mirror of
https://github.com/deepmodeling/Uni-Lab-OS
synced 2026-03-24 04:10:33 +00:00
c001f6a151
fast registry load minor fix on skill & registry stripe ros2 schema desc add create-device-skill new registry system backwards to yaml remove not exist resource new registry sys exp. support with add device add ai conventions correct raise create resource error ret info fix revert ret info fix fix prcxi check add create_resource schema re signal host ready event add websocket connection timeout and improve reconnection logic add open_timeout parameter to websocket connection add TimeoutError and InvalidStatus exception handling implement exponential backoff for reconnection attempts simplify reconnection logic flow add gzip change pose extra to any add isFlapY
620 lines
18 KiB
YAML
620 lines
18 KiB
YAML
gripper.misumi_rz:
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category:
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- robot_gripper
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class:
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action_value_mappings:
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auto-data_loop:
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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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placeholder_keys: {}
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result: {}
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schema:
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description: data_loop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: data_loop参数
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type: object
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type: UniLabJsonCommand
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auto-data_reader:
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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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placeholder_keys: {}
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result: {}
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schema:
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description: data_reader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: data_reader参数
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type: object
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type: UniLabJsonCommand
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auto-gripper_move:
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feedback: {}
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goal: {}
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goal_default:
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force: null
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pos: null
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speed: null
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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: 夹爪抓取运动控制函数。控制夹爪的开合运动，支持位置、速度、力矩的精确设定。位置参数控制夹爪开合程度，速度参数控制运动快慢，力矩参数控制夹持强度。该函数提供安全的力控制，避免损坏被抓取物体，适用于各种形状和材质的物品抓取。
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properties:
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feedback: {}
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goal:
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properties:
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force:
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type: string
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pos:
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type: string
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speed:
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type: string
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required:
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- pos
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- speed
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- force
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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: gripper_move参数
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type: object
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type: UniLabJsonCommand
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auto-init_gripper:
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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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placeholder_keys: {}
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result: {}
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schema:
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description: 夹爪初始化函数。执行Misumi RZ夹爪的完整初始化流程，包括Modbus通信建立、电机参数配置、传感器校准等。该函数确保夹爪系统从安全状态恢复到可操作状态，是夹爪使用前的必要步骤。初始化完成后夹爪将处于就绪状态，可接收抓取和旋转指令。
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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: init_gripper参数
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type: object
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type: UniLabJsonCommand
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auto-modbus_crc:
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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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placeholder_keys: {}
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result: {}
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schema:
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description: modbus_crc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: object
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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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type: object
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required:
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- goal
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title: modbus_crc参数
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type: object
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type: UniLabJsonCommand
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auto-move_and_rotate:
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feedback: {}
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goal: {}
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goal_default:
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grasp_F: null
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grasp_pos: null
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grasp_v: null
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spin_F: null
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spin_pos: null
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spin_v: null
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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: move_and_rotate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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grasp_F:
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type: string
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grasp_pos:
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type: string
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grasp_v:
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type: string
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spin_F:
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type: string
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spin_pos:
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type: string
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spin_v:
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type: string
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required:
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- spin_pos
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- grasp_pos
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- spin_v
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- grasp_v
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- spin_F
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- grasp_F
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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_and_rotate参数
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type: object
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type: UniLabJsonCommand
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auto-node_gripper_move:
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feedback: {}
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goal: {}
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goal_default:
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cmd: null
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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: 节点夹爪移动任务函数。接收逗号分隔的命令字符串，解析位置、速度、力矩参数并执行夹爪抓取动作。该函数等待运动完成并返回执行结果，提供同步的运动控制接口。适用于需要可靠完成确认的精密抓取操作。
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properties:
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feedback: {}
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goal:
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properties:
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cmd:
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type: string
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required:
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- cmd
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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: node_gripper_move参数
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type: object
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type: UniLabJsonCommand
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auto-node_rotate_move:
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feedback: {}
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goal: {}
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goal_default:
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cmd: null
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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: 节点旋转移动任务函数。接收逗号分隔的命令字符串，解析角度、速度、力矩参数并执行夹爪旋转动作。该函数等待旋转完成并返回执行结果，提供同步的旋转控制接口。适用于需要精确角度定位和完成确认的旋转操作。
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properties:
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feedback: {}
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goal:
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properties:
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cmd:
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type: string
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required:
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- cmd
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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: node_rotate_move参数
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type: object
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type: UniLabJsonCommand
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auto-read_address:
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feedback: {}
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goal: {}
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goal_default:
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address: null
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data_len: null
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id: null
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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: read_address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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address:
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type: string
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data_len:
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type: string
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id:
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type: string
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required:
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- id
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- address
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- data_len
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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: read_address参数
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type: object
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type: UniLabJsonCommand
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auto-rotate_move_abs:
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feedback: {}
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goal: {}
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goal_default:
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force: null
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pos: null
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speed: null
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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: 夹爪绝对位置旋转控制函数。控制夹爪主轴旋转到指定的绝对角度位置，支持360度连续旋转。位置参数指定目标角度，速度参数控制旋转速率，力矩参数设定旋转阻力限制。该函数提供高精度的角度定位，适用于需要精确方向控制的操作场景。
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properties:
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feedback: {}
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goal:
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properties:
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force:
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type: string
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pos:
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type: string
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speed:
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type: string
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required:
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- pos
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- speed
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- force
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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: rotate_move_abs参数
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type: object
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type: UniLabJsonCommand
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auto-send_cmd:
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feedback: {}
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goal: {}
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goal_default:
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address: null
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data: null
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fun: null
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id: null
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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: send_cmd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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address:
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type: string
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data:
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type: string
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fun:
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type: string
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id:
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type: string
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required:
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- id
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- fun
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- address
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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: send_cmd参数
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type: object
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type: UniLabJsonCommand
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auto-wait_for_gripper:
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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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placeholder_keys: {}
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result: {}
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schema:
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description: wait_for_gripper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: wait_for_gripper参数
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type: object
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type: UniLabJsonCommand
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auto-wait_for_gripper_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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placeholder_keys: {}
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result: {}
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schema:
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description: wait_for_gripper_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: wait_for_gripper_init参数
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type: object
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type: UniLabJsonCommand
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auto-wait_for_rotate:
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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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placeholder_keys: {}
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result: {}
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schema:
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description: wait_for_rotate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: wait_for_rotate参数
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type: object
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type: UniLabJsonCommand
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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: ''
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properties:
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feedback:
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additionalProperties: false
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properties:
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status:
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type: string
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title: SendCmd_Feedback
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type: object
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goal:
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additionalProperties: false
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properties:
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command:
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type: string
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title: SendCmd_Goal
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type: object
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result:
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additionalProperties: false
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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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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: str
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type: python
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config_info: []
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description: Misumi RZ系列电子夹爪设备，集成旋转和抓取双重功能的精密夹爪系统。该设备通过Modbus RTU协议与控制系统通信，支持位置、速度、力矩的精确控制。具备高精度的位置反馈、实时状态监控和故障检测功能。适用于需要精密抓取和旋转操作的实验室自动化场景，如样品管理、精密装配、器件操作等应用。
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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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baudrate:
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default: 115200
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type: string
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id:
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default: 9
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type: string
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port:
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type: string
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pos_error:
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default: -11
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type: string
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required:
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- port
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type: object
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data:
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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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type: object
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version: 1.0.0
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gripper.mock:
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category:
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- robot_gripper
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class:
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action_value_mappings:
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auto-edit_id:
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feedback: {}
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goal: {}
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goal_default:
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params: '{}'
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resource:
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Gripper1: {}
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wf_name: gripper_run
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handles: {}
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placeholder_keys: {}
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result: {}
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schema:
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description: 模拟夹爪资源ID编辑函数。用于测试和演示资源管理功能，模拟修改夹爪资源的标识信息。该函数接收工作流名称、参数和资源对象，模拟真实的资源更新过程并返回修改后的资源信息。适用于系统测试和开发调试场景。
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properties:
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feedback: {}
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goal:
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properties:
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params:
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default: '{}'
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type: string
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resource:
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default:
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Gripper1: {}
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type: object
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wf_name:
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default: gripper_run
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type: string
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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: edit_id参数
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type: object
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type: UniLabJsonCommand
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push_to:
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feedback:
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effort: effort
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position: position
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reached_goal: reached_goal
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stalled: stalled
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goal:
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command: command
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position: position
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torque: torque
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velocity: velocity
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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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placeholder_keys: {}
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result:
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effort: effort
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position: position
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reached_goal: reached_goal
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stalled: stalled
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schema:
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description: ''
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properties:
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feedback:
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additionalProperties: false
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properties:
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effort:
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maximum: 1.7976931348623157e+308
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minimum: -1.7976931348623157e+308
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type: number
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position:
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maximum: 1.7976931348623157e+308
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minimum: -1.7976931348623157e+308
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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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||
title: GripperCommand_Feedback
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||
type: object
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||
goal:
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additionalProperties: false
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||
properties:
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||
command:
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||
additionalProperties: false
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||
properties:
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||
max_effort:
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||
maximum: 1.7976931348623157e+308
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||
minimum: -1.7976931348623157e+308
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type: number
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position:
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||
maximum: 1.7976931348623157e+308
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||
minimum: -1.7976931348623157e+308
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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: command
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type: object
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||
title: GripperCommand_Goal
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type: object
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result:
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additionalProperties: false
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properties:
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||
effort:
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||
maximum: 1.7976931348623157e+308
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||
minimum: -1.7976931348623157e+308
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||
type: number
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position:
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||
maximum: 1.7976931348623157e+308
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||
minimum: -1.7976931348623157e+308
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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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||
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
|
||
status_types:
|
||
position: float
|
||
status: str
|
||
torque: float
|
||
velocity: float
|
||
type: python
|
||
config_info: []
|
||
description: 模拟夹爪设备，用于系统测试和开发调试。该设备模拟真实夹爪的位置、速度、力矩等物理特性，支持虚拟的抓取和移动操作。提供与真实夹爪相同的接口和状态反馈，便于在没有实际硬件的情况下进行系统集成测试和算法验证。适用于软件开发、系统调试和培训演示等场景。
|
||
handles: []
|
||
icon: ''
|
||
init_param_schema:
|
||
config:
|
||
properties: {}
|
||
required: []
|
||
type: object
|
||
data:
|
||
properties:
|
||
position:
|
||
type: number
|
||
status:
|
||
type: string
|
||
torque:
|
||
type: number
|
||
velocity:
|
||
type: number
|
||
required:
|
||
- position
|
||
- status
|
||
- torque
|
||
- velocity
|
||
type: object
|
||
version: 1.0.0
|