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新增注册表补全功能，修复Protocol执行失败

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Xuwznln
2025-06-27 23:45:05 +08:00
parent f9a9e91d56
commit bbc49e9aab
39 changed files with 21761 additions and 3336 deletions
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362
unilabos/registry/devices/moveit_config.yaml
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@@ -1,56 +1,328 @@
moveit.toyo_xyz:
description: Toyo XYZ
class:
module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
type: python
action_value_mappings:
set_position:
type: SendCmd
goal:
command: command
feedback: { }
result: { }
pick_and_place:
type: SendCmd
goal:
command: command
feedback: { }
result: { }
set_status:
type: SendCmd
goal:
command: command
feedback: { }
result: { }
model:
type: device
mesh: toyo_xyz
moveit.arm_slider:
description: Arm with Slider
model:
type: device
mesh: arm_slider
class:
module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
type: python
action_value_mappings:
set_position:
type: SendCmd
goal:
command: command
feedback: {}
result: {}
pick_and_place:
type: SendCmd
feedback: {}
goal:
command: command
feedback: {}
goal_default:
command: ''
handles: []
result: {}
schema:
description: ROS Action SendCmd 的 JSON Schema
properties:
feedback:
description: Action 反馈 - 执行过程中从服务器发送到客户端
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
description: Action 结果 - 完成后从服务器发送到客户端
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
- goal
title: SendCmd
type: object
type: SendCmd
set_position:
feedback: {}
goal:
command: command
goal_default:
command: ''
handles: []
result: {}
schema:
description: ROS Action SendCmd 的 JSON Schema
properties:
feedback:
description: Action 反馈 - 执行过程中从服务器发送到客户端
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
description: Action 结果 - 完成后从服务器发送到客户端
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
- goal
title: SendCmd
type: object
type: SendCmd
set_status:
type: SendCmd
feedback: {}
goal:
command: command
feedback: {}
goal_default:
command: ''
handles: []
result: {}
schema:
description: ROS Action SendCmd 的 JSON Schema
properties:
feedback:
description: Action 反馈 - 执行过程中从服务器发送到客户端
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
description: Action 结果 - 完成后从服务器发送到客户端
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
- goal
title: SendCmd
type: object
type: SendCmd
module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
status_types: {}
type: python
description: Arm with Slider
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
model:
mesh: arm_slider
type: device
moveit.toyo_xyz:
class:
action_value_mappings:
pick_and_place:
feedback: {}
goal:
command: command
goal_default:
command: ''
handles: []
result: {}
schema:
description: ROS Action SendCmd 的 JSON Schema
properties:
feedback:
description: Action 反馈 - 执行过程中从服务器发送到客户端
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
description: Action 结果 - 完成后从服务器发送到客户端
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
- goal
title: SendCmd
type: object
type: SendCmd
set_position:
feedback: {}
goal:
command: command
goal_default:
command: ''
handles: []
result: {}
schema:
description: ROS Action SendCmd 的 JSON Schema
properties:
feedback:
description: Action 反馈 - 执行过程中从服务器发送到客户端
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
description: Action 结果 - 完成后从服务器发送到客户端
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
- goal
title: SendCmd
type: object
type: SendCmd
set_status:
feedback: {}
goal:
command: command
goal_default:
command: ''
handles: []
result: {}
schema:
description: ROS Action SendCmd 的 JSON Schema
properties:
feedback:
description: Action 反馈 - 执行过程中从服务器发送到客户端
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
description: Action 结果 - 完成后从服务器发送到客户端
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
- goal
title: SendCmd
type: object
type: SendCmd
module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
status_types: {}
type: python
description: 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: {}
required: []
type: object
result: {}
required:
- goal
title: __init__ 命令参数
type: object
model:
mesh: toyo_xyz
type: device