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stripe ros2 schema desc

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add create-device-skill
This commit is contained in:
Xuwznln
2026-03-22 03:21:13 +08:00
parent 59c26265e9
commit 23c2e3b2f7
8 changed files with 629 additions and 92 deletions
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80
unilabos/registry/devices/liquid_handler.yaml
View File

@@ -866,68 +866,40 @@ liquid_handler:
additionalProperties: false
properties:
category:
description: Field of type <rosidl_parser.definition.UnboundedString
object at 0x0000025304D2D2A0>
type: string
children:
description: Field of type <rosidl_parser.definition.UnboundedSequence
object at 0x0000025304D12EC0>
items:
description: Field of type <rosidl_parser.definition.UnboundedString
object at 0x0000025304D2C320>
type: string
type: array
config:
description: Field of type <rosidl_parser.definition.UnboundedString
object at 0x0000025304D2D2C0>
type: string
data:
description: Field of type <rosidl_parser.definition.UnboundedString
object at 0x0000025304D2D2E0>
type: string
id:
description: Field of type <rosidl_parser.definition.UnboundedString
object at 0x0000025304D2D280>
type: string
name:
description: Field of type <rosidl_parser.definition.UnboundedString
object at 0x0000025304D2D240>
type: string
parent:
description: Field of type <rosidl_parser.definition.UnboundedString
object at 0x0000025304D2CF80>
type: string
pose:
additionalProperties: false
description: Field of type <rosidl_parser.definition.NamespacedType
object at 0x0000025304D12EF0>
properties:
orientation:
additionalProperties: false
description: Field of type <rosidl_parser.definition.NamespacedType
object at 0x000002530511A080>
properties:
w:
description: Field of type <rosidl_parser.definition.BasicType
object at 0x0000025305138C70>
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
x:
description: Field of type <rosidl_parser.definition.BasicType
object at 0x0000025305138BE0>
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
y:
description: Field of type <rosidl_parser.definition.BasicType
object at 0x0000025305138C10>
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
z:
description: Field of type <rosidl_parser.definition.BasicType
object at 0x0000025305138C40>
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
@@ -940,24 +912,16 @@ liquid_handler:
type: object
position:
additionalProperties: false
description: Field of type <rosidl_parser.definition.NamespacedType
object at 0x000002530511A050>
properties:
x:
description: Field of type <rosidl_parser.definition.BasicType
object at 0x00000253050E7FD0>
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
y:
description: Field of type <rosidl_parser.definition.BasicType
object at 0x0000025305118040>
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
z:
description: Field of type <rosidl_parser.definition.BasicType
object at 0x0000025305118070>
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
@@ -973,12 +937,8 @@ liquid_handler:
title: pose
type: object
sample_id:
description: Field of type <rosidl_parser.definition.UnboundedString
object at 0x0000025304D2D220>
type: string
type:
description: Field of type <rosidl_parser.definition.UnboundedString
object at 0x0000025304D2CE20>
type: string
title: plate
type: object
@@ -9300,68 +9260,40 @@ liquid_handler.prcxi:
additionalProperties: false
properties:
category:
description: Field of type <rosidl_parser.definition.UnboundedString
object at 0x0000025304D2D2A0>
type: string
children:
description: Field of type <rosidl_parser.definition.UnboundedSequence
object at 0x0000025304D12EC0>
items:
description: Field of type <rosidl_parser.definition.UnboundedString
object at 0x0000025304D2C320>
type: string
type: array
config:
description: Field of type <rosidl_parser.definition.UnboundedString
object at 0x0000025304D2D2C0>
type: string
data:
description: Field of type <rosidl_parser.definition.UnboundedString
object at 0x0000025304D2D2E0>
type: string
id:
description: Field of type <rosidl_parser.definition.UnboundedString
object at 0x0000025304D2D280>
type: string
name:
description: Field of type <rosidl_parser.definition.UnboundedString
object at 0x0000025304D2D240>
type: string
parent:
description: Field of type <rosidl_parser.definition.UnboundedString
object at 0x0000025304D2CF80>
type: string
pose:
additionalProperties: false
description: Field of type <rosidl_parser.definition.NamespacedType
object at 0x0000025304D12EF0>
properties:
orientation:
additionalProperties: false
description: Field of type <rosidl_parser.definition.NamespacedType
object at 0x000002530511A080>
properties:
w:
description: Field of type <rosidl_parser.definition.BasicType
object at 0x0000025305138C70>
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
x:
description: Field of type <rosidl_parser.definition.BasicType
object at 0x0000025305138BE0>
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
y:
description: Field of type <rosidl_parser.definition.BasicType
object at 0x0000025305138C10>
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
z:
description: Field of type <rosidl_parser.definition.BasicType
object at 0x0000025305138C40>
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
@@ -9374,24 +9306,16 @@ liquid_handler.prcxi:
type: object
position:
additionalProperties: false
description: Field of type <rosidl_parser.definition.NamespacedType
object at 0x000002530511A050>
properties:
x:
description: Field of type <rosidl_parser.definition.BasicType
object at 0x00000253050E7FD0>
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
y:
description: Field of type <rosidl_parser.definition.BasicType
object at 0x0000025305118040>
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
z:
description: Field of type <rosidl_parser.definition.BasicType
object at 0x0000025305118070>
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
@@ -9407,12 +9331,8 @@ liquid_handler.prcxi:
title: pose
type: object
sample_id:
description: Field of type <rosidl_parser.definition.UnboundedString
object at 0x0000025304D2D220>
type: string
type:
description: Field of type <rosidl_parser.definition.UnboundedString
object at 0x0000025304D2CE20>
type: string
title: plate
type: object

11
unilabos/registry/registry.py
View File

@@ -47,7 +47,6 @@ from unilabos.registry.utils import (
normalize_ast_action_handles,
wrap_action_schema,
preserve_field_descriptions,
strip_ros_descriptions,
resolve_method_params_via_import,
SIMPLE_TYPE_MAP,
)
@@ -501,12 +500,17 @@ class Registry:
json_type = SIMPLE_TYPE_MAP.get(param_type.lower())
if json_type:
prop_schema["type"] = json_type
elif ":" in param_type:
type_obj = resolve_type_object(param_type)
if type_obj is not None:
prop_schema = type_to_schema(type_obj)
else:
prop_schema["type"] = "object"
elif import_map and param_type in import_map:
type_obj = resolve_type_object(import_map[param_type])
if type_obj is not None:
prop_schema = type_to_schema(type_obj)
else:
# 无法 import 的自定义类型，默认当 object 处理（与 YAML runtime 路径一致）
prop_schema["type"] = "object"
else:
json_type = get_json_schema_type(param_type)
@@ -914,7 +918,6 @@ class Registry:
logger.debug(f"[AST] device action '{action_name}': Result enrichment failed: {e}")
try:
schema = ros_action_to_json_schema(action_type_obj)
strip_ros_descriptions(schema)
except Exception:
pass
# 直接从 ROS2 Goal 实例获取默认值 (msgcenterpy)
@@ -1826,7 +1829,6 @@ class Registry:
pass
try:
entry_schema = ros_action_to_json_schema(action_type_obj)
strip_ros_descriptions(entry_schema)
if old_schema:
preserve_field_descriptions(entry_schema, old_schema)
if "description" in old_schema:
@@ -1914,7 +1916,6 @@ class Registry:
action_config["goal_default"] = {}
prev_schema = action_config.get("schema", {})
action_config["schema"] = ros_action_to_json_schema(target_type)
strip_ros_descriptions(action_config["schema"])
if prev_schema:
preserve_field_descriptions(action_config["schema"], prev_schema)
if "description" in prev_schema: