mirror of
https://github.com/deepmodeling/Uni-Lab-OS
synced 2026-04-20 10:06:07 +00:00
ccbf5378dd
update aksk desc print res query logs Fix skills exec error with action type Update Skills Update Skills addr Change uni-lab. to leap-lab. Support unit in pylabrobot Support async func. change to leap-lab backend. Support feedback interval. Reduce cocurrent lags. fix create_resource_with_slot update unilabos_formulation & batch-submit-exp scale multi exec thread up to 48 update handle creation api fit cocurrent gap add running status debounce allow non @topic_config support update skill add placeholder keys always free 提交实验技能 disable samples correct sample demo ret value 新增试剂reagent update registry 新增manual_confirm add workstation creation skill add virtual_sample_demo 样品追踪测试设备 add external devices param fix registry upload missing type 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 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
781 lines
21 KiB
YAML
781 lines
21 KiB
YAML
robotic_arm.SCARA_with_slider.moveit.virtual:
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category:
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- robot_arm
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class:
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action_value_mappings:
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auto-check_tf_update_actions:
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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: check_tf_update_actions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: check_tf_update_actions参数
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type: object
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type: UniLabJsonCommand
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auto-moveit_joint_task:
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feedback: {}
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goal: {}
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goal_default:
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joint_names: null
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joint_positions: null
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move_group: null
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retry: 10
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speed: 1
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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: moveit_joint_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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joint_names:
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type: string
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joint_positions:
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type: string
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move_group:
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type: string
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retry:
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default: 10
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type: string
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speed:
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default: 1
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type: string
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required:
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- move_group
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- joint_positions
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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: moveit_joint_task参数
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type: object
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type: UniLabJsonCommand
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auto-moveit_task:
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feedback: {}
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goal: {}
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goal_default:
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cartesian: false
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move_group: null
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offsets:
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- 0
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- 0
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- 0
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position: null
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quaternion: null
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retry: 10
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speed: 1
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target_link: 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: moveit_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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cartesian:
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default: false
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type: string
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move_group:
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type: string
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offsets:
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default:
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- 0
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- 0
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- 0
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type: string
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position:
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type: string
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quaternion:
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type: string
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retry:
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default: 10
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type: string
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speed:
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default: 1
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type: string
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target_link:
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type: string
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required:
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- move_group
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- position
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- quaternion
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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: moveit_task参数
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type: object
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type: UniLabJsonCommand
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auto-resource_manager:
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feedback: {}
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goal: {}
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goal_default:
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parent_link: null
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resource: 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: resource_manager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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parent_link:
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type: string
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resource:
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type: string
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required:
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- resource
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- parent_link
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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: resource_manager参数
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type: object
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type: UniLabJsonCommand
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auto-wait_for_resource_action:
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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_resource_action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_resource_action参数
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type: object
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type: UniLabJsonCommand
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pick_and_place:
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feedback:
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status: status
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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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placeholder_keys: {}
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result:
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return_info: return_info
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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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set_position:
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feedback:
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status: status
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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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placeholder_keys: {}
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result:
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return_info: return_info
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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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set_status:
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feedback:
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status: status
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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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placeholder_keys: {}
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result:
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return_info: return_info
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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.ros_dev.moveit_interface:MoveitInterface
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status_types: {}
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type: python
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config_info: []
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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。
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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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device_config:
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type: string
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joint_poses:
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type: string
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moveit_type:
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type: string
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rotation:
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type: string
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required:
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- moveit_type
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- joint_poses
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type: object
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data:
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properties: {}
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required: []
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type: object
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model:
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mesh: arm_slider
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path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/arm_slider/macro_device.xacro
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type: device
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version: 1.0.0
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robotic_arm.UR:
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category:
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- robot_arm
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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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placeholder_keys: {}
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result: {}
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schema:
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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。
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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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placeholder_keys: {}
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result: {}
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schema:
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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。
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properties:
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||
feedback: {}
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||
goal:
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||
properties:
|
||
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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||
placeholder_keys: {}
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||
result: {}
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||
schema:
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||
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。
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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
|
||
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-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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placeholder_keys: {}
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||
result: {}
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||
schema:
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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。
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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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status: status
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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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||
placeholder_keys: {}
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||
result:
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return_info: return_info
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success: success
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||
schema:
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||
description: ''
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||
properties:
|
||
feedback:
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additionalProperties: false
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||
properties:
|
||
status:
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||
type: string
|
||
title: SendCmd_Feedback
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||
type: object
|
||
goal:
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||
additionalProperties: false
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||
properties:
|
||
command:
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type: string
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||
title: SendCmd_Goal
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||
type: object
|
||
result:
|
||
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.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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config_info: []
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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。
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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:
|
||
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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- arm_status
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- gripper_pose
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- gripper_status
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||
type: object
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||
version: 1.0.0
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||
robotic_arm.elite:
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||
category:
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||
- robot_arm
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||
class:
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||
action_value_mappings:
|
||
auto-close:
|
||
feedback: {}
|
||
goal: {}
|
||
goal_default: {}
|
||
handles: {}
|
||
placeholder_keys: {}
|
||
result: {}
|
||
schema:
|
||
description: ''
|
||
properties:
|
||
feedback: {}
|
||
goal:
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||
properties: {}
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||
required: []
|
||
type: object
|
||
result: {}
|
||
required:
|
||
- goal
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||
title: close参数
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||
type: object
|
||
type: UniLabJsonCommand
|
||
auto-modbus_close:
|
||
feedback: {}
|
||
goal: {}
|
||
goal_default: {}
|
||
handles: {}
|
||
placeholder_keys: {}
|
||
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: {}
|
||
placeholder_keys: {}
|
||
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: {}
|
||
placeholder_keys: {}
|
||
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: {}
|
||
placeholder_keys: {}
|
||
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: {}
|
||
placeholder_keys: {}
|
||
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: {}
|
||
placeholder_keys: {}
|
||
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:
|
||
status: status
|
||
goal:
|
||
command: command
|
||
goal_default:
|
||
command: ''
|
||
handles: {}
|
||
placeholder_keys: {}
|
||
result:
|
||
return_info: return_info
|
||
success: success
|
||
schema:
|
||
description: ''
|
||
properties:
|
||
feedback:
|
||
additionalProperties: false
|
||
properties:
|
||
status:
|
||
type: string
|
||
title: SendCmd_Feedback
|
||
type: object
|
||
goal:
|
||
additionalProperties: false
|
||
properties:
|
||
command:
|
||
type: string
|
||
title: SendCmd_Goal
|
||
type: object
|
||
result:
|
||
additionalProperties: false
|
||
properties:
|
||
return_info:
|
||
type: string
|
||
success:
|
||
type: boolean
|
||
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: ''
|
||
arm_pose: list[float]
|
||
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:
|
||
items:
|
||
type: number
|
||
type: array
|
||
required:
|
||
- actual_joint_positions
|
||
- arm_pose
|
||
type: object
|
||
model:
|
||
mesh: elite_robot
|
||
type: device
|
||
version: 1.0.0
|