mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2026-02-06 15:05:13 +00:00
627 lines
15 KiB
YAML
627 lines
15 KiB
YAML
gripper.misumi_rz:
|
|
class:
|
|
action_value_mappings:
|
|
auto-data_loop:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: data_loop的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: data_loop参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-data_reader:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: data_reader的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: data_reader参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-gripper_move:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
force: null
|
|
pos: null
|
|
speed: null
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: gripper_move的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties:
|
|
force:
|
|
type: string
|
|
pos:
|
|
type: string
|
|
speed:
|
|
type: string
|
|
required:
|
|
- pos
|
|
- speed
|
|
- force
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: gripper_move参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-init_gripper:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: init_gripper的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: init_gripper参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-modbus_crc:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
data: null
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: modbus_crc的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties:
|
|
data:
|
|
type: string
|
|
required:
|
|
- data
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: modbus_crc参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-move_and_rotate:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
grasp_F: null
|
|
grasp_pos: null
|
|
grasp_v: null
|
|
spin_F: null
|
|
spin_pos: null
|
|
spin_v: null
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: move_and_rotate的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties:
|
|
grasp_F:
|
|
type: string
|
|
grasp_pos:
|
|
type: string
|
|
grasp_v:
|
|
type: string
|
|
spin_F:
|
|
type: string
|
|
spin_pos:
|
|
type: string
|
|
spin_v:
|
|
type: string
|
|
required:
|
|
- spin_pos
|
|
- grasp_pos
|
|
- spin_v
|
|
- grasp_v
|
|
- spin_F
|
|
- grasp_F
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: move_and_rotate参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-node_gripper_move:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
cmd: null
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: node_gripper_move的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties:
|
|
cmd:
|
|
type: string
|
|
required:
|
|
- cmd
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: node_gripper_move参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-node_rotate_move:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
cmd: null
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: node_rotate_move的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties:
|
|
cmd:
|
|
type: string
|
|
required:
|
|
- cmd
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: node_rotate_move参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-read_address:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
address: null
|
|
data_len: null
|
|
id: null
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: read_address的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties:
|
|
address:
|
|
type: string
|
|
data_len:
|
|
type: string
|
|
id:
|
|
type: string
|
|
required:
|
|
- id
|
|
- address
|
|
- data_len
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: read_address参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-rotate_move_abs:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
force: null
|
|
pos: null
|
|
speed: null
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: rotate_move_abs的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties:
|
|
force:
|
|
type: string
|
|
pos:
|
|
type: string
|
|
speed:
|
|
type: string
|
|
required:
|
|
- pos
|
|
- speed
|
|
- force
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: rotate_move_abs参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-send_cmd:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
address: null
|
|
data: null
|
|
fun: null
|
|
id: null
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: send_cmd的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties:
|
|
address:
|
|
type: string
|
|
data:
|
|
type: string
|
|
fun:
|
|
type: string
|
|
id:
|
|
type: string
|
|
required:
|
|
- id
|
|
- fun
|
|
- address
|
|
- data
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: send_cmd参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-wait_for_gripper:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: wait_for_gripper的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: wait_for_gripper参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-wait_for_gripper_init:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: wait_for_gripper_init的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: wait_for_gripper_init参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-wait_for_rotate:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: wait_for_rotate的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: wait_for_rotate参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
execute_command_from_outer:
|
|
feedback: {}
|
|
goal:
|
|
command: command
|
|
goal_default:
|
|
command: ''
|
|
handles: []
|
|
result:
|
|
success: success
|
|
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.motor.Grasp:EleGripper
|
|
status_types:
|
|
status: str
|
|
type: python
|
|
description: Misumi RZ gripper
|
|
handles: []
|
|
icon: ''
|
|
init_param_schema:
|
|
config:
|
|
properties:
|
|
baudrate:
|
|
default: 115200
|
|
type: string
|
|
id:
|
|
default: 9
|
|
type: string
|
|
port:
|
|
type: string
|
|
pos_error:
|
|
default: -11
|
|
type: string
|
|
required:
|
|
- port
|
|
type: object
|
|
data:
|
|
properties:
|
|
status:
|
|
type: string
|
|
required:
|
|
- status
|
|
type: object
|
|
gripper.mock:
|
|
class:
|
|
action_value_mappings:
|
|
auto-edit_id:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
params: '{}'
|
|
resource:
|
|
Gripper1: {}
|
|
wf_name: gripper_run
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: edit_id的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties:
|
|
params:
|
|
default: '{}'
|
|
type: string
|
|
resource:
|
|
default:
|
|
Gripper1: {}
|
|
type: object
|
|
wf_name:
|
|
default: gripper_run
|
|
type: string
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: edit_id参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-push_to:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
position: null
|
|
torque: null
|
|
velocity: 0.0
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: push_to的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
properties:
|
|
position:
|
|
type: number
|
|
torque:
|
|
type: number
|
|
velocity:
|
|
default: 0.0
|
|
type: number
|
|
required:
|
|
- position
|
|
- torque
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: push_to参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
push_to:
|
|
feedback:
|
|
effort: torque
|
|
position: position
|
|
goal:
|
|
command.max_effort: torque
|
|
command.position: position
|
|
goal_default:
|
|
command:
|
|
max_effort: 0.0
|
|
position: 0.0
|
|
handles: []
|
|
result:
|
|
effort: torque
|
|
position: position
|
|
schema:
|
|
description: ROS Action GripperCommand 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:
|
|
effort:
|
|
type: number
|
|
position:
|
|
type: number
|
|
reached_goal:
|
|
type: boolean
|
|
stalled:
|
|
type: boolean
|
|
required:
|
|
- position
|
|
- effort
|
|
- stalled
|
|
- reached_goal
|
|
title: GripperCommand_Feedback
|
|
type: object
|
|
goal:
|
|
description: Action 目标 - 从客户端发送到服务器
|
|
properties:
|
|
command:
|
|
properties:
|
|
max_effort:
|
|
type: number
|
|
position:
|
|
type: number
|
|
required:
|
|
- position
|
|
- max_effort
|
|
title: GripperCommand
|
|
type: object
|
|
required:
|
|
- command
|
|
title: GripperCommand_Goal
|
|
type: object
|
|
result:
|
|
description: Action 结果 - 完成后从服务器发送到客户端
|
|
properties:
|
|
effort:
|
|
type: number
|
|
position:
|
|
type: number
|
|
reached_goal:
|
|
type: boolean
|
|
stalled:
|
|
type: boolean
|
|
required:
|
|
- position
|
|
- effort
|
|
- stalled
|
|
- reached_goal
|
|
title: GripperCommand_Result
|
|
type: object
|
|
required:
|
|
- goal
|
|
title: GripperCommand
|
|
type: object
|
|
type: GripperCommand
|
|
module: unilabos.devices.gripper.mock:MockGripper
|
|
status_types:
|
|
position: float
|
|
status: str
|
|
torque: float
|
|
velocity: float
|
|
type: python
|
|
description: Mock gripper
|
|
handles: []
|
|
icon: ''
|
|
init_param_schema:
|
|
config:
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
data:
|
|
properties:
|
|
position:
|
|
type: number
|
|
status:
|
|
type: string
|
|
torque:
|
|
type: number
|
|
velocity:
|
|
type: number
|
|
required:
|
|
- position
|
|
- velocity
|
|
- torque
|
|
- status
|
|
type: object
|