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feat: add sk & ak

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This commit is contained in:
Xuwznln
2025-08-20 21:23:08 +08:00
parent 4b7bde6be5
commit 02c79363c1
23 changed files with 407 additions and 336 deletions
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44
unilabos/registry/devices/robot_arm.yaml
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@@ -7,7 +7,7 @@ robotic_arm.SCARA_with_slider.virtual:
feedback: {}
goal: {}
goal_default: {}
handles: []
handles: {}
result: {}
schema:
description: check_tf_update_actions的参数schema
@@ -32,7 +32,7 @@ robotic_arm.SCARA_with_slider.virtual:
move_group: null
retry: 10
speed: 1
handles: []
handles: {}
result: {}
schema:
description: moveit_joint_task的参数schema
@@ -77,7 +77,7 @@ robotic_arm.SCARA_with_slider.virtual:
retry: 10
speed: 1
target_link: null
handles: []
handles: {}
result: {}
schema:
description: moveit_task的参数schema
@@ -124,7 +124,7 @@ robotic_arm.SCARA_with_slider.virtual:
goal: {}
goal_default:
ros_node: null
handles: []
handles: {}
result: {}
schema:
description: post_init的参数schema
@@ -149,7 +149,7 @@ robotic_arm.SCARA_with_slider.virtual:
goal_default:
parent_link: null
resource: null
handles: []
handles: {}
result: {}
schema:
description: resource_manager的参数schema
@@ -175,7 +175,7 @@ robotic_arm.SCARA_with_slider.virtual:
feedback: {}
goal: {}
goal_default: {}
handles: []
handles: {}
result: {}
schema:
description: wait_for_resource_action的参数schema
@@ -197,7 +197,7 @@ robotic_arm.SCARA_with_slider.virtual:
command: command
goal_default:
command: ''
handles: []
handles: {}
result: {}
schema:
description: ''
@@ -240,7 +240,7 @@ robotic_arm.SCARA_with_slider.virtual:
command: command
goal_default:
command: ''
handles: []
handles: {}
result: {}
schema:
description: ''
@@ -283,7 +283,7 @@ robotic_arm.SCARA_with_slider.virtual:
command: command
goal_default:
command: ''
handles: []
handles: {}
result: {}
schema:
description: ''
@@ -359,7 +359,7 @@ robotic_arm.UR:
feedback: {}
goal: {}
goal_default: {}
handles: []
handles: {}
result: {}
schema:
description: 机械臂初始化函数。执行UR机械臂的完整初始化流程，包括上电、释放制动器、解除保护停止状态等。该函数确保机械臂从安全停止状态恢复到可操作状态，是机械臂使用前的必要步骤。初始化完成后机械臂将处于就绪状态，可以接收后续的运动指令。
@@ -380,7 +380,7 @@ robotic_arm.UR:
goal: {}
goal_default:
data: null
handles: []
handles: {}
result: {}
schema:
description: 从JSON字符串加载位置数据函数。接收包含机械臂位置信息的JSON格式字符串，解析并存储位置数据供后续运动任务使用。位置数据通常包含多个预定义的工作位置坐标，用于实现精确的多点运动控制。适用于动态配置机械臂工作位置的场景。
@@ -404,7 +404,7 @@ robotic_arm.UR:
goal: {}
goal_default:
file: null
handles: []
handles: {}
result: {}
schema:
description: 从文件加载位置数据函数。读取指定的JSON文件并加载其中的机械臂位置信息。该函数支持从外部配置文件中获取预设的工作位置，便于位置数据的管理和重用。适用于需要从固定配置文件中读取复杂位置序列的应用场景。
@@ -427,7 +427,7 @@ robotic_arm.UR:
feedback: {}
goal: {}
goal_default: {}
handles: []
handles: {}
result: {}
schema:
description: 重新加载位置数据函数。重新读取并解析之前设置的位置文件，更新内存中的位置数据。该函数用于在位置文件被修改后刷新机械臂的位置配置，无需重新初始化整个系统。适用于动态更新机械臂工作位置的场景。
@@ -449,7 +449,7 @@ robotic_arm.UR:
command: command
goal_default:
command: ''
handles: []
handles: {}
result:
success: success
schema:
@@ -535,7 +535,7 @@ robotic_arm.elite:
feedback: {}
goal: {}
goal_default: {}
handles: []
handles: {}
result: {}
schema:
description: ''
@@ -555,7 +555,7 @@ robotic_arm.elite:
feedback: {}
goal: {}
goal_default: {}
handles: []
handles: {}
result: {}
schema:
description: ''
@@ -578,7 +578,7 @@ robotic_arm.elite:
quantity: null
start_addr: null
unit_id: null
handles: []
handles: {}
result: {}
schema:
description: ''
@@ -608,7 +608,7 @@ robotic_arm.elite:
goal: {}
goal_default:
job_id: null
handles: []
handles: {}
result: {}
schema:
description: ''
@@ -634,7 +634,7 @@ robotic_arm.elite:
register_addr: null
unit_id: null
value: null
handles: []
handles: {}
result: {}
schema:
description: ''
@@ -664,7 +664,7 @@ robotic_arm.elite:
goal: {}
goal_default:
response: null
handles: []
handles: {}
result: {}
schema:
description: ''
@@ -688,7 +688,7 @@ robotic_arm.elite:
goal: {}
goal_default:
command: null
handles: []
handles: {}
result: {}
schema:
description: ''
@@ -713,7 +713,7 @@ robotic_arm.elite:
command: command
goal_default:
command: ''
handles: []
handles: {}
result: {}
schema:
description: ''