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v0.10.19

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fast registry load

minor fix on skill & registry

stripe ros2 schema desc
add create-device-skill

new registry system backwards to yaml

remove not exist resource

new registry sys
exp. support with add device

add ai conventions

correct raise create resource error

ret info fix revert

ret info fix

fix prcxi check

add create_resource schema

re signal host ready event

add websocket connection timeout and improve reconnection logic

add open_timeout parameter to websocket connection
add TimeoutError and InvalidStatus exception handling
implement exponential backoff for reconnection attempts
simplify reconnection logic flow

add gzip

change pose extra to any

add isFlapY
This commit is contained in:
Xuwznln
2026-03-04 18:59:45 +08:00
parent 145fcaae65
commit c001f6a151
99 changed files with 10885 additions and 7191 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