mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2026-02-05 14:05:12 +00:00
694 lines
20 KiB
YAML
694 lines
20 KiB
YAML
linear_motion.grbl:
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class:
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action_value_mappings:
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auto-initialize:
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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: initialize的参数schema
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properties:
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feedback: {}
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goal:
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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: initialize参数
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type: object
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type: UniLabJsonCommand
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auto-move_through_points:
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feedback: {}
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goal: {}
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goal_default:
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positions: null
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handles: []
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result: {}
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schema:
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description: move_through_points的参数schema
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properties:
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feedback: {}
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goal:
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properties:
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positions:
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type: array
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required:
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- 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: move_through_points参数
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type: object
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type: UniLabJsonCommand
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auto-set_position:
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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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handles: []
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result: {}
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schema:
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description: set_position的参数schema
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properties:
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feedback: {}
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goal:
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properties:
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position:
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type: string
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required:
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- position
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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: set_position参数
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type: object
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type: UniLabJsonCommand
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auto-set_spindle_speed:
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feedback: {}
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goal: {}
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goal_default:
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max_velocity: 500
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spindle_speed: null
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handles: []
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result: {}
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schema:
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description: set_spindle_speed的参数schema
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properties:
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feedback: {}
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goal:
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properties:
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max_velocity:
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default: 500
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type: number
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spindle_speed:
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type: number
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required:
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- spindle_speed
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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: set_spindle_speed参数
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type: object
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type: UniLabJsonCommand
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auto-stop_operation:
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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: stop_operation的参数schema
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properties:
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feedback: {}
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goal:
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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: stop_operation参数
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type: object
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type: UniLabJsonCommand
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auto-wait_error:
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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: wait_error的参数schema
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properties:
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feedback: {}
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goal:
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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_error参数
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type: object
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type: UniLabJsonCommandAsync
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move_through_points:
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feedback:
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current_pose.pose.position: position
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estimated_time_remaining.sec: time_remaining
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navigation_time.sec: time_spent
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number_of_poses_remaining: pose_number_remaining
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goal:
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poses[].pose.position: positions[]
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goal_default:
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behavior_tree: ''
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poses:
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- header:
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frame_id: ''
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stamp:
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nanosec: 0
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sec: 0
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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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handles: []
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result: {}
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schema:
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description: ROS Action NavigateThroughPoses 的 JSON Schema
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properties:
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feedback:
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description: Action 反馈 - 执行过程中从服务器发送到客户端
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properties:
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current_pose:
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properties:
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header:
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properties:
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frame_id:
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type: string
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stamp:
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properties:
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nanosec:
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maximum: 4294967295
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minimum: 0
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type: integer
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sec:
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maximum: 2147483647
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minimum: -2147483648
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type: integer
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required:
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- sec
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- nanosec
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title: Time
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type: object
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required:
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- stamp
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- frame_id
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title: Header
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type: object
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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: Quaternion
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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: Point
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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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required:
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- header
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- pose
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title: PoseStamped
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type: object
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distance_remaining:
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type: number
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estimated_time_remaining:
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properties:
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nanosec:
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maximum: 4294967295
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minimum: 0
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type: integer
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sec:
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maximum: 2147483647
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minimum: -2147483648
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type: integer
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required:
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- sec
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- nanosec
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title: Duration
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type: object
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navigation_time:
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properties:
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nanosec:
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maximum: 4294967295
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minimum: 0
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type: integer
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sec:
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maximum: 2147483647
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minimum: -2147483648
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type: integer
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required:
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- sec
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- nanosec
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title: Duration
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type: object
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number_of_poses_remaining:
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maximum: 32767
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minimum: -32768
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type: integer
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number_of_recoveries:
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maximum: 32767
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minimum: -32768
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type: integer
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required:
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- current_pose
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- navigation_time
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- estimated_time_remaining
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- number_of_recoveries
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- distance_remaining
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- number_of_poses_remaining
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title: NavigateThroughPoses_Feedback
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type: object
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goal:
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description: Action 目标 - 从客户端发送到服务器
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properties:
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behavior_tree:
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type: string
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poses:
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items:
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properties:
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header:
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properties:
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frame_id:
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type: string
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stamp:
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properties:
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nanosec:
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maximum: 4294967295
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minimum: 0
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type: integer
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sec:
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maximum: 2147483647
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minimum: -2147483648
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type: integer
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required:
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- sec
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- nanosec
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title: Time
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type: object
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required:
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- stamp
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- frame_id
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title: Header
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type: object
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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: Quaternion
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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: Point
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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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required:
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- header
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- pose
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title: PoseStamped
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type: object
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type: array
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required:
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- poses
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- behavior_tree
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title: NavigateThroughPoses_Goal
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type: object
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result:
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description: Action 结果 - 完成后从服务器发送到客户端
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properties:
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result:
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properties: {}
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required: []
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title: Empty
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type: object
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required:
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- result
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title: NavigateThroughPoses_Result
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type: object
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required:
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- goal
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title: NavigateThroughPoses
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type: object
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type: NavigateThroughPoses
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set_spindle_speed:
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feedback:
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position: spindle_speed
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goal:
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position: spindle_speed
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goal_default:
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max_velocity: 0.0
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min_duration:
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nanosec: 0
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sec: 0
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position: 0.0
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handles: []
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result: {}
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schema:
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description: ROS Action SingleJointPosition 的 JSON Schema
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properties:
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feedback:
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description: Action 反馈 - 执行过程中从服务器发送到客户端
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properties:
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error:
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type: number
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header:
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properties:
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frame_id:
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type: string
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stamp:
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properties:
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nanosec:
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maximum: 4294967295
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minimum: 0
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type: integer
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sec:
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maximum: 2147483647
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minimum: -2147483648
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type: integer
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required:
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- sec
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- nanosec
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title: Time
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type: object
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required:
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- stamp
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- frame_id
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title: Header
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type: object
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position:
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type: number
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velocity:
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type: number
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required:
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- header
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- position
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- velocity
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- error
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title: SingleJointPosition_Feedback
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type: object
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goal:
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description: Action 目标 - 从客户端发送到服务器
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properties:
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max_velocity:
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type: number
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min_duration:
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properties:
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nanosec:
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maximum: 4294967295
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minimum: 0
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type: integer
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sec:
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maximum: 2147483647
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minimum: -2147483648
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type: integer
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required:
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- sec
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- nanosec
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title: Duration
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type: object
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position:
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type: number
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required:
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- position
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- min_duration
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- max_velocity
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title: SingleJointPosition_Goal
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type: object
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result:
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description: Action 结果 - 完成后从服务器发送到客户端
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properties: {}
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required: []
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title: SingleJointPosition_Result
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type: object
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required:
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- goal
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title: SingleJointPosition
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type: object
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type: SingleJointPosition
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module: unilabos.devices.cnc.grbl_sync:GrblCNC
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status_types:
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position: unilabos.messages:Point3D
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spindle_speed: float
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status: str
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type: python
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description: Grbl CNC
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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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address:
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default: '1'
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type: string
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limits:
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default:
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- -150
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- 150
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- -200
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- 0
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- -80
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- 0
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type: array
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port:
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type: string
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required:
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- port
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type: object
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data:
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properties:
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position:
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type: string
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spindle_speed:
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type: number
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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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- position
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- spindle_speed
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type: object
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motor.iCL42:
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class:
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action_value_mappings:
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auto-execute_run_motor:
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feedback: {}
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goal: {}
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goal_default:
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mode: null
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position: null
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velocity: null
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handles: []
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result: {}
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schema:
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description: execute_run_motor的参数schema
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properties:
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feedback: {}
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goal:
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properties:
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mode:
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type: string
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position:
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type: number
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velocity:
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type: integer
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required:
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- mode
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- position
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- velocity
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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: execute_run_motor参数
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type: object
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type: UniLabJsonCommand
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auto-init_device:
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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: init_device的参数schema
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properties:
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feedback: {}
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goal:
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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_device参数
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type: object
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type: UniLabJsonCommand
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auto-run_motor:
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feedback: {}
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goal: {}
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goal_default:
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mode: null
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position: null
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velocity: null
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handles: []
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result: {}
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schema:
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description: run_motor的参数schema
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properties:
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feedback: {}
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goal:
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properties:
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mode:
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type: string
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|
position:
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type: number
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velocity:
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type: integer
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required:
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- mode
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- position
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- velocity
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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: run_motor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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command: command
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goal_default:
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command: ''
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handles: []
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result:
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success: success
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schema:
|
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description: ROS Action SendCmd 的 JSON Schema
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properties:
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feedback:
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description: Action 反馈 - 执行过程中从服务器发送到客户端
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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: SendCmd_Feedback
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type: object
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goal:
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description: Action 目标 - 从客户端发送到服务器
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|
properties:
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command:
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type: string
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required:
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- command
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title: SendCmd_Goal
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type: object
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result:
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description: Action 结果 - 完成后从服务器发送到客户端
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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: SendCmd_Result
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type: object
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required:
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- goal
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title: SendCmd
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type: object
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type: SendCmd
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module: unilabos.devices.motor.iCL42:iCL42Driver
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status_types:
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is_executing_run: bool
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motor_position: int
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success: bool
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type: python
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description: iCL42 motor
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handles: []
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icon: ''
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init_param_schema:
|
|
config:
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|
properties:
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device_address:
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default: 1
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type: integer
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|
device_com:
|
|
default: COM9
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type: string
|
|
required: []
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type: object
|
|
data:
|
|
properties:
|
|
is_executing_run:
|
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type: boolean
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|
motor_position:
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type: integer
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|
success:
|
|
type: boolean
|
|
required:
|
|
- motor_position
|
|
- is_executing_run
|
|
- success
|
|
type: object
|