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Merge branch 'dev' into prcix9320

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q434343
2026-03-25 14:44:52 +08:00
parent 792504e08c
commit 68029217de
97 changed files with 15504 additions and 8906 deletions
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120
unilabos/registry/devices/robot_arm.yaml
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@@ -122,31 +122,6 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
title: moveit_task参数
type: object
type: UniLabJsonCommand
auto-post_init:
feedback: {}
goal: {}
goal_default:
ros_node: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: post_init的参数schema
properties:
feedback: {}
goal:
properties:
ros_node:
type: object
required:
- ros_node
type: object
result: {}
required:
- goal
title: post_init参数
type: object
type: UniLabJsonCommand
auto-resource_manager:
feedback: {}
goal: {}
@@ -198,41 +173,41 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
type: object
type: UniLabJsonCommand
pick_and_place:
feedback: {}
feedback:
status: status
goal:
command: command
goal_default:
command: ''
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
@@ -241,41 +216,41 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
type: object
type: SendCmd
set_position:
feedback: {}
feedback:
status: status
goal:
command: command
goal_default:
command: ''
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
@@ -284,41 +259,41 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
type: object
type: SendCmd
set_status:
feedback: {}
feedback:
status: status
goal:
command: command
goal_default:
command: ''
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
@@ -455,42 +430,41 @@ robotic_arm.UR:
type: object
type: UniLabJsonCommand
move_pos_task:
feedback: {}
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
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
@@ -532,8 +506,8 @@ robotic_arm.UR:
type: string
required:
- arm_pose
- gripper_pose
- arm_status
- gripper_pose
- gripper_status
type: object
version: 1.0.0
@@ -726,41 +700,41 @@ robotic_arm.elite:
type: object
type: UniLabJsonCommand
modbus_task_cmd:
feedback: {}
feedback:
status: status
goal:
command: command
goal_default:
command: ''
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
@@ -770,8 +744,8 @@ robotic_arm.elite:
type: SendCmd
module: unilabos.devices.arm.elite_robot:EliteRobot
status_types:
actual_joint_positions: String
arm_pose: String
actual_joint_positions: ''
arm_pose: list[float]
type: python
config_info: []
description: Elite robot arm
@@ -797,8 +771,8 @@ robotic_arm.elite:
type: number
type: array
required:
- arm_pose
- actual_joint_positions
- arm_pose
type: object
model:
mesh: elite_robot