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https://github.com/deepmodeling/Uni-Lab-OS
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feat: 新增AGV批量物料转运功能
添加AGV工作站设备驱动、注册表定义、批量转运编译器和消息定义。 包含跨工作站批量转运协议、AGV路径规划、容量分批等功能。 Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
This commit is contained in:
Junhan Chang
368
unilabos/registry/devices/transport_agv.yaml
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368
unilabos/registry/devices/transport_agv.yaml
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@@ -0,0 +1,368 @@
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agv_transport_station:
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category:
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- work_station
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- transport_agv
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class:
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action_value_mappings:
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AGVTransferProtocol:
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feedback: {}
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goal:
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from_repo: from_repo
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from_repo_position: from_repo_position
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to_repo: to_repo
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to_repo_position: to_repo_position
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goal_default:
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from_repo:
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category: ''
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children: []
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config: ''
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data: ''
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id: ''
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name: ''
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parent: ''
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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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sample_id: ''
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type: ''
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from_repo_position: ''
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to_repo:
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category: ''
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children: []
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config: ''
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data: ''
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id: ''
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name: ''
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parent: ''
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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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sample_id: ''
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type: ''
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to_repo_position: ''
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handles: {}
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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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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: AGVTransfer_Feedback
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type: object
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goal:
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properties:
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from_repo:
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properties:
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category:
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type: string
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children:
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items:
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type: string
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type: array
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config:
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type: string
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data:
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type: string
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id:
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type: string
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name:
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type: string
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parent:
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type: string
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pose:
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properties:
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orientation:
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properties:
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w:
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type: number
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x:
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type: number
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y:
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type: number
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z:
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type: number
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required:
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- x
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- y
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- z
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- w
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title: orientation
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type: object
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position:
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properties:
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x:
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type: number
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y:
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type: number
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z:
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type: number
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required:
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- x
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- y
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- z
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title: position
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type: object
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required:
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- position
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- orientation
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title: pose
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type: object
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sample_id:
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type: string
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type:
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type: string
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required:
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- id
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- name
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- sample_id
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- children
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- parent
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- type
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- category
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- pose
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- config
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- data
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title: from_repo
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type: object
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from_repo_position:
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type: string
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to_repo:
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properties:
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category:
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type: string
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children:
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items:
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type: string
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type: array
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config:
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type: string
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data:
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type: string
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id:
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type: string
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name:
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type: string
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parent:
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type: string
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pose:
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properties:
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orientation:
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properties:
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w:
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type: number
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x:
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type: number
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y:
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type: number
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z:
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type: number
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required:
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- x
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- y
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- z
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- w
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title: orientation
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type: object
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position:
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properties:
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x:
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type: number
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y:
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type: number
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z:
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type: number
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required:
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- x
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- y
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- z
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title: position
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type: object
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required:
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- position
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- orientation
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title: pose
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type: object
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sample_id:
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type: string
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type:
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type: string
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required:
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- id
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- name
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- sample_id
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- children
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- parent
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- type
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- category
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- pose
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- config
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- data
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title: to_repo
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type: object
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to_repo_position:
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type: string
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required:
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- from_repo
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- from_repo_position
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- to_repo
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- to_repo_position
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title: AGVTransfer_Goal
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type: object
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result:
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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: AGVTransfer_Result
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type: object
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required:
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- goal
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title: AGVTransfer
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type: object
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type: AGVTransfer
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BatchTransferProtocol:
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feedback: {}
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goal:
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from_positions: from_positions
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from_repo: from_repo
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to_positions: to_positions
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to_repo: to_repo
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transfer_resources: transfer_resources
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goal_default:
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from_positions: []
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from_repo:
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category: ''
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children: []
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config: ''
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data: ''
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id: ''
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name: ''
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parent: ''
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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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sample_id: ''
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type: ''
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to_positions: []
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to_repo:
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category: ''
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children: []
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config: ''
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data: ''
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id: ''
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name: ''
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parent: ''
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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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sample_id: ''
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type: ''
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transfer_resources: []
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handles: {}
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result: {}
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schema:
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description: AGV 批量物料转运协议
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properties:
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feedback: {}
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goal:
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properties:
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from_positions:
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items:
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type: string
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type: array
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from_repo:
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type: object
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to_positions:
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items:
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type: string
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type: array
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to_repo:
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type: object
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transfer_resources:
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items:
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type: object
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type: array
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required:
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- from_repo
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- to_repo
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- transfer_resources
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- from_positions
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- to_positions
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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: BatchTransferProtocol
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type: object
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type: BatchTransfer
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module: unilabos.devices.transport.agv_workstation:AGVTransportStation
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status_types:
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agv_status: String
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carrier_status: String
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type: python
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config_info: []
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description: 通用 AGV 转运工站。继承 WorkstationBase，通过 Warehouse 子资源管理物料中转态。支持单物料和批量物料转运协议，路由表和子设备配置全部由
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JSON 驱动。
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handles: []
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icon: ''
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init_param_schema:
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config:
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properties:
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device_roles:
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properties:
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arm:
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type: string
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navigator:
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type: string
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type: object
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protocol_type:
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items:
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type: string
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type: array
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route_table:
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type: object
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type: object
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data:
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properties:
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agv_status:
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type: string
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carrier_status:
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type: string
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type: object
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version: 1.0.0
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