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增加注册表版本参数，支持将auto-指令人工检查后非auto，不生成人工已检查的指令，取消不必要的description生成

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Xuwznln
2025-07-16 01:05:16 +08:00
parent 10cb645191
commit f9aae44174
24 changed files with 247 additions and 4286 deletions
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166
unilabos/registry/devices/moveit_config.yaml
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@@ -117,30 +117,6 @@ moveit.arm_slider:
title: moveit_task参数
type: object
type: UniLabJsonCommand
auto-pick_and_place:
feedback: {}
goal: {}
goal_default:
command: null
handles: []
result: {}
schema:
description: pick_and_place的参数schema
properties:
feedback: {}
goal:
properties:
command:
type: string
required:
- command
type: object
result: {}
required:
- goal
title: pick_and_place参数
type: object
type: UniLabJsonCommand
auto-post_init:
feedback: {}
goal: {}
@@ -193,54 +169,6 @@ moveit.arm_slider:
title: resource_manager参数
type: object
type: UniLabJsonCommand
auto-set_position:
feedback: {}
goal: {}
goal_default:
command: null
handles: []
result: {}
schema:
description: set_position的参数schema
properties:
feedback: {}
goal:
properties:
command:
type: string
required:
- command
type: object
result: {}
required:
- goal
title: set_position参数
type: object
type: UniLabJsonCommand
auto-set_status:
feedback: {}
goal: {}
goal_default:
command: null
handles: []
result: {}
schema:
description: set_status的参数schema
properties:
feedback: {}
goal:
properties:
command:
type: string
required:
- command
type: object
result: {}
required:
- goal
title: set_status参数
type: object
type: UniLabJsonCommand
auto-wait_for_resource_action:
feedback: {}
goal: {}
@@ -273,7 +201,6 @@ moveit.arm_slider:
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
@@ -282,7 +209,6 @@ moveit.arm_slider:
title: SendCmd_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties:
command:
type: string
@@ -291,7 +217,6 @@ moveit.arm_slider:
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
@@ -319,7 +244,6 @@ moveit.arm_slider:
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
@@ -328,7 +252,6 @@ moveit.arm_slider:
title: SendCmd_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties:
command:
type: string
@@ -337,7 +260,6 @@ moveit.arm_slider:
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
@@ -365,7 +287,6 @@ moveit.arm_slider:
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
@@ -374,7 +295,6 @@ moveit.arm_slider:
title: SendCmd_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties:
command:
type: string
@@ -383,7 +303,6 @@ moveit.arm_slider:
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
@@ -402,7 +321,7 @@ moveit.arm_slider:
module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
status_types: {}
type: python
description: Arm with Slider
description: 机械臂与滑块运动系统，基于MoveIt2运动规划框架的多自由度机械臂控制设备。该系统集成机械臂和线性滑块，通过ROS2和MoveIt2实现精确的轨迹规划和协调运动控制。支持笛卡尔空间和关节空间的运动规划、碰撞检测、逆运动学求解等功能。适用于复杂的pick-and-place操作、精密装配、多工位协作等需要高精度多轴协调运动的实验室自动化应用。
handles: []
icon: ''
init_param_schema:
@@ -546,30 +465,6 @@ moveit.toyo_xyz:
title: moveit_task参数
type: object
type: UniLabJsonCommand
auto-pick_and_place:
feedback: {}
goal: {}
goal_default:
command: null
handles: []
result: {}
schema:
description: pick_and_place的参数schema
properties:
feedback: {}
goal:
properties:
command:
type: string
required:
- command
type: object
result: {}
required:
- goal
title: pick_and_place参数
type: object
type: UniLabJsonCommand
auto-post_init:
feedback: {}
goal: {}
@@ -622,54 +517,6 @@ moveit.toyo_xyz:
title: resource_manager参数
type: object
type: UniLabJsonCommand
auto-set_position:
feedback: {}
goal: {}
goal_default:
command: null
handles: []
result: {}
schema:
description: set_position的参数schema
properties:
feedback: {}
goal:
properties:
command:
type: string
required:
- command
type: object
result: {}
required:
- goal
title: set_position参数
type: object
type: UniLabJsonCommand
auto-set_status:
feedback: {}
goal: {}
goal_default:
command: null
handles: []
result: {}
schema:
description: set_status的参数schema
properties:
feedback: {}
goal:
properties:
command:
type: string
required:
- command
type: object
result: {}
required:
- goal
title: set_status参数
type: object
type: UniLabJsonCommand
auto-wait_for_resource_action:
feedback: {}
goal: {}
@@ -702,7 +549,6 @@ moveit.toyo_xyz:
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
@@ -711,7 +557,6 @@ moveit.toyo_xyz:
title: SendCmd_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties:
command:
type: string
@@ -720,7 +565,6 @@ moveit.toyo_xyz:
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
@@ -748,7 +592,6 @@ moveit.toyo_xyz:
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
@@ -757,7 +600,6 @@ moveit.toyo_xyz:
title: SendCmd_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties:
command:
type: string
@@ -766,7 +608,6 @@ moveit.toyo_xyz:
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
@@ -794,7 +635,6 @@ moveit.toyo_xyz:
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
@@ -803,7 +643,6 @@ moveit.toyo_xyz:
title: SendCmd_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties:
command:
type: string
@@ -812,7 +651,6 @@ moveit.toyo_xyz:
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
@@ -831,7 +669,7 @@ moveit.toyo_xyz:
module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
status_types: {}
type: python
description: Toyo XYZ
description: 东洋XYZ三轴运动平台，基于MoveIt2运动规划框架的精密定位设备。该设备通过ROS2和MoveIt2实现三维空间的精确运动控制，支持复杂轨迹规划、多点定位、速度控制等功能。具备高精度定位、平稳运动、实时轨迹监控等特性。适用于精密加工、样品定位、检测扫描、自动化装配等需要高精度三维运动控制的实验室和工业应用场景。
handles: []
icon: ''
init_param_schema: