mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
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175 lines
4.7 KiB
YAML
175 lines
4.7 KiB
YAML
gripper.misumi_rz:
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class:
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action_value_mappings:
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execute_command_from_outer:
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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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success: success
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schema:
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description: ROS Action SendCmd 的 JSON Schema
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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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module: unilabos.devices.motor.Grasp:EleGripper
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status_types:
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status: String
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type: python
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description: Misumi RZ gripper
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handles: []
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icon: ''
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init_param_schema:
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description: UniLabJsonCommand __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 __init__ 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: __init__ 命令参数
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type: object
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gripper.mock:
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class:
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action_value_mappings:
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push_to:
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feedback:
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effort: torque
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position: position
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goal:
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command.max_effort: torque
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command.position: position
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goal_default:
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command:
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max_effort: 0.0
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position: 0.0
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handles: []
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result:
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effort: torque
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position: position
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schema:
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description: ROS Action GripperCommand 的 JSON Schema
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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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effort:
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type: number
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position:
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type: number
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reached_goal:
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type: boolean
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stalled:
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type: boolean
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required:
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- position
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- effort
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- stalled
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- reached_goal
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title: GripperCommand_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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properties:
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max_effort:
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type: number
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position:
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type: number
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required:
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- position
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- max_effort
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title: GripperCommand
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type: object
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required:
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- command
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title: GripperCommand_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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effort:
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type: number
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position:
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type: number
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reached_goal:
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type: boolean
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stalled:
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type: boolean
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required:
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- position
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- effort
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- stalled
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- reached_goal
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title: GripperCommand_Result
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type: object
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required:
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- goal
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title: GripperCommand
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type: object
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type: GripperCommand
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module: unilabos.devices.gripper.mock:MockGripper
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status_types:
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position: Float64
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status: String
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torque: Float64
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type: python
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description: Mock gripper
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handles: []
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icon: ''
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init_param_schema:
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description: UniLabJsonCommand __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 __init__ 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: __init__ 命令参数
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type: object
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