open_pub/Uni-Lab-OS
1
0
Fork 0
mirror of https://github.com/deepmodeling/Uni-Lab-OS synced 2026-03-30 02:03:08 +00:00
Code Issues Packages Projects Releases Wiki Activity

匹配init param schema格式

Browse Source
This commit is contained in:
Xuwznln
2025-06-30 12:29:30 +08:00
parent f2753fc69a
commit e7521972e4
22 changed files with 2261 additions and 2609 deletions
Download Patch File Download Diff File Expand all files Collapse all files

218
unilabos/registry/devices/moveit_config.yaml
View File

@@ -8,18 +8,17 @@ moveit.arm_slider:
handles: []
result: {}
schema:
description: UniLabJsonCommand check_tf_update_actions 的参数schema
description: check_tf_update_actions的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand check_tf_update_actions 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: check_tf_update_actions 命令参数
title: check_tf_update_actions参数
type: object
type: UniLabJsonCommand
auto-moveit_joint_task:
@@ -34,28 +33,22 @@ moveit.arm_slider:
handles: []
result: {}
schema:
description: UniLabJsonCommand moveit_joint_task 的参数schema
description: moveit_joint_task的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand moveit_joint_task 的参数schema
properties:
joint_names:
description: '参数: joint_names'
type: string
joint_positions:
description: '参数: joint_positions'
type: string
move_group:
description: '参数: move_group'
type: string
retry:
default: 10
description: '参数: retry'
type: string
speed:
default: 1
description: '参数: speed'
type: string
required:
- move_group
@@ -64,7 +57,7 @@ moveit.arm_slider:
result: {}
required:
- goal
title: moveit_joint_task 命令参数
title: moveit_joint_task参数
type: object
type: UniLabJsonCommand
auto-moveit_task:
@@ -85,42 +78,33 @@ moveit.arm_slider:
handles: []
result: {}
schema:
description: UniLabJsonCommand moveit_task 的参数schema
description: moveit_task的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand moveit_task 的参数schema
properties:
cartesian:
default: false
description: '参数: cartesian'
type: string
move_group:
description: '参数: move_group'
type: string
offsets:
default:
- 0
- 0
- 0
description: '参数: offsets'
type: string
position:
description: '参数: position'
type: string
quaternion:
description: '参数: quaternion'
type: string
retry:
default: 10
description: '参数: retry'
type: string
speed:
default: 1
description: '参数: speed'
type: string
target_link:
description: '参数: target_link'
type: string
required:
- move_group
@@ -130,7 +114,7 @@ moveit.arm_slider:
result: {}
required:
- goal
title: moveit_task 命令参数
title: moveit_task参数
type: object
type: UniLabJsonCommand
auto-pick_and_place:
@@ -141,14 +125,12 @@ moveit.arm_slider:
handles: []
result: {}
schema:
description: UniLabJsonCommand pick_and_place 的参数schema
description: pick_and_place的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand pick_and_place 的参数schema
properties:
command:
description: '参数: command'
type: string
required:
- command
@@ -156,7 +138,7 @@ moveit.arm_slider:
result: {}
required:
- goal
title: pick_and_place 命令参数
title: pick_and_place参数
type: object
type: UniLabJsonCommand
auto-post_init:
@@ -167,14 +149,12 @@ moveit.arm_slider:
handles: []
result: {}
schema:
description: UniLabJsonCommand post_init 的参数schema
description: post_init的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand post_init 的参数schema
properties:
ros_node:
description: '参数: ros_node'
type: string
required:
- ros_node
@@ -182,7 +162,7 @@ moveit.arm_slider:
result: {}
required:
- goal
title: post_init 命令参数
title: post_init参数
type: object
type: UniLabJsonCommand
auto-resource_manager:
@@ -194,17 +174,14 @@ moveit.arm_slider:
handles: []
result: {}
schema:
description: UniLabJsonCommand resource_manager 的参数schema
description: resource_manager的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand resource_manager 的参数schema
properties:
parent_link:
description: '参数: parent_link'
type: string
resource:
description: '参数: resource'
type: string
required:
- resource
@@ -213,7 +190,7 @@ moveit.arm_slider:
result: {}
required:
- goal
title: resource_manager 命令参数
title: resource_manager参数
type: object
type: UniLabJsonCommand
auto-set_position:
@@ -224,14 +201,12 @@ moveit.arm_slider:
handles: []
result: {}
schema:
description: UniLabJsonCommand set_position 的参数schema
description: set_position的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand set_position 的参数schema
properties:
command:
description: '参数: command'
type: string
required:
- command
@@ -239,7 +214,7 @@ moveit.arm_slider:
result: {}
required:
- goal
title: set_position 命令参数
title: set_position参数
type: object
type: UniLabJsonCommand
auto-set_status:
@@ -250,14 +225,12 @@ moveit.arm_slider:
handles: []
result: {}
schema:
description: UniLabJsonCommand set_status 的参数schema
description: set_status的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand set_status 的参数schema
properties:
command:
description: '参数: command'
type: string
required:
- command
@@ -265,7 +238,7 @@ moveit.arm_slider:
result: {}
required:
- goal
title: set_status 命令参数
title: set_status参数
type: object
type: UniLabJsonCommand
auto-wait_for_resource_action:
@@ -275,18 +248,17 @@ moveit.arm_slider:
handles: []
result: {}
schema:
description: UniLabJsonCommand wait_for_resource_action 的参数schema
description: wait_for_resource_action的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand wait_for_resource_action 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: wait_for_resource_action 命令参数
title: wait_for_resource_action参数
type: object
type: UniLabJsonCommand
pick_and_place:
@@ -434,33 +406,24 @@ moveit.arm_slider:
handles: []
icon: ''
init_param_schema:
description: UniLabJsonCommand __init__ 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand __init__ 的参数schema
properties:
device_config:
description: '参数: device_config'
type: string
joint_poses:
description: '参数: joint_poses'
type: string
moveit_type:
description: '参数: moveit_type'
type: string
rotation:
description: '参数: rotation'
type: string
required:
- moveit_type
- joint_poses
type: object
result: {}
required:
- goal
title: __init__ 命令参数
type: object
config:
properties:
device_config:
type: string
joint_poses:
type: string
moveit_type:
type: string
rotation:
type: string
required:
- moveit_type
- joint_poses
type: object
data:
properties: {}
required: []
type: object
model:
mesh: arm_slider
type: device
@@ -474,18 +437,17 @@ moveit.toyo_xyz:
handles: []
result: {}
schema:
description: UniLabJsonCommand check_tf_update_actions 的参数schema
description: check_tf_update_actions的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand check_tf_update_actions 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: check_tf_update_actions 命令参数
title: check_tf_update_actions参数
type: object
type: UniLabJsonCommand
auto-moveit_joint_task:
@@ -500,28 +462,22 @@ moveit.toyo_xyz:
handles: []
result: {}
schema:
description: UniLabJsonCommand moveit_joint_task 的参数schema
description: moveit_joint_task的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand moveit_joint_task 的参数schema
properties:
joint_names:
description: '参数: joint_names'
type: string
joint_positions:
description: '参数: joint_positions'
type: string
move_group:
description: '参数: move_group'
type: string
retry:
default: 10
description: '参数: retry'
type: string
speed:
default: 1
description: '参数: speed'
type: string
required:
- move_group
@@ -530,7 +486,7 @@ moveit.toyo_xyz:
result: {}
required:
- goal
title: moveit_joint_task 命令参数
title: moveit_joint_task参数
type: object
type: UniLabJsonCommand
auto-moveit_task:
@@ -551,42 +507,33 @@ moveit.toyo_xyz:
handles: []
result: {}
schema:
description: UniLabJsonCommand moveit_task 的参数schema
description: moveit_task的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand moveit_task 的参数schema
properties:
cartesian:
default: false
description: '参数: cartesian'
type: string
move_group:
description: '参数: move_group'
type: string
offsets:
default:
- 0
- 0
- 0
description: '参数: offsets'
type: string
position:
description: '参数: position'
type: string
quaternion:
description: '参数: quaternion'
type: string
retry:
default: 10
description: '参数: retry'
type: string
speed:
default: 1
description: '参数: speed'
type: string
target_link:
description: '参数: target_link'
type: string
required:
- move_group
@@ -596,7 +543,7 @@ moveit.toyo_xyz:
result: {}
required:
- goal
title: moveit_task 命令参数
title: moveit_task参数
type: object
type: UniLabJsonCommand
auto-pick_and_place:
@@ -607,14 +554,12 @@ moveit.toyo_xyz:
handles: []
result: {}
schema:
description: UniLabJsonCommand pick_and_place 的参数schema
description: pick_and_place的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand pick_and_place 的参数schema
properties:
command:
description: '参数: command'
type: string
required:
- command
@@ -622,7 +567,7 @@ moveit.toyo_xyz:
result: {}
required:
- goal
title: pick_and_place 命令参数
title: pick_and_place参数
type: object
type: UniLabJsonCommand
auto-post_init:
@@ -633,14 +578,12 @@ moveit.toyo_xyz:
handles: []
result: {}
schema:
description: UniLabJsonCommand post_init 的参数schema
description: post_init的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand post_init 的参数schema
properties:
ros_node:
description: '参数: ros_node'
type: string
required:
- ros_node
@@ -648,7 +591,7 @@ moveit.toyo_xyz:
result: {}
required:
- goal
title: post_init 命令参数
title: post_init参数
type: object
type: UniLabJsonCommand
auto-resource_manager:
@@ -660,17 +603,14 @@ moveit.toyo_xyz:
handles: []
result: {}
schema:
description: UniLabJsonCommand resource_manager 的参数schema
description: resource_manager的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand resource_manager 的参数schema
properties:
parent_link:
description: '参数: parent_link'
type: string
resource:
description: '参数: resource'
type: string
required:
- resource
@@ -679,7 +619,7 @@ moveit.toyo_xyz:
result: {}
required:
- goal
title: resource_manager 命令参数
title: resource_manager参数
type: object
type: UniLabJsonCommand
auto-set_position:
@@ -690,14 +630,12 @@ moveit.toyo_xyz:
handles: []
result: {}
schema:
description: UniLabJsonCommand set_position 的参数schema
description: set_position的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand set_position 的参数schema
properties:
command:
description: '参数: command'
type: string
required:
- command
@@ -705,7 +643,7 @@ moveit.toyo_xyz:
result: {}
required:
- goal
title: set_position 命令参数
title: set_position参数
type: object
type: UniLabJsonCommand
auto-set_status:
@@ -716,14 +654,12 @@ moveit.toyo_xyz:
handles: []
result: {}
schema:
description: UniLabJsonCommand set_status 的参数schema
description: set_status的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand set_status 的参数schema
properties:
command:
description: '参数: command'
type: string
required:
- command
@@ -731,7 +667,7 @@ moveit.toyo_xyz:
result: {}
required:
- goal
title: set_status 命令参数
title: set_status参数
type: object
type: UniLabJsonCommand
auto-wait_for_resource_action:
@@ -741,18 +677,17 @@ moveit.toyo_xyz:
handles: []
result: {}
schema:
description: UniLabJsonCommand wait_for_resource_action 的参数schema
description: wait_for_resource_action的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand wait_for_resource_action 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: wait_for_resource_action 命令参数
title: wait_for_resource_action参数
type: object
type: UniLabJsonCommand
pick_and_place:
@@ -900,33 +835,24 @@ moveit.toyo_xyz:
handles: []
icon: ''
init_param_schema:
description: UniLabJsonCommand __init__ 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand __init__ 的参数schema
properties:
device_config:
description: '参数: device_config'
type: string
joint_poses:
description: '参数: joint_poses'
type: string
moveit_type:
description: '参数: moveit_type'
type: string
rotation:
description: '参数: rotation'
type: string
required:
- moveit_type
- joint_poses
type: object
result: {}
required:
- goal
title: __init__ 命令参数
type: object
config:
properties:
device_config:
type: string
joint_poses:
type: string
moveit_type:
type: string
rotation:
type: string
required:
- moveit_type
- joint_poses
type: object
data:
properties: {}
required: []
type: object
model:
mesh: toyo_xyz
type: device