mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
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200 lines
4.8 KiB
YAML
200 lines
4.8 KiB
YAML
robotic_arm.UR:
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class:
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action_value_mappings:
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auto-arm_init:
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feedback: {}
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goal: {}
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goal_default: {}
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handles: []
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result: {}
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schema:
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description: arm_init的参数schema
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properties:
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feedback: {}
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goal:
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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: arm_init参数
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type: object
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type: UniLabJsonCommand
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auto-load_pose_data:
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feedback: {}
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goal: {}
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goal_default:
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data: null
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handles: []
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result: {}
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schema:
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description: load_pose_data的参数schema
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properties:
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feedback: {}
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goal:
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properties:
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data:
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type: string
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required:
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- data
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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: load_pose_data参数
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type: object
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type: UniLabJsonCommand
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auto-load_pose_file:
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feedback: {}
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goal: {}
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goal_default:
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file: null
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handles: []
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result: {}
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schema:
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description: load_pose_file的参数schema
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properties:
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feedback: {}
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goal:
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properties:
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file:
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type: string
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required:
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- file
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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: load_pose_file参数
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type: object
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type: UniLabJsonCommand
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auto-move_pos_task:
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feedback: {}
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goal: {}
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goal_default:
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command: null
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handles: []
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result: {}
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schema:
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description: move_pos_task的参数schema
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properties:
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feedback: {}
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goal:
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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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type: object
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result: {}
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required:
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- goal
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title: move_pos_task参数
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type: object
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type: UniLabJsonCommand
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auto-reload_pose:
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feedback: {}
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goal: {}
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goal_default: {}
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handles: []
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result: {}
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schema:
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description: reload_pose的参数schema
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properties:
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feedback: {}
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goal:
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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: reload_pose参数
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type: object
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type: UniLabJsonCommand
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move_pos_task:
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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.agv.ur_arm_task:UrArmTask
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status_types:
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arm_pose: list
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arm_status: str
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gripper_pose: float
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gripper_status: str
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type: python
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description: UR robotic arm
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handles: []
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icon: ''
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init_param_schema:
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config:
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properties:
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host:
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type: string
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retry:
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default: 30
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type: string
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required:
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- host
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type: object
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data:
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properties:
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arm_pose:
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type: array
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arm_status:
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type: string
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gripper_pose:
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type: number
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gripper_status:
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type: string
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required:
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- arm_pose
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- gripper_pose
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- arm_status
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- gripper_status
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type: object
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