open_pub/Uni-Lab-OS
1
0
Fork 0
mirror of https://github.com/deepmodeling/Uni-Lab-OS synced 2026-03-30 11:13:10 +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

193
unilabos/registry/devices/robot_gripper.yaml
View File

@@ -8,18 +8,17 @@ gripper.misumi_rz:
handles: []
result: {}
schema:
description: UniLabJsonCommand data_loop 的参数schema
description: data_loop的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand data_loop 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: data_loop 命令参数
title: data_loop参数
type: object
type: UniLabJsonCommand
auto-data_reader:
@@ -29,18 +28,17 @@ gripper.misumi_rz:
handles: []
result: {}
schema:
description: UniLabJsonCommand data_reader 的参数schema
description: data_reader的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand data_reader 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: data_reader 命令参数
title: data_reader参数
type: object
type: UniLabJsonCommand
auto-gripper_move:
@@ -53,20 +51,16 @@ gripper.misumi_rz:
handles: []
result: {}
schema:
description: UniLabJsonCommand gripper_move 的参数schema
description: gripper_move的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand gripper_move 的参数schema
properties:
force:
description: '参数: force'
type: string
pos:
description: '参数: pos'
type: string
speed:
description: '参数: speed'
type: string
required:
- pos
@@ -76,7 +70,7 @@ gripper.misumi_rz:
result: {}
required:
- goal
title: gripper_move 命令参数
title: gripper_move参数
type: object
type: UniLabJsonCommand
auto-init_gripper:
@@ -86,18 +80,17 @@ gripper.misumi_rz:
handles: []
result: {}
schema:
description: UniLabJsonCommand init_gripper 的参数schema
description: init_gripper的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand init_gripper 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: init_gripper 命令参数
title: init_gripper参数
type: object
type: UniLabJsonCommand
auto-modbus_crc:
@@ -108,14 +101,12 @@ gripper.misumi_rz:
handles: []
result: {}
schema:
description: UniLabJsonCommand modbus_crc 的参数schema
description: modbus_crc的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand modbus_crc 的参数schema
properties:
data:
description: '参数: data'
type: string
required:
- data
@@ -123,7 +114,7 @@ gripper.misumi_rz:
result: {}
required:
- goal
title: modbus_crc 命令参数
title: modbus_crc参数
type: object
type: UniLabJsonCommand
auto-move_and_rotate:
@@ -139,29 +130,22 @@ gripper.misumi_rz:
handles: []
result: {}
schema:
description: UniLabJsonCommand move_and_rotate 的参数schema
description: move_and_rotate的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand move_and_rotate 的参数schema
properties:
grasp_F:
description: '参数: grasp_F'
type: string
grasp_pos:
description: '参数: grasp_pos'
type: string
grasp_v:
description: '参数: grasp_v'
type: string
spin_F:
description: '参数: spin_F'
type: string
spin_pos:
description: '参数: spin_pos'
type: string
spin_v:
description: '参数: spin_v'
type: string
required:
- spin_pos
@@ -174,7 +158,7 @@ gripper.misumi_rz:
result: {}
required:
- goal
title: move_and_rotate 命令参数
title: move_and_rotate参数
type: object
type: UniLabJsonCommand
auto-node_gripper_move:
@@ -185,14 +169,12 @@ gripper.misumi_rz:
handles: []
result: {}
schema:
description: UniLabJsonCommand node_gripper_move 的参数schema
description: node_gripper_move的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand node_gripper_move 的参数schema
properties:
cmd:
description: '参数: cmd'
type: string
required:
- cmd
@@ -200,7 +182,7 @@ gripper.misumi_rz:
result: {}
required:
- goal
title: node_gripper_move 命令参数
title: node_gripper_move参数
type: object
type: UniLabJsonCommand
auto-node_rotate_move:
@@ -211,14 +193,12 @@ gripper.misumi_rz:
handles: []
result: {}
schema:
description: UniLabJsonCommand node_rotate_move 的参数schema
description: node_rotate_move的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand node_rotate_move 的参数schema
properties:
cmd:
description: '参数: cmd'
type: string
required:
- cmd
@@ -226,7 +206,7 @@ gripper.misumi_rz:
result: {}
required:
- goal
title: node_rotate_move 命令参数
title: node_rotate_move参数
type: object
type: UniLabJsonCommand
auto-read_address:
@@ -239,20 +219,16 @@ gripper.misumi_rz:
handles: []
result: {}
schema:
description: UniLabJsonCommand read_address 的参数schema
description: read_address的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand read_address 的参数schema
properties:
address:
description: '参数: address'
type: string
data_len:
description: '参数: data_len'
type: string
id:
description: '参数: id'
type: string
required:
- id
@@ -262,7 +238,7 @@ gripper.misumi_rz:
result: {}
required:
- goal
title: read_address 命令参数
title: read_address参数
type: object
type: UniLabJsonCommand
auto-rotate_move_abs:
@@ -275,20 +251,16 @@ gripper.misumi_rz:
handles: []
result: {}
schema:
description: UniLabJsonCommand rotate_move_abs 的参数schema
description: rotate_move_abs的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand rotate_move_abs 的参数schema
properties:
force:
description: '参数: force'
type: string
pos:
description: '参数: pos'
type: string
speed:
description: '参数: speed'
type: string
required:
- pos
@@ -298,7 +270,7 @@ gripper.misumi_rz:
result: {}
required:
- goal
title: rotate_move_abs 命令参数
title: rotate_move_abs参数
type: object
type: UniLabJsonCommand
auto-send_cmd:
@@ -312,23 +284,18 @@ gripper.misumi_rz:
handles: []
result: {}
schema:
description: UniLabJsonCommand send_cmd 的参数schema
description: send_cmd的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand send_cmd 的参数schema
properties:
address:
description: '参数: address'
type: string
data:
description: '参数: data'
type: string
fun:
description: '参数: fun'
type: string
id:
description: '参数: id'
type: string
required:
- id
@@ -339,7 +306,7 @@ gripper.misumi_rz:
result: {}
required:
- goal
title: send_cmd 命令参数
title: send_cmd参数
type: object
type: UniLabJsonCommand
auto-wait_for_gripper:
@@ -349,18 +316,17 @@ gripper.misumi_rz:
handles: []
result: {}
schema:
description: UniLabJsonCommand wait_for_gripper 的参数schema
description: wait_for_gripper的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand wait_for_gripper 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: wait_for_gripper 命令参数
title: wait_for_gripper参数
type: object
type: UniLabJsonCommand
auto-wait_for_gripper_init:
@@ -370,18 +336,17 @@ gripper.misumi_rz:
handles: []
result: {}
schema:
description: UniLabJsonCommand wait_for_gripper_init 的参数schema
description: wait_for_gripper_init的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand wait_for_gripper_init 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: wait_for_gripper_init 命令参数
title: wait_for_gripper_init参数
type: object
type: UniLabJsonCommand
auto-wait_for_rotate:
@@ -391,18 +356,17 @@ gripper.misumi_rz:
handles: []
result: {}
schema:
description: UniLabJsonCommand wait_for_rotate 的参数schema
description: wait_for_rotate的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand wait_for_rotate 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: wait_for_rotate 命令参数
title: wait_for_rotate参数
type: object
type: UniLabJsonCommand
execute_command_from_outer:
@@ -460,35 +424,29 @@ gripper.misumi_rz:
handles: []
icon: ''
init_param_schema:
description: UniLabJsonCommand __init__ 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand __init__ 的参数schema
properties:
baudrate:
default: 115200
description: '参数: baudrate'
type: integer
id:
default: 9
description: '参数: id'
type: integer
port:
description: '参数: port'
type: string
pos_error:
default: -11
description: '参数: pos_error'
type: integer
required:
- port
type: object
result: {}
required:
- goal
title: __init__ 命令参数
type: object
config:
properties:
baudrate:
default: 115200
type: string
id:
default: 9
type: string
port:
type: string
pos_error:
default: -11
type: string
required:
- port
type: object
data:
properties:
status:
type: string
required:
- status
type: object
gripper.mock:
class:
action_value_mappings:
@@ -503,31 +461,27 @@ gripper.mock:
handles: []
result: {}
schema:
description: UniLabJsonCommand edit_id 的参数schema
description: edit_id的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand edit_id 的参数schema
properties:
params:
default: '{}'
description: '参数: params'
type: string
resource:
default:
Gripper1: {}
description: '参数: resource'
type: object
wf_name:
default: gripper_run
description: '参数: wf_name'
type: string
required: []
type: object
result: {}
required:
- goal
title: edit_id 命令参数
title: edit_id参数
type: object
type: UniLabJsonCommand
auto-push_to:
@@ -540,21 +494,17 @@ gripper.mock:
handles: []
result: {}
schema:
description: UniLabJsonCommand push_to 的参数schema
description: push_to的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand push_to 的参数schema
properties:
position:
description: '参数: position'
type: number
torque:
description: '参数: torque'
type: number
velocity:
default: 0.0
description: '参数: velocity'
type: number
required:
- position
@@ -563,7 +513,7 @@ gripper.mock:
result: {}
required:
- goal
title: push_to 命令参数
title: push_to参数
type: object
type: UniLabJsonCommand
push_to:
@@ -654,16 +604,23 @@ gripper.mock:
handles: []
icon: ''
init_param_schema:
description: UniLabJsonCommand __init__ 的参数schema
properties:
feedback: {}
goal:
description: UniLabJsonCommand __init__ 的参数schema
properties: {}
required: []
type: object
result: {}
required:
- goal
title: __init__ 命令参数
type: object
config:
properties: {}
required: []
type: object
data:
properties:
position:
type: number
status:
type: string
torque:
type: number
velocity:
type: number
required:
- position
- velocity
- torque
- status
type: object