mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2026-02-05 14:05:12 +00:00
356 lines
10 KiB
YAML
356 lines
10 KiB
YAML
lh_joint_publisher:
|
|
class:
|
|
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-find_resource_parent:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
resource_id: null
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand find_resource_parent 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand find_resource_parent 的参数schema
|
|
properties:
|
|
resource_id:
|
|
description: '参数: resource_id'
|
|
type: string
|
|
required:
|
|
- resource_id
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: find_resource_parent 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-inverse_kinematics:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
parent_id: null
|
|
x: null
|
|
x_joint: null
|
|
y: null
|
|
y_joint: null
|
|
z: null
|
|
z_joint: null
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand inverse_kinematics 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand inverse_kinematics 的参数schema
|
|
properties:
|
|
parent_id:
|
|
description: '参数: parent_id'
|
|
type: string
|
|
x:
|
|
description: '参数: x'
|
|
type: string
|
|
x_joint:
|
|
description: '参数: x_joint'
|
|
type: object
|
|
y:
|
|
description: '参数: y'
|
|
type: string
|
|
y_joint:
|
|
description: '参数: y_joint'
|
|
type: object
|
|
z:
|
|
description: '参数: z'
|
|
type: string
|
|
z_joint:
|
|
description: '参数: z_joint'
|
|
type: object
|
|
required:
|
|
- x
|
|
- y
|
|
- z
|
|
- parent_id
|
|
- x_joint
|
|
- y_joint
|
|
- z_joint
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: inverse_kinematics 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-lh_joint_action_callback:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
goal_handle: null
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand lh_joint_action_callback 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand lh_joint_action_callback 的参数schema
|
|
properties:
|
|
goal_handle:
|
|
description: '参数: goal_handle'
|
|
type: string
|
|
required:
|
|
- goal_handle
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: lh_joint_action_callback 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-lh_joint_pub_callback:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default: {}
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand lh_joint_pub_callback 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand lh_joint_pub_callback 的参数schema
|
|
properties: {}
|
|
required: []
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: lh_joint_pub_callback 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-move_joints:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
option: null
|
|
resource_names: null
|
|
speed: 0.1
|
|
x: null
|
|
x_joint: null
|
|
y: null
|
|
y_joint: null
|
|
z: null
|
|
z_joint: null
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand move_joints 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand move_joints 的参数schema
|
|
properties:
|
|
option:
|
|
description: '参数: option'
|
|
type: string
|
|
resource_names:
|
|
description: '参数: resource_names'
|
|
type: string
|
|
speed:
|
|
default: 0.1
|
|
description: '参数: speed'
|
|
type: string
|
|
x:
|
|
description: '参数: x'
|
|
type: string
|
|
x_joint:
|
|
description: '参数: x_joint'
|
|
type: string
|
|
y:
|
|
description: '参数: y'
|
|
type: string
|
|
y_joint:
|
|
description: '参数: y_joint'
|
|
type: string
|
|
z:
|
|
description: '参数: z'
|
|
type: string
|
|
z_joint:
|
|
description: '参数: z_joint'
|
|
type: string
|
|
required:
|
|
- resource_names
|
|
- x
|
|
- y
|
|
- z
|
|
- option
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: move_joints 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-move_to:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
joint_positions: null
|
|
parent_id: null
|
|
speed: null
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand move_to 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand move_to 的参数schema
|
|
properties:
|
|
joint_positions:
|
|
description: '参数: joint_positions'
|
|
type: string
|
|
parent_id:
|
|
description: '参数: parent_id'
|
|
type: string
|
|
speed:
|
|
description: '参数: speed'
|
|
type: string
|
|
required:
|
|
- joint_positions
|
|
- speed
|
|
- parent_id
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: move_to 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-resource_move:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
channels: null
|
|
link_name: null
|
|
resource_id: null
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand resource_move 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand resource_move 的参数schema
|
|
properties:
|
|
channels:
|
|
description: '参数: channels'
|
|
type: array
|
|
link_name:
|
|
description: '参数: link_name'
|
|
type: string
|
|
resource_id:
|
|
description: '参数: resource_id'
|
|
type: string
|
|
required:
|
|
- resource_id
|
|
- link_name
|
|
- channels
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: resource_move 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
auto-send_resource_action:
|
|
feedback: {}
|
|
goal: {}
|
|
goal_default:
|
|
link_name: null
|
|
resource_id_list: null
|
|
handles: []
|
|
result: {}
|
|
schema:
|
|
description: UniLabJsonCommand send_resource_action 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand send_resource_action 的参数schema
|
|
properties:
|
|
link_name:
|
|
description: '参数: link_name'
|
|
type: string
|
|
resource_id_list:
|
|
description: '参数: resource_id_list'
|
|
type: array
|
|
required:
|
|
- resource_id_list
|
|
- link_name
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: send_resource_action 命令参数
|
|
type: object
|
|
type: UniLabJsonCommand
|
|
module: unilabos.devices.ros_dev.liquid_handler_joint_publisher:LiquidHandlerJointPublisher
|
|
status_types: {}
|
|
type: ros2
|
|
description: ''
|
|
handles: []
|
|
icon: ''
|
|
init_param_schema:
|
|
description: UniLabJsonCommand __init__ 的参数schema
|
|
properties:
|
|
feedback: {}
|
|
goal:
|
|
description: UniLabJsonCommand __init__ 的参数schema
|
|
properties:
|
|
device_id:
|
|
default: lh_joint_publisher
|
|
description: '参数: device_id'
|
|
type: string
|
|
rate:
|
|
default: 50
|
|
description: '参数: rate'
|
|
type: integer
|
|
resource_tracker:
|
|
description: '参数: resource_tracker'
|
|
type: string
|
|
resources_config:
|
|
description: '参数: resources_config'
|
|
type: array
|
|
required:
|
|
- resources_config
|
|
- resource_tracker
|
|
type: object
|
|
result: {}
|
|
required:
|
|
- goal
|
|
title: __init__ 命令参数
|
|
type: object
|