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

robotic_arm.UR:
  class:
    action_value_mappings:
      auto-arm_init:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand arm_init 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand arm_init 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: arm_init 命令参数
          type: object
        type: UniLabJsonCommand
      auto-load_pose_data:
        feedback: {}
        goal: {}
        goal_default:
          data: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand load_pose_data 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand load_pose_data 的参数schema
              properties:
                data:
                  description: '参数: data'
                  type: string
              required:
              - data
              type: object
            result: {}
          required:
          - goal
          title: load_pose_data 命令参数
          type: object
        type: UniLabJsonCommand
      auto-load_pose_file:
        feedback: {}
        goal: {}
        goal_default:
          file: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand load_pose_file 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand load_pose_file 的参数schema
              properties:
                file:
                  description: '参数: file'
                  type: string
              required:
              - file
              type: object
            result: {}
          required:
          - goal
          title: load_pose_file 命令参数
          type: object
        type: UniLabJsonCommand
      auto-move_pos_task:
        feedback: {}
        goal: {}
        goal_default:
          command: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand move_pos_task 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand move_pos_task 的参数schema
              properties:
                command:
                  description: '参数: command'
                  type: string
              required:
              - command
              type: object
            result: {}
          required:
          - goal
          title: move_pos_task 命令参数
          type: object
        type: UniLabJsonCommand
      auto-reload_pose:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand reload_pose 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand reload_pose 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: reload_pose 命令参数
          type: object
        type: UniLabJsonCommand
      move_pos_task:
        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.agv.ur_arm_task:UrArmTask
    status_types:
      arm_pose: list
      arm_status: str
      gripper_pose: float
      gripper_status: str
    type: python
  description: UR robotic arm
  handles: []
  icon: ''
  init_param_schema:
    description: UniLabJsonCommand __init__ 的参数schema
    properties:
      feedback: {}
      goal:
        description: UniLabJsonCommand __init__ 的参数schema
        properties:
          host:
            description: '参数: host'
            type: string
          retry:
            default: 30
            description: '参数: retry'
            type: integer
        required:
        - host
        type: object
      result: {}
    required:
    - goal
    title: __init__ 命令参数
    type: object