mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2026-02-16 20:55:11 +00:00
支持通过导入方式补全注册表，新增工作流unilabos_device_id字段
This commit is contained in:
Xuwznln
@@ -1,6 +1,410 @@
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gripper.misumi_rz:
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class:
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action_value_mappings:
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auto-data_loop:
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feedback: {}
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goal: {}
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goal_default: {}
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handles: []
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result: {}
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schema:
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description: UniLabJsonCommand data_loop 的参数schema
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properties:
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feedback: {}
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goal:
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description: UniLabJsonCommand data_loop 的参数schema
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properties: {}
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required: []
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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: data_loop 命令参数
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type: object
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type: UniLabJsonCommand
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auto-data_reader:
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feedback: {}
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goal: {}
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goal_default: {}
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handles: []
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result: {}
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schema:
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description: UniLabJsonCommand data_reader 的参数schema
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properties:
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feedback: {}
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goal:
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description: UniLabJsonCommand data_reader 的参数schema
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properties: {}
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required: []
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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: data_reader 命令参数
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type: object
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type: UniLabJsonCommand
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auto-gripper_move:
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feedback: {}
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goal: {}
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goal_default:
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force: null
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pos: null
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speed: null
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handles: []
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result: {}
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schema:
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description: UniLabJsonCommand gripper_move 的参数schema
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properties:
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feedback: {}
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goal:
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description: UniLabJsonCommand gripper_move 的参数schema
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properties:
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force:
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description: '参数: force'
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type: string
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pos:
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description: '参数: pos'
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type: string
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speed:
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description: '参数: speed'
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type: string
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required:
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- pos
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- speed
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- force
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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: gripper_move 命令参数
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type: object
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type: UniLabJsonCommand
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auto-init_gripper:
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feedback: {}
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goal: {}
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goal_default: {}
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handles: []
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result: {}
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schema:
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description: UniLabJsonCommand init_gripper 的参数schema
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properties:
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feedback: {}
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goal:
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description: UniLabJsonCommand init_gripper 的参数schema
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properties: {}
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required: []
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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: init_gripper 命令参数
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type: object
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type: UniLabJsonCommand
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auto-modbus_crc:
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feedback: {}
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goal: {}
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goal_default:
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data: null
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handles: []
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result: {}
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schema:
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description: UniLabJsonCommand modbus_crc 的参数schema
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properties:
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feedback: {}
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goal:
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description: UniLabJsonCommand modbus_crc 的参数schema
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properties:
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data:
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description: '参数: data'
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type: string
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required:
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- data
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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: modbus_crc 命令参数
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type: object
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type: UniLabJsonCommand
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auto-move_and_rotate:
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feedback: {}
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goal: {}
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goal_default:
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grasp_F: null
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grasp_pos: null
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grasp_v: null
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spin_F: null
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spin_pos: null
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spin_v: null
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handles: []
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result: {}
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schema:
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description: UniLabJsonCommand move_and_rotate 的参数schema
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properties:
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feedback: {}
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goal:
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description: UniLabJsonCommand move_and_rotate 的参数schema
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properties:
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grasp_F:
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description: '参数: grasp_F'
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type: string
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grasp_pos:
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description: '参数: grasp_pos'
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type: string
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grasp_v:
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description: '参数: grasp_v'
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type: string
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spin_F:
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description: '参数: spin_F'
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type: string
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spin_pos:
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description: '参数: spin_pos'
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type: string
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spin_v:
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description: '参数: spin_v'
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type: string
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required:
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- spin_pos
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- grasp_pos
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- spin_v
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- grasp_v
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- spin_F
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- grasp_F
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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: move_and_rotate 命令参数
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type: object
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type: UniLabJsonCommand
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auto-node_gripper_move:
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feedback: {}
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goal: {}
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goal_default:
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cmd: null
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handles: []
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result: {}
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schema:
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description: UniLabJsonCommand node_gripper_move 的参数schema
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properties:
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feedback: {}
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goal:
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description: UniLabJsonCommand node_gripper_move 的参数schema
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properties:
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cmd:
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description: '参数: cmd'
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type: string
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required:
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- cmd
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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: node_gripper_move 命令参数
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type: object
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type: UniLabJsonCommand
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auto-node_rotate_move:
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feedback: {}
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goal: {}
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goal_default:
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cmd: null
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handles: []
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result: {}
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schema:
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description: UniLabJsonCommand node_rotate_move 的参数schema
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properties:
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feedback: {}
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goal:
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description: UniLabJsonCommand node_rotate_move 的参数schema
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properties:
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cmd:
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description: '参数: cmd'
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type: string
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required:
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- cmd
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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: node_rotate_move 命令参数
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type: object
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type: UniLabJsonCommand
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auto-read_address:
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feedback: {}
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goal: {}
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goal_default:
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address: null
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data_len: null
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id: null
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handles: []
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result: {}
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schema:
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description: UniLabJsonCommand read_address 的参数schema
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properties:
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feedback: {}
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goal:
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description: UniLabJsonCommand read_address 的参数schema
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properties:
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address:
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description: '参数: address'
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type: string
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data_len:
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description: '参数: data_len'
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type: string
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id:
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description: '参数: id'
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type: string
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required:
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- id
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- address
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- data_len
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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: read_address 命令参数
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type: object
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type: UniLabJsonCommand
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auto-rotate_move_abs:
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feedback: {}
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goal: {}
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goal_default:
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force: null
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pos: null
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speed: null
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handles: []
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result: {}
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schema:
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description: UniLabJsonCommand rotate_move_abs 的参数schema
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properties:
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feedback: {}
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goal:
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description: UniLabJsonCommand rotate_move_abs 的参数schema
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properties:
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force:
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description: '参数: force'
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type: string
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pos:
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description: '参数: pos'
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type: string
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speed:
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description: '参数: speed'
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type: string
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required:
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- pos
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- speed
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- force
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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: rotate_move_abs 命令参数
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type: object
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type: UniLabJsonCommand
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auto-send_cmd:
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feedback: {}
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goal: {}
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goal_default:
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address: null
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data: null
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fun: null
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id: null
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handles: []
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result: {}
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schema:
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description: UniLabJsonCommand send_cmd 的参数schema
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properties:
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feedback: {}
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goal:
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description: UniLabJsonCommand send_cmd 的参数schema
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properties:
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address:
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description: '参数: address'
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type: string
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data:
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description: '参数: data'
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type: string
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fun:
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description: '参数: fun'
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type: string
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id:
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description: '参数: id'
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type: string
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required:
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- id
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- fun
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- address
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- data
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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: send_cmd 命令参数
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type: object
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type: UniLabJsonCommand
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auto-wait_for_gripper:
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feedback: {}
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goal: {}
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goal_default: {}
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handles: []
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result: {}
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schema:
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description: UniLabJsonCommand wait_for_gripper 的参数schema
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properties:
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feedback: {}
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goal:
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description: UniLabJsonCommand wait_for_gripper 的参数schema
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properties: {}
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required: []
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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: wait_for_gripper 命令参数
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type: object
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type: UniLabJsonCommand
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auto-wait_for_gripper_init:
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feedback: {}
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goal: {}
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goal_default: {}
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handles: []
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result: {}
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schema:
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description: UniLabJsonCommand wait_for_gripper_init 的参数schema
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properties:
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feedback: {}
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goal:
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description: UniLabJsonCommand wait_for_gripper_init 的参数schema
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properties: {}
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required: []
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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: wait_for_gripper_init 命令参数
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type: object
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type: UniLabJsonCommand
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auto-wait_for_rotate:
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feedback: {}
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goal: {}
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goal_default: {}
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handles: []
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result: {}
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schema:
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description: UniLabJsonCommand wait_for_rotate 的参数schema
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properties:
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feedback: {}
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goal:
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description: UniLabJsonCommand wait_for_rotate 的参数schema
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properties: {}
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required: []
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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: wait_for_rotate 命令参数
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type: object
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type: UniLabJsonCommand
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execute_command_from_outer:
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feedback: {}
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goal:
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@@ -50,7 +454,7 @@ gripper.misumi_rz:
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type: SendCmd
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module: unilabos.devices.motor.Grasp:EleGripper
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status_types:
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status: String
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status: str
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type: python
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description: Misumi RZ gripper
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handles: []
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@@ -61,8 +465,24 @@ gripper.misumi_rz:
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feedback: {}
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goal:
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description: UniLabJsonCommand __init__ 的参数schema
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properties: {}
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required: []
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properties:
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baudrate:
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default: 115200
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description: '参数: baudrate'
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type: integer
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id:
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default: 9
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description: '参数: id'
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type: integer
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port:
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description: '参数: port'
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type: string
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pos_error:
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default: -11
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description: '参数: pos_error'
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type: integer
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required:
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- port
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type: object
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result: {}
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required:
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@@ -72,6 +492,80 @@ gripper.misumi_rz:
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gripper.mock:
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class:
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action_value_mappings:
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auto-edit_id:
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feedback: {}
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goal: {}
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goal_default:
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params: '{}'
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resource:
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Gripper1: {}
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wf_name: gripper_run
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handles: []
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result: {}
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schema:
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description: UniLabJsonCommand edit_id 的参数schema
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properties:
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feedback: {}
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goal:
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description: UniLabJsonCommand edit_id 的参数schema
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properties:
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params:
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default: '{}'
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description: '参数: params'
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type: string
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resource:
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default:
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Gripper1: {}
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description: '参数: resource'
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type: object
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wf_name:
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default: gripper_run
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description: '参数: wf_name'
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type: string
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required: []
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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: edit_id 命令参数
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type: object
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type: UniLabJsonCommand
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||||
auto-push_to:
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feedback: {}
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||||
goal: {}
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||||
goal_default:
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||||
position: null
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||||
torque: null
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||||
velocity: 0.0
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||||
handles: []
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||||
result: {}
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||||
schema:
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||||
description: UniLabJsonCommand push_to 的参数schema
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||||
properties:
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||||
feedback: {}
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||||
goal:
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||||
description: UniLabJsonCommand push_to 的参数schema
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||||
properties:
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||||
position:
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||||
description: '参数: position'
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||||
type: number
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||||
torque:
|
||||
description: '参数: torque'
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||||
type: number
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||||
velocity:
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||||
default: 0.0
|
||||
description: '参数: velocity'
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||||
type: number
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||||
required:
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||||
- position
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||||
- torque
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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: push_to 命令参数
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||||
type: object
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||||
type: UniLabJsonCommand
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||||
push_to:
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||||
feedback:
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||||
effort: torque
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||||
@@ -151,9 +645,10 @@ gripper.mock:
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type: GripperCommand
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||||
module: unilabos.devices.gripper.mock:MockGripper
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||||
status_types:
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||||
position: Float64
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||||
status: String
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||||
torque: Float64
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||||
position: float
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||||
status: str
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||||
torque: float
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||||
velocity: float
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||||
type: python
|
||||
description: Mock gripper
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||||
handles: []
|
||||
|
||||
Reference in New Issue
Block a user