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Uni-Lab-OS/unilabos/registry/devices/moveit_config.yaml

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moveit.arm_slider:
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
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: 0.0.1
moveit.toyo_xyz:
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
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: 0.0.1
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