robotic_arm.SCARA_with_slider.virtual:
  category:
  - robot_arm
  class:
    action_value_mappings:
      auto-check_tf_update_actions:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: check_tf_update_actions的参数schema
          properties:
            feedback: {}
            goal:
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: check_tf_update_actions参数
          type: object
        type: UniLabJsonCommand
      auto-moveit_joint_task:
        feedback: {}
        goal: {}
        goal_default:
          joint_names: null
          joint_positions: null
          move_group: null
          retry: 10
          speed: 1
        handles: []
        result: {}
        schema:
          description: moveit_joint_task的参数schema
          properties:
            feedback: {}
            goal:
              properties:
                joint_names:
                  type: string
                joint_positions:
                  type: string
                move_group:
                  type: string
                retry:
                  default: 10
                  type: string
                speed:
                  default: 1
                  type: string
              required:
              - move_group
              - joint_positions
              type: object
            result: {}
          required:
          - goal
          title: moveit_joint_task参数
          type: object
        type: UniLabJsonCommand
      auto-moveit_task:
        feedback: {}
        goal: {}
        goal_default:
          cartesian: false
          move_group: null
          offsets:
          - 0
          - 0
          - 0
          position: null
          quaternion: null
          retry: 10
          speed: 1
          target_link: null
        handles: []
        result: {}
        schema:
          description: moveit_task的参数schema
          properties:
            feedback: {}
            goal:
              properties:
                cartesian:
                  default: false
                  type: string
                move_group:
                  type: string
                offsets:
                  default:
                  - 0
                  - 0
                  - 0
                  type: string
                position:
                  type: string
                quaternion:
                  type: string
                retry:
                  default: 10
                  type: string
                speed:
                  default: 1
                  type: string
                target_link:
                  type: string
              required:
              - move_group
              - position
              - quaternion
              type: object
            result: {}
          required:
          - goal
          title: moveit_task参数
          type: object
        type: UniLabJsonCommand
      auto-post_init:
        feedback: {}
        goal: {}
        goal_default:
          ros_node: null
        handles: []
        result: {}
        schema:
          description: post_init的参数schema
          properties:
            feedback: {}
            goal:
              properties:
                ros_node:
                  type: string
              required:
              - ros_node
              type: object
            result: {}
          required:
          - goal
          title: post_init参数
          type: object
        type: UniLabJsonCommand
      auto-resource_manager:
        feedback: {}
        goal: {}
        goal_default:
          parent_link: null
          resource: null
        handles: []
        result: {}
        schema:
          description: resource_manager的参数schema
          properties:
            feedback: {}
            goal:
              properties:
                parent_link:
                  type: string
                resource:
                  type: string
              required:
              - resource
              - parent_link
              type: object
            result: {}
          required:
          - goal
          title: resource_manager参数
          type: object
        type: UniLabJsonCommand
      auto-wait_for_resource_action:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: wait_for_resource_action的参数schema
          properties:
            feedback: {}
            goal:
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: wait_for_resource_action参数
          type: object
        type: UniLabJsonCommand
      pick_and_place:
        feedback: {}
        goal:
          command: command
        goal_default:
          command: ''
        handles: []
        result: {}
        schema:
          description: ''
          properties:
            feedback:
              properties:
                status:
                  type: string
              required:
              - status
              title: SendCmd_Feedback
              type: object
            goal:
              properties:
                command:
                  type: string
              required:
              - command
              title: SendCmd_Goal
              type: object
            result:
              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
      set_position:
        feedback: {}
        goal:
          command: command
        goal_default:
          command: ''
        handles: []
        result: {}
        schema:
          description: ''
          properties:
            feedback:
              properties:
                status:
                  type: string
              required:
              - status
              title: SendCmd_Feedback
              type: object
            goal:
              properties:
                command:
                  type: string
              required:
              - command
              title: SendCmd_Goal
              type: object
            result:
              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
      set_status:
        feedback: {}
        goal:
          command: command
        goal_default:
          command: ''
        handles: []
        result: {}
        schema:
          description: ''
          properties:
            feedback:
              properties:
                status:
                  type: string
              required:
              - status
              title: SendCmd_Feedback
              type: object
            goal:
              properties:
                command:
                  type: string
              required:
              - command
              title: SendCmd_Goal
              type: object
            result:
              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.ros_dev.moveit_interface:MoveitInterface
    status_types: {}
    type: python
  config_info: []
  description: 机械臂与滑块运动系统，基于MoveIt2运动规划框架的多自由度机械臂控制设备。该系统集成机械臂和线性滑块，通过ROS2和MoveIt2实现精确的轨迹规划和协调运动控制。支持笛卡尔空间和关节空间的运动规划、碰撞检测、逆运动学求解等功能。适用于复杂的pick-and-place操作、精密装配、多工位协作等需要高精度多轴协调运动的实验室自动化应用。
  handles: []
  icon: ''
  init_param_schema:
    config:
      properties:
        device_config:
          type: string
        joint_poses:
          type: string
        moveit_type:
          type: string
        rotation:
          type: string
      required:
      - moveit_type
      - joint_poses
      type: object
    data:
      properties: {}
      required: []
      type: object
  model:
    mesh: arm_slider
    type: device
  version: 1.0.0
robotic_arm.UR:
  category:
  - robot_arm
  class:
    action_value_mappings:
      auto-arm_init:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: 机械臂初始化函数。执行UR机械臂的完整初始化流程，包括上电、释放制动器、解除保护停止状态等。该函数确保机械臂从安全停止状态恢复到可操作状态，是机械臂使用前的必要步骤。初始化完成后机械臂将处于就绪状态，可以接收后续的运动指令。
          properties:
            feedback: {}
            goal:
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: arm_init参数
          type: object
        type: UniLabJsonCommand
      auto-load_pose_data:
        feedback: {}
        goal: {}
        goal_default:
          data: null
        handles: []
        result: {}
        schema:
          description: 从JSON字符串加载位置数据函数。接收包含机械臂位置信息的JSON格式字符串，解析并存储位置数据供后续运动任务使用。位置数据通常包含多个预定义的工作位置坐标，用于实现精确的多点运动控制。适用于动态配置机械臂工作位置的场景。
          properties:
            feedback: {}
            goal:
              properties:
                data:
                  type: string
              required:
              - data
              type: object
            result: {}
          required:
          - goal
          title: load_pose_data参数
          type: object
        type: UniLabJsonCommand
      auto-load_pose_file:
        feedback: {}
        goal: {}
        goal_default:
          file: null
        handles: []
        result: {}
        schema:
          description: 从文件加载位置数据函数。读取指定的JSON文件并加载其中的机械臂位置信息。该函数支持从外部配置文件中获取预设的工作位置，便于位置数据的管理和重用。适用于需要从固定配置文件中读取复杂位置序列的应用场景。
          properties:
            feedback: {}
            goal:
              properties:
                file:
                  type: string
              required:
              - file
              type: object
            result: {}
          required:
          - goal
          title: load_pose_file参数
          type: object
        type: UniLabJsonCommand
      auto-reload_pose:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: 重新加载位置数据函数。重新读取并解析之前设置的位置文件，更新内存中的位置数据。该函数用于在位置文件被修改后刷新机械臂的位置配置，无需重新初始化整个系统。适用于动态更新机械臂工作位置的场景。
          properties:
            feedback: {}
            goal:
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: reload_pose参数
          type: object
        type: UniLabJsonCommand
      move_pos_task:
        feedback: {}
        goal:
          command: command
        goal_default:
          command: ''
        handles: []
        result:
          success: success
        schema:
          description: ''
          properties:
            feedback:
              properties:
                status:
                  type: string
              required:
              - status
              title: SendCmd_Feedback
              type: object
            goal:
              properties:
                command:
                  type: string
              required:
              - command
              title: SendCmd_Goal
              type: object
            result:
              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
  config_info: []
  description: Universal Robots机械臂设备，用于实验室精密操作和自动化作业。该设备集成了UR机械臂本体、Robotiq夹爪和RTDE通信接口，支持六自由度精确运动控制和力觉反馈。具备实时位置监控、状态反馈、轨迹规划等功能，可执行复杂的多点位运动任务。适用于样品抓取、精密装配、实验器具操作等需要高精度和高重复性的实验室自动化场景。
  handles: []
  icon: ''
  init_param_schema:
    config:
      properties:
        host:
          type: string
        retry:
          default: 30
          type: string
      required:
      - host
      type: object
    data:
      properties:
        arm_pose:
          type: array
        arm_status:
          type: string
        gripper_pose:
          type: number
        gripper_status:
          type: string
      required:
      - arm_pose
      - gripper_pose
      - arm_status
      - gripper_status
      type: object
  version: 1.0.0
robotic_arm.elite:
  category:
  - robot_arm
  class:
    action_value_mappings:
      auto-close:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: ''
          properties:
            feedback: {}
            goal:
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: close参数
          type: object
        type: UniLabJsonCommand
      auto-modbus_close:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: ''
          properties:
            feedback: {}
            goal:
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: modbus_close参数
          type: object
        type: UniLabJsonCommand
      auto-modbus_read_holding_registers:
        feedback: {}
        goal: {}
        goal_default:
          quantity: null
          start_addr: null
          unit_id: null
        handles: []
        result: {}
        schema:
          description: ''
          properties:
            feedback: {}
            goal:
              properties:
                quantity:
                  type: string
                start_addr:
                  type: string
                unit_id:
                  type: string
              required:
              - unit_id
              - start_addr
              - quantity
              type: object
            result: {}
          required:
          - goal
          title: modbus_read_holding_registers参数
          type: object
        type: UniLabJsonCommand
      auto-modbus_task:
        feedback: {}
        goal: {}
        goal_default:
          job_id: null
        handles: []
        result: {}
        schema:
          description: ''
          properties:
            feedback: {}
            goal:
              properties:
                job_id:
                  type: string
              required:
              - job_id
              type: object
            result: {}
          required:
          - goal
          title: modbus_task参数
          type: object
        type: UniLabJsonCommand
      auto-modbus_write_single_register:
        feedback: {}
        goal: {}
        goal_default:
          register_addr: null
          unit_id: null
          value: null
        handles: []
        result: {}
        schema:
          description: ''
          properties:
            feedback: {}
            goal:
              properties:
                register_addr:
                  type: string
                unit_id:
                  type: string
                value:
                  type: string
              required:
              - unit_id
              - register_addr
              - value
              type: object
            result: {}
          required:
          - goal
          title: modbus_write_single_register参数
          type: object
        type: UniLabJsonCommand
      auto-parse_success_response:
        feedback: {}
        goal: {}
        goal_default:
          response: null
        handles: []
        result: {}
        schema:
          description: ''
          properties:
            feedback: {}
            goal:
              properties:
                response:
                  type: string
              required:
              - response
              type: object
            result: {}
          required:
          - goal
          title: parse_success_response参数
          type: object
        type: UniLabJsonCommand
      auto-send_command:
        feedback: {}
        goal: {}
        goal_default:
          command: null
        handles: []
        result: {}
        schema:
          description: ''
          properties:
            feedback: {}
            goal:
              properties:
                command:
                  type: string
              required:
              - command
              type: object
            result: {}
          required:
          - goal
          title: send_command参数
          type: object
        type: UniLabJsonCommand
      modbus_task_cmd:
        feedback: {}
        goal:
          command: command
        goal_default:
          command: ''
        handles: []
        result: {}
        schema:
          description: ''
          properties:
            feedback:
              properties:
                status:
                  type: string
              required:
              - status
              title: SendCmd_Feedback
              type: object
            goal:
              properties:
                command:
                  type: string
              required:
              - command
              title: SendCmd_Goal
              type: object
            result:
              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.arm.elite_robot:EliteRobot
    status_types:
      actual_joint_positions: String
      arm_pose: list
    type: python
  config_info: []
  description: Elite robot arm
  handles: []
  icon: ''
  init_param_schema:
    config:
      properties:
        device_id:
          type: string
        host:
          type: string
      required:
      - device_id
      - host
      type: object
    data:
      properties:
        actual_joint_positions:
          type: string
        arm_pose:
          type: array
      required:
      - arm_pose
      - actual_joint_positions
      type: object
  model:
    mesh: elite_robot
    type: device
  version: 1.0.0
