- move_group
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- joint_positions
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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: moveit_joint_task 命令参数
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type: object
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type: UniLabJsonCommand
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auto-moveit_task:
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feedback: {}
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goal: {}
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goal_default:
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cartesian: false
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move_group: null
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offsets:
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- 0
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- 0
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- 0
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position: null
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quaternion: null
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retry: 10
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speed: 1
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target_link: null
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handles: []
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result: {}
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schema:
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description: UniLabJsonCommand moveit_task 的参数schema
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properties:
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feedback: {}
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goal:
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description: UniLabJsonCommand moveit_task 的参数schema
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properties:
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cartesian:
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default: false
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description: '参数: cartesian'
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type: string
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move_group:
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description: '参数: move_group'
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type: string
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offsets:
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default:
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- 0
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- 0
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- 0
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description: '参数: offsets'
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type: string
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position:
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description: '参数: position'
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type: string
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quaternion:
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description: '参数: quaternion'
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type: string
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retry:
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default: 10
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description: '参数: retry'
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type: string
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speed:
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default: 1
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description: '参数: speed'
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type: string
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target_link:
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description: '参数: target_link'
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type: string
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required:
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- move_group
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- position
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- quaternion
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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: moveit_task 命令参数
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type: object
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type: UniLabJsonCommand
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auto-pick_and_place:
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feedback: {}
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goal: {}
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goal_default:
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command: null
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handles: []
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result: {}
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schema:
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description: UniLabJsonCommand pick_and_place 的参数schema
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properties:
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feedback: {}
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goal:
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description: UniLabJsonCommand pick_and_place 的参数schema
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properties:
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command:
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description: '参数: command'
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type: string
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required:
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- command
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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: pick_and_place 命令参数
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type: object
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type: UniLabJsonCommand
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auto-post_init:
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feedback: {}
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goal: {}
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goal_default:
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ros_node: null
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handles: []
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result: {}
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schema:
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description: UniLabJsonCommand post_init 的参数schema
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properties:
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feedback: {}
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goal:
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description: UniLabJsonCommand post_init 的参数schema
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properties:
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ros_node:
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description: '参数: ros_node'
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type: string
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required:
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- ros_node
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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: post_init 命令参数
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type: object
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type: UniLabJsonCommand
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auto-resource_manager:
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feedback: {}
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goal: {}
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goal_default:
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parent_link: null
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resource: null
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handles: []
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result: {}
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schema:
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description: UniLabJsonCommand resource_manager 的参数schema
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properties:
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feedback: {}
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goal:
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description: UniLabJsonCommand resource_manager 的参数schema
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properties:
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parent_link:
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description: '参数: parent_link'
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type: string
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resource:
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description: '参数: resource'
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type: string
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required:
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- resource
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- parent_link
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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: resource_manager 命令参数
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type: object
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type: UniLabJsonCommand
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auto-set_position:
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feedback: {}
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goal: {}
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goal_default:
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command: null
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handles: []
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result: {}
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schema:
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description: UniLabJsonCommand set_position 的参数schema
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properties:
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feedback: {}
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goal:
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description: UniLabJsonCommand set_position 的参数schema
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properties:
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command:
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description: '参数: command'
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type: string
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required:
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- command
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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: set_position 命令参数
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type: object
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type: UniLabJsonCommand
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auto-set_status:
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feedback: {}
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goal: {}
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goal_default:
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command: null
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handles: []
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result: {}
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schema:
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description: UniLabJsonCommand set_status 的参数schema
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properties:
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feedback: {}
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goal:
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description: UniLabJsonCommand set_status 的参数schema
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properties:
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command:
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description: '参数: command'
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type: string
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required:
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- command
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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: set_status 命令参数
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type: object
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type: UniLabJsonCommand
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auto-wait_for_resource_action:
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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: UniLabJsonCommand wait_for_resource_action 的参数schema
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properties:
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feedback: {}
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goal:
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description: UniLabJsonCommand wait_for_resource_action 的参数schema
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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: wait_for_resource_action 命令参数
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type: object
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type: UniLabJsonCommand
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pick_and_place:
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feedback: {}
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goal:
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command: command
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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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schema:
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|
description: ROS Action SendCmd 的 JSON Schema
|
|
properties:
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feedback:
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description: Action 反馈 - 执行过程中从服务器发送到客户端
|
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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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description: Action 目标 - 从客户端发送到服务器
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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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description: Action 结果 - 完成后从服务器发送到客户端
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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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set_position:
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feedback: {}
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goal:
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command: command
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goal_default:
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command: ''
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: ROS Action SendCmd 的 JSON Schema
|
|
properties:
|
|
feedback:
|
|
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
|
properties:
|
|
status:
|
|
type: string
|
|
required:
|
|
- status
|
|
title: SendCmd_Feedback
|
|
type: object
|
|
goal:
|
|
description: Action 目标 - 从客户端发送到服务器
|
|
properties:
|
|
command:
|
|
type: string
|
|
required:
|
|
- command
|
|
title: SendCmd_Goal
|
|
type: object
|
|
result:
|
|
description: Action 结果 - 完成后从服务器发送到客户端
|
|
properties:
|
|
return_info:
|
|
type: string
|
|
success:
|
|
type: boolean
|
|
required:
|
|
- return_info
|
|
- success
|
|
title: SendCmd_Result
|
|
type: object
|
|
required:
|
|
- goal
|
|
title: SendCmd
|
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type: object
|
|
type: SendCmd
|
|
set_status:
|
|
feedback: {}
|
|
goal:
|
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command: command
|
|
goal_default:
|
|
command: ''
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: ROS Action SendCmd 的 JSON Schema
|
|
properties:
|
|
feedback:
|
|
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
|
properties:
|
|
status:
|
|
type: string
|
|
required:
|
|
- status
|
|
title: SendCmd_Feedback
|
|
type: object
|
|
goal:
|
|
description: Action 目标 - 从客户端发送到服务器
|
|
properties:
|
|
command:
|
|
type: string
|
|
required:
|
|
- command
|
|
title: SendCmd_Goal
|
|
type: object
|
|
result:
|
|
description: Action 结果 - 完成后从服务器发送到客户端
|
|
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
|
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status_types: {}
|
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type: python
|
|
description: Arm with Slider
|
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handles: []
|
|
icon: ''
|
|
init_param_schema:
|
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description: UniLabJsonCommand __init__ 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand __init__ 的参数schema
|
|
properties:
|
|
device_config:
|
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description: '参数: device_config'
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type: string
|
|
joint_poses:
|
|
description: '参数: joint_poses'
|
|
type: string
|
|
moveit_type:
|
|
description: '参数: moveit_type'
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type: string
|
|
rotation:
|
|
description: '参数: rotation'
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type: string
|
|
required:
|
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- moveit_type
|
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- joint_poses
|
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type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: __init__ 命令参数
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type: object
|
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model:
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mesh: arm_slider
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type: device
|
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moveit.toyo_xyz:
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class:
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|
action_value_mappings:
|
|
auto-check_tf_update_actions:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand check_tf_update_actions 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand check_tf_update_actions 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: check_tf_update_actions 命令参数
|
|
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: UniLabJsonCommand moveit_joint_task 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand moveit_joint_task 的参数schema
|
|
properties:
|
|
joint_names:
|
|
description: '参数: joint_names'
|
|
type: string
|
|
joint_positions:
|
|
description: '参数: joint_positions'
|
|
type: string
|
|
move_group:
|
|
description: '参数: move_group'
|
|
type: string
|
|
retry:
|
|
default: 10
|
|
description: '参数: retry'
|
|
type: string
|
|
speed:
|
|
default: 1
|
|
description: '参数: speed'
|
|
type: string
|
|
required:
|
|
- move_group
|
|
- joint_positions
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: moveit_joint_task 命令参数
|
|
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: UniLabJsonCommand moveit_task 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand moveit_task 的参数schema
|
|
properties:
|
|
cartesian:
|
|
default: false
|
|
description: '参数: cartesian'
|
|
type: string
|
|
move_group:
|
|
description: '参数: move_group'
|
|
type: string
|
|
offsets:
|
|
default:
|
|
- 0
|
|
- 0
|
|
- 0
|
|
description: '参数: offsets'
|
|
type: string
|
|
position:
|
|
description: '参数: position'
|
|
type: string
|
|
quaternion:
|
|
description: '参数: quaternion'
|
|
type: string
|
|
retry:
|
|
default: 10
|
|
description: '参数: retry'
|
|
type: string
|
|
speed:
|
|
default: 1
|
|
description: '参数: speed'
|
|
type: string
|
|
target_link:
|
|
description: '参数: target_link'
|
|
type: string
|
|
required:
|
|
- move_group
|
|
- position
|
|
- quaternion
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: moveit_task 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-pick_and_place:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
command: null
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand pick_and_place 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand pick_and_place 的参数schema
|
|
properties:
|
|
command:
|
|
description: '参数: command'
|
|
type: string
|
|
required:
|
|
- command
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: pick_and_place 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-post_init:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
ros_node: null
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand post_init 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand post_init 的参数schema
|
|
properties:
|
|
ros_node:
|
|
description: '参数: ros_node'
|
|
type: string
|
|
required:
|
|
- ros_node
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: post_init 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-resource_manager:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
parent_link: null
|
|
resource: null
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand resource_manager 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand resource_manager 的参数schema
|
|
properties:
|
|
parent_link:
|
|
description: '参数: parent_link'
|
|
type: string
|
|
resource:
|
|
description: '参数: resource'
|
|
type: string
|
|
required:
|
|
- resource
|
|
- parent_link
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: resource_manager 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-set_position:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
command: null
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand set_position 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand set_position 的参数schema
|
|
properties:
|
|
command:
|
|
description: '参数: command'
|
|
type: string
|
|
required:
|
|
- command
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: set_position 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-set_status:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
command: null
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand set_status 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand set_status 的参数schema
|
|
properties:
|
|
command:
|
|
description: '参数: command'
|
|
type: string
|
|
required:
|
|
- command
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: set_status 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-wait_for_resource_action:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand wait_for_resource_action 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand wait_for_resource_action 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: wait_for_resource_action 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
pick_and_place:
|
|
feedback: {}
|
|
goal:
|
|
command: command
|
|
goal_default:
|
|
command: ''
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: ROS Action SendCmd 的 JSON Schema
|
|
properties:
|
|
feedback:
|
|
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
|
properties:
|
|
status:
|
|
type: string
|
|
required:
|
|
- status
|
|
title: SendCmd_Feedback
|
|
type: object
|
|
goal:
|
|
description: Action 目标 - 从客户端发送到服务器
|
|
properties:
|
|
command:
|
|
type: string
|
|
required:
|
|
- command
|
|
title: SendCmd_Goal
|
|
type: object
|
|
result:
|
|
description: Action 结果 - 完成后从服务器发送到客户端
|
|
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: ROS Action SendCmd 的 JSON Schema
|
|
properties:
|
|
feedback:
|
|
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
|
properties:
|
|
status:
|
|
type: string
|
|
required:
|
|
- status
|
|
title: SendCmd_Feedback
|
|
type: object
|
|
goal:
|
|
description: Action 目标 - 从客户端发送到服务器
|
|
properties:
|
|
command:
|
|
type: string
|
|
required:
|
|
- command
|
|
title: SendCmd_Goal
|
|
type: object
|
|
result:
|
|
description: Action 结果 - 完成后从服务器发送到客户端
|
|
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: ROS Action SendCmd 的 JSON Schema
|
|
properties:
|
|
feedback:
|
|
description: Action 反馈 - 执行过程中从服务器发送到客户端
|
|
properties:
|
|
status:
|
|
type: string
|
|
required:
|
|
- status
|
|
title: SendCmd_Feedback
|
|
type: object
|
|
goal:
|
|
description: Action 目标 - 从客户端发送到服务器
|
|
properties:
|
|
command:
|
|
type: string
|
|
required:
|
|
- command
|
|
title: SendCmd_Goal
|
|
type: object
|
|
result:
|
|
description: Action 结果 - 完成后从服务器发送到客户端
|
|
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
|
|
description: Toyo XYZ
|
|
handles: []
|
|
icon: ''
|
|
init_param_schema:
|
|
description: UniLabJsonCommand __init__ 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand __init__ 的参数schema
|
|
properties:
|
|
device_config:
|
|
description: '参数: device_config'
|
|
type: string
|
|
joint_poses:
|
|
description: '参数: joint_poses'
|
|
type: string
|
|
moveit_type:
|
|
description: '参数: moveit_type'
|
|
type: string
|
|
rotation:
|
|
description: '参数: rotation'
|
|
type: string
|
|
required:
|
|
- moveit_type
|
|
- joint_poses
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: __init__ 命令参数
|
|
type: object
|
|
model:
|
|
mesh: toyo_xyz
|
|
type: device
|