mirror of
https://github.com/deepmodeling/Uni-Lab-OS
synced 2026-03-27 22:33:08 +00:00
new registry system backwards to yaml
This commit is contained in:
Xuwznln
@@ -24,6 +24,27 @@ linear_motion.grbl:
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title: initialize参数
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type: object
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type: UniLabJsonCommand
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auto-list:
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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: list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: list参数
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type: object
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type: UniLabJsonCommand
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auto-set_position:
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feedback: {}
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goal: {}
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@@ -93,44 +114,39 @@ linear_motion.grbl:
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type: UniLabJsonCommandAsync
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move_through_points:
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feedback:
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current_pose.pose.position: position
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estimated_time_remaining.sec: time_remaining
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navigation_time.sec: time_spent
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number_of_poses_remaining: pose_number_remaining
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current_pose: current_pose
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distance_remaining: distance_remaining
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estimated_time_remaining: estimated_time_remaining
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navigation_time: navigation_time
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number_of_poses_remaining: number_of_poses_remaining
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number_of_recoveries: number_of_recoveries
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goal:
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poses[].pose.position: positions[]
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behavior_tree: behavior_tree
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poses: poses
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positions: positions
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goal_default:
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behavior_tree: ''
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poses:
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- header:
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frame_id: ''
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stamp:
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nanosec: 0
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sec: 0
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pose:
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orientation:
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w: 1.0
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x: 0.0
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y: 0.0
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z: 0.0
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position:
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x: 0.0
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y: 0.0
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z: 0.0
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poses: []
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handles: {}
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result: {}
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placeholder_keys: {}
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result:
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result: result
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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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current_pose:
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additionalProperties: false
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properties:
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header:
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additionalProperties: false
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properties:
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frame_id:
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type: string
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stamp:
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additionalProperties: false
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properties:
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nanosec:
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maximum: 4294967295
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@@ -151,16 +167,26 @@ linear_motion.grbl:
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title: header
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type: object
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pose:
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additionalProperties: false
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properties:
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orientation:
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additionalProperties: false
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properties:
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w:
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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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x:
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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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y:
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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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z:
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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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- x
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@@ -170,12 +196,19 @@ linear_motion.grbl:
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title: orientation
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type: object
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position:
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additionalProperties: false
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properties:
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x:
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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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y:
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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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z:
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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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- x
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@@ -194,8 +227,11 @@ linear_motion.grbl:
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title: current_pose
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type: object
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distance_remaining:
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maximum: 3.4028235e+38
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minimum: -3.4028235e+38
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type: number
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estimated_time_remaining:
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additionalProperties: false
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properties:
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nanosec:
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maximum: 4294967295
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@@ -211,6 +247,7 @@ linear_motion.grbl:
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title: estimated_time_remaining
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type: object
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navigation_time:
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additionalProperties: false
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properties:
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nanosec:
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maximum: 4294967295
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@@ -233,16 +270,10 @@ linear_motion.grbl:
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maximum: 32767
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minimum: -32768
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type: integer
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required:
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- current_pose
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- navigation_time
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- estimated_time_remaining
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- number_of_recoveries
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- distance_remaining
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- number_of_poses_remaining
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title: NavigateThroughPoses_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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behavior_tree:
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type: string
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@@ -256,12 +287,8 @@ linear_motion.grbl:
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stamp:
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properties:
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nanosec:
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maximum: 4294967295
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minimum: 0
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type: integer
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sec:
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maximum: 2147483647
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minimum: -2147483648
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type: integer
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required:
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- sec
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@@ -314,23 +341,17 @@ linear_motion.grbl:
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required:
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- header
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- pose
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title: poses
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type: object
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type: array
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required:
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- poses
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- behavior_tree
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title: NavigateThroughPoses_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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result:
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properties: {}
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required: []
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additionalProperties: true
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title: result
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type: object
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required:
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- result
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title: NavigateThroughPoses_Result
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type: object
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required:
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@@ -340,9 +361,15 @@ linear_motion.grbl:
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type: NavigateThroughPoses
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set_spindle_speed:
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feedback:
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position: spindle_speed
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error: error
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header: header
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position: position
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velocity: velocity
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goal:
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position: spindle_speed
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max_velocity: max_velocity
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min_duration: min_duration
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position: position
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spindle_speed: spindle_speed
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goal_default:
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max_velocity: 0.0
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min_duration:
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@@ -350,19 +377,25 @@ linear_motion.grbl:
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sec: 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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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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error:
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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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header:
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additionalProperties: false
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properties:
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frame_id:
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type: string
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stamp:
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additionalProperties: false
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properties:
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nanosec:
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maximum: 4294967295
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@@ -383,21 +416,24 @@ linear_motion.grbl:
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title: header
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type: object
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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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velocity:
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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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- header
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- position
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- velocity
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- error
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title: SingleJointPosition_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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max_velocity:
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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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min_duration:
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additionalProperties: false
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properties:
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nanosec:
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maximum: 4294967295
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@@ -413,16 +449,13 @@ linear_motion.grbl:
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title: min_duration
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type: object
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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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- min_duration
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- max_velocity
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title: SingleJointPosition_Goal
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type: object
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result:
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properties: {}
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required: []
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additionalProperties: true
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title: SingleJointPosition_Result
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type: object
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required:
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@@ -432,7 +465,7 @@ linear_motion.grbl:
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type: SingleJointPosition
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module: unilabos.devices.cnc.grbl_sync:GrblCNC
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status_types:
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position: unilabos.messages:Point3D
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position: Point3D
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spindle_speed: float
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status: str
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type: python
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@@ -471,9 +504,9 @@ linear_motion.grbl:
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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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- position
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- spindle_speed
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- status
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type: object
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version: 1.0.0
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linear_motion.toyo_xyz.sim:
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@@ -600,31 +633,6 @@ linear_motion.toyo_xyz.sim:
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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-post_init:
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feedback: {}
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goal: {}
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goal_default:
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ros_node: 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: post_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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ros_node:
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type: object
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required:
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- ros_node
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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: post_init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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@@ -676,41 +684,41 @@ linear_motion.toyo_xyz.sim:
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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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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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result: {}
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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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required:
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- status
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title: SendCmd_Feedback
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type: object
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goal:
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additionalProperties: false
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properties:
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command:
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type: string
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required:
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- command
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title: SendCmd_Goal
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type: object
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result:
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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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required:
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- return_info
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- success
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title: SendCmd_Result
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type: object
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required:
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@@ -719,41 +727,41 @@ linear_motion.toyo_xyz.sim:
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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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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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result: {}
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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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required:
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- status
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title: SendCmd_Feedback
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type: object
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goal:
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additionalProperties: false
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properties:
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command:
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type: string
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required:
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- command
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title: SendCmd_Goal
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type: object
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result:
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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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required:
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- return_info
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- success
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title: SendCmd_Result
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type: object
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required:
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@@ -762,41 +770,41 @@ linear_motion.toyo_xyz.sim:
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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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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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result: {}
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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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required:
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- status
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title: SendCmd_Feedback
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type: object
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goal:
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additionalProperties: false
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properties:
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command:
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type: string
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required:
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- command
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title: SendCmd_Goal
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type: object
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result:
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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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||||
required:
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||||
- return_info
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||||
- success
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||||
title: SendCmd_Result
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||||
type: object
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||||
required:
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||||
@@ -939,30 +947,26 @@ motor.iCL42:
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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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||||
required:
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||||
- status
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||||
title: SendCmd_Feedback
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||||
type: object
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||||
goal:
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||||
additionalProperties: false
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||||
properties:
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||||
command:
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||||
type: string
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||||
required:
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||||
- command
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||||
title: SendCmd_Goal
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||||
type: object
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||||
result:
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||||
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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||||
required:
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||||
- return_info
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||||
- success
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||||
title: SendCmd_Result
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||||
type: object
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||||
required:
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||||
@@ -1000,8 +1004,8 @@ motor.iCL42:
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||||
success:
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||||
type: boolean
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||||
required:
|
||||
- motor_position
|
||||
- is_executing_run
|
||||
- motor_position
|
||||
- success
|
||||
type: object
|
||||
version: 1.0.0
|
||||
|
||||
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Block a user