mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2025-12-18 05:21:19 +00:00
9aeffebde1
* Cleanup registry to be easy-understanding (#76) * delete deprecated mock devices * rename categories * combine chromatographic devices * rename rviz simulation nodes * organic virtual devices * parse vessel_id * run registry completion before merge --------- Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com> * fix: workstation handlers and vessel_id parsing * fix: working dir error when input config path feat: report publish topic when error * modify default discovery_interval to 15s * feat: add trace log level * feat: 添加ChinWe设备控制类，支持串口通信和电机控制功能 (#79) * fix: drop_tips not using auto resource select * fix: discard_tips error * fix: discard_tips * fix: prcxi_res * add: prcxi res fix: startup slow * feat: workstation example * fix pumps and liquid_handler handle * feat: 优化protocol node节点运行日志 * fix all protocol_compilers and remove deprecated devices * feat: 新增use_remote_resource参数 * fix and remove redundant info * bugfixes on organic protocols * fix filter protocol * fix protocol node * 临时兼容错误的driver写法 * fix: prcxi import error * use call_async in all service to avoid deadlock * fix: figure_resource * Update recipe.yaml * add workstation template and battery example * feat: add sk & ak * update workstation base * Create workstation_architecture.md * refactor: workstation_base 重构为仅含业务逻辑，通信和子设备管理交给 ProtocolNode * refactor: ProtocolNode→WorkstationNode * Add:msgs.action (#83) * update: Workstation dev 将版本号从 0.10.3 更新为 0.10.4 (#84) * Add:msgs.action * update: 将版本号从 0.10.3 更新为 0.10.4 * simplify resource system * uncompleted refactor * example for use WorkstationBase * feat: websocket * feat: websocket test * feat: workstation example * feat: action status * fix: station自己的方法注册错误 * fix: 还原protocol node处理方法 * fix: build * fix: missing job_id key * ws test version 1 * ws test version 2 * ws protocol * 增加物料关系上传日志 * 增加物料关系上传日志 * 修正物料关系上传 * 修复工站的tracker实例追踪失效问题 * 增加handle检测，增加material edge关系上传 * 修复event loop错误 * 修复edge上报错误 * 修复async错误 * 更新schema的title字段 * 主机节点信息等支持自动刷新 * 注册表编辑器 * 修复status密集发送时，消息出错 * 增加addr参数 * fix: addr param * fix: addr param * 取消labid 和 强制config输入 * Add action definitions for LiquidHandlerSetGroup and LiquidHandlerTransferGroup - Created LiquidHandlerSetGroup.action with fields for group name, wells, and volumes. - Created LiquidHandlerTransferGroup.action with fields for source and target group names and unit volume. - Both actions include response fields for return information and success status. * Add LiquidHandlerSetGroup and LiquidHandlerTransferGroup actions to CMakeLists * Add set_group and transfer_group methods to PRCXI9300Handler and update liquid_handler.yaml * result_info改为字典类型 * 新增uat的地址替换 * runze multiple pump support (cherry picked from commit49354fcf39) * remove runze multiple software obtainer (cherry picked from commit8bcc92a394) * support multiple backbone (cherry picked from commit4771ff2347) * Update runze pump format * Correct runze multiple backbone * Update runze_multiple_backbone * Correct runze pump multiple receive method. * Correct runze pump multiple receive method. * 对于PRCXI9320的transfer_group，一对多和多对多 * 移除MQTT，更新launch文档，提供注册表示例文件，更新到0.10.5 * fix import error * fix dupe upload registry * refactor ws client * add server timeout * Fix: run-column with correct vessel id (#86) * fix run_column * Update run_column_protocol.py (cherry picked from commite5aa4d940a) * resource_update use resource_add * 新增版位推荐功能 * 重新规定了版位推荐的入参 * update registry with nested obj * fix protocol node log_message, added create_resource return value * fix protocol node log_message, added create_resource return value * try fix add protocol * fix resource_add * 修复移液站错误的aspirate注册表 * Feature/xprbalance-zhida (#80) * feat(devices): add Zhida GC/MS pretreatment automation workstation * feat(devices): add mettler_toledo xpr balance * balance * 重新补全zhida注册表 * PRCXI9320 json * PRCXI9320 json * PRCXI9320 json * fix resource download * remove class for resource * bump version to 0.10.6 * 更新所有注册表 * 修复protocolnode的兼容性 * 修复protocolnode的兼容性 * Update install md * Add Defaultlayout * 更新物料接口 * fix dict to tree/nested-dict converter * coin_cell_station draft * refactor: rename "station_resource" to "deck" * add standardized BIOYOND resources: bottle_carrier, bottle * refactor and add BIOYOND resources tests * add BIOYOND deck assignment and pass all tests * fix: update resource with correct structure; remove deprecated liquid_handler set_group action * feat: 将新威电池测试系统驱动与配置文件并入 workstation_dev_YB2 (#92) * feat: 新威电池测试系统驱动与注册文件 * feat: bring neware driver & battery.json into workstation_dev_YB2 * add bioyond studio draft * bioyond station with communication init and resource sync * fix bioyond station and registry * fix: update resource with correct structure; remove deprecated liquid_handler set_group action * frontend_docs * create/update resources with POST/PUT for big amount/ small amount data * create/update resources with POST/PUT for big amount/ small amount data * refactor: add itemized_carrier instead of carrier consists of ResourceHolder * create warehouse by factory func * update bioyond launch json * add child_size for itemized_carrier * fix bioyond resource io * Workstation templates: Resources and its CRUD, and workstation tasks (#95) * coin_cell_station draft * refactor: rename "station_resource" to "deck" * add standardized BIOYOND resources: bottle_carrier, bottle * refactor and add BIOYOND resources tests * add BIOYOND deck assignment and pass all tests * fix: update resource with correct structure; remove deprecated liquid_handler set_group action * feat: 将新威电池测试系统驱动与配置文件并入 workstation_dev_YB2 (#92) * feat: 新威电池测试系统驱动与注册文件 * feat: bring neware driver & battery.json into workstation_dev_YB2 * add bioyond studio draft * bioyond station with communication init and resource sync * fix bioyond station and registry * create/update resources with POST/PUT for big amount/ small amount data * refactor: add itemized_carrier instead of carrier consists of ResourceHolder * create warehouse by factory func * update bioyond launch json * add child_size for itemized_carrier * fix bioyond resource io --------- Co-authored-by: h840473807 <47357934+h840473807@users.noreply.github.com> Co-authored-by: Xie Qiming <97236197+Andy6M@users.noreply.github.com> * 更新物料接口 * Workstation dev yb2 (#100) * Refactor and extend reaction station action messages * Refactor dispensing station tasks to enhance parameter clarity and add batch processing capabilities - Updated `create_90_10_vial_feeding_task` to include detailed parameters for 90%/10% vial feeding, improving clarity and usability. - Introduced `create_batch_90_10_vial_feeding_task` for batch processing of 90%/10% vial feeding tasks with JSON formatted input. - Added `create_batch_diamine_solution_task` for batch preparation of diamine solution, also utilizing JSON formatted input. - Refined `create_diamine_solution_task` to include additional parameters for better task configuration. - Enhanced schema descriptions and default values for improved user guidance. * 修复to_plr_resources * add update remove * 支持选择器注册表自动生成 支持转运物料 * 修复资源添加 * 修复transfer_resource_to_another生成 * 更新transfer_resource_to_another参数，支持spot入参 * 新增test_resource动作 * fix host_node error * fix host_node test_resource error * fix host_node test_resource error * 过滤本地动作 * 移动内部action以兼容host node * 修复同步任务报错不显示的bug * feat: 允许返回非本节点物料，后面可以通过decoration进行区分，就不进行warning了 * update todo * modify bioyond/plr converter, bioyond resource registry, and tests * pass the tests * update todo * add conda-pack-build.yml * add auto install script for conda-pack-build.yml (cherry picked from commit172599adcf) * update conda-pack-build.yml * update conda-pack-build.yml * update conda-pack-build.yml * update conda-pack-build.yml * update conda-pack-build.yml * Add version in __init__.py Update conda-pack-build.yml Add create_zip_archive.py * Update conda-pack-build.yml * Update conda-pack-build.yml (with mamba) * Update conda-pack-build.yml * Fix FileNotFoundError * Try fix 'charmap' codec can't encode characters in position 16-23: character maps to <undefined> * Fix unilabos msgs search error * Fix environment_check.py * Update recipe.yaml * Update registry. Update uuid loop figure method. Update install docs. * Fix nested conda pack * Fix one-key installation path error * Bump version to 0.10.7 * Workshop bj (#99) * Add LaiYu Liquid device integration and tests Introduce LaiYu Liquid device implementation, including backend, controllers, drivers, configuration, and resource files. Add hardware connection, tip pickup, and simplified test scripts, as well as experiment and registry configuration for LaiYu Liquid. Documentation and .gitignore for the device are also included. * feat(LaiYu_Liquid): 重构设备模块结构并添加硬件文档 refactor: 重新组织LaiYu_Liquid模块目录结构 docs: 添加SOPA移液器和步进电机控制指令文档 fix: 修正设备配置中的最大体积默认值 test: 新增工作台配置测试用例 chore: 删除过时的测试脚本和配置文件 * add * 重构: 将 LaiYu_Liquid.py 重命名为 laiyu_liquid_main.py 并更新所有导入引用 - 使用 git mv 将 LaiYu_Liquid.py 重命名为 laiyu_liquid_main.py - 更新所有相关文件中的导入引用 - 保持代码功能不变，仅改善命名一致性 - 测试确认所有导入正常工作 * 修复: 在 core/__init__.py 中添加 LaiYuLiquidBackend 导出 - 添加 LaiYuLiquidBackend 到导入列表 - 添加 LaiYuLiquidBackend 到 __all__ 导出列表 - 确保所有主要类都可以正确导入 * 修复大小写文件夹名字 * 电池装配工站二次开发教程（带目录）上传至dev (#94) * 电池装配工站二次开发教程 * Update intro.md * 物料教程 * 更新物料教程，json格式注释 * Update prcxi driver & fix transfer_liquid mix_times (#90) * Update prcxi driver & fix transfer_liquid mix_times * fix: correct mix_times type * Update liquid_handler registry * test: prcxi.py * Update registry from pr * fix ony-key script not exist * clean files --------- Co-authored-by: Junhan Chang <changjh@dp.tech> Co-authored-by: ZiWei <131428629+ZiWei09@users.noreply.github.com> Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com> Co-authored-by: Xie Qiming <97236197+Andy6M@users.noreply.github.com> Co-authored-by: h840473807 <47357934+h840473807@users.noreply.github.com> Co-authored-by: LccLink <1951855008@qq.com> Co-authored-by: lixinyu1011 <61094742+lixinyu1011@users.noreply.github.com> Co-authored-by: shiyubo0410 <shiyubo@dp.tech>
806 lines
21 KiB
YAML
806 lines
21 KiB
YAML
robotic_arm.SCARA_with_slider.virtual:
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category:
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class:
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action_value_mappings:
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speed:
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feedback: {}
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goal:
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quaternion:
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retry:
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speed:
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target_link:
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- position
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description: resource_manager的参数schema
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feedback: {}
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goal:
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parent_link:
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resource:
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- parent_link
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type: object
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required:
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title: resource_manager参数
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type: object
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type: UniLabJsonCommand
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auto-wait_for_resource_action:
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placeholder_keys: {}
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schema:
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description: wait_for_resource_action的参数schema
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properties:
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properties: {}
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required: []
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required:
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title: wait_for_resource_action参数
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pick_and_place:
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command: command
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command: ''
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handles: {}
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result: {}
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schema:
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description: ''
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properties:
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feedback:
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status:
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type: string
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required:
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title: SendCmd_Feedback
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type: object
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properties:
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command:
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required:
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return_info:
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success:
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required:
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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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set_position:
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feedback: {}
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goal:
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command: command
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handles: {}
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result: {}
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schema:
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feedback:
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properties:
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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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command:
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required:
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title: SendCmd_Goal
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return_info:
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required:
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title: SendCmd_Result
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required:
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title: SendCmd
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type: object
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type: SendCmd
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set_status:
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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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schema:
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description: ''
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properties:
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feedback:
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status:
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type: string
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required:
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title: SendCmd_Feedback
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type: object
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goal:
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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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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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- success
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title: SendCmd_Result
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type: object
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required:
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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.ros_dev.moveit_interface:MoveitInterface
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status_types: {}
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type: python
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config_info: []
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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。
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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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device_config:
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type: string
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joint_poses:
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type: string
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moveit_type:
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type: string
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rotation:
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type: string
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required:
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- moveit_type
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- joint_poses
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type: object
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data:
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properties: {}
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required: []
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type: object
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model:
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mesh: arm_slider
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type: device
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version: 1.0.0
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robotic_arm.UR:
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category:
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- robot_arm
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class:
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action_value_mappings:
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auto-arm_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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placeholder_keys: {}
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result: {}
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schema:
|
||
description: 机械臂初始化函数。执行UR机械臂的完整初始化流程，包括上电、释放制动器、解除保护停止状态等。该函数确保机械臂从安全停止状态恢复到可操作状态，是机械臂使用前的必要步骤。初始化完成后机械臂将处于就绪状态，可以接收后续的运动指令。
|
||
properties:
|
||
feedback: {}
|
||
goal:
|
||
properties: {}
|
||
required: []
|
||
type: object
|
||
result: {}
|
||
required:
|
||
- goal
|
||
title: arm_init参数
|
||
type: object
|
||
type: UniLabJsonCommand
|
||
auto-load_pose_data:
|
||
feedback: {}
|
||
goal: {}
|
||
goal_default:
|
||
data: null
|
||
handles: {}
|
||
placeholder_keys: {}
|
||
result: {}
|
||
schema:
|
||
description: 从JSON字符串加载位置数据函数。接收包含机械臂位置信息的JSON格式字符串，解析并存储位置数据供后续运动任务使用。位置数据通常包含多个预定义的工作位置坐标，用于实现精确的多点运动控制。适用于动态配置机械臂工作位置的场景。
|
||
properties:
|
||
feedback: {}
|
||
goal:
|
||
properties:
|
||
data:
|
||
type: string
|
||
required:
|
||
- data
|
||
type: object
|
||
result: {}
|
||
required:
|
||
- goal
|
||
title: load_pose_data参数
|
||
type: object
|
||
type: UniLabJsonCommand
|
||
auto-load_pose_file:
|
||
feedback: {}
|
||
goal: {}
|
||
goal_default:
|
||
file: null
|
||
handles: {}
|
||
placeholder_keys: {}
|
||
result: {}
|
||
schema:
|
||
description: 从文件加载位置数据函数。读取指定的JSON文件并加载其中的机械臂位置信息。该函数支持从外部配置文件中获取预设的工作位置，便于位置数据的管理和重用。适用于需要从固定配置文件中读取复杂位置序列的应用场景。
|
||
properties:
|
||
feedback: {}
|
||
goal:
|
||
properties:
|
||
file:
|
||
type: string
|
||
required:
|
||
- file
|
||
type: object
|
||
result: {}
|
||
required:
|
||
- goal
|
||
title: load_pose_file参数
|
||
type: object
|
||
type: UniLabJsonCommand
|
||
auto-reload_pose:
|
||
feedback: {}
|
||
goal: {}
|
||
goal_default: {}
|
||
handles: {}
|
||
placeholder_keys: {}
|
||
result: {}
|
||
schema:
|
||
description: 重新加载位置数据函数。重新读取并解析之前设置的位置文件，更新内存中的位置数据。该函数用于在位置文件被修改后刷新机械臂的位置配置，无需重新初始化整个系统。适用于动态更新机械臂工作位置的场景。
|
||
properties:
|
||
feedback: {}
|
||
goal:
|
||
properties: {}
|
||
required: []
|
||
type: object
|
||
result: {}
|
||
required:
|
||
- goal
|
||
title: reload_pose参数
|
||
type: object
|
||
type: UniLabJsonCommand
|
||
move_pos_task:
|
||
feedback: {}
|
||
goal:
|
||
command: command
|
||
goal_default:
|
||
command: ''
|
||
handles: {}
|
||
result:
|
||
success: success
|
||
schema:
|
||
description: ''
|
||
properties:
|
||
feedback:
|
||
properties:
|
||
status:
|
||
type: string
|
||
required:
|
||
- status
|
||
title: SendCmd_Feedback
|
||
type: object
|
||
goal:
|
||
properties:
|
||
command:
|
||
type: string
|
||
required:
|
||
- command
|
||
title: SendCmd_Goal
|
||
type: object
|
||
result:
|
||
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.agv.ur_arm_task:UrArmTask
|
||
status_types:
|
||
arm_pose: list
|
||
arm_status: str
|
||
gripper_pose: float
|
||
gripper_status: str
|
||
type: python
|
||
config_info: []
|
||
description: Universal Robots机械臂设备，用于实验室精密操作和自动化作业。该设备集成了UR机械臂本体、Robotiq夹爪和RTDE通信接口，支持六自由度精确运动控制和力觉反馈。具备实时位置监控、状态反馈、轨迹规划等功能，可执行复杂的多点位运动任务。适用于样品抓取、精密装配、实验器具操作等需要高精度和高重复性的实验室自动化场景。
|
||
handles: []
|
||
icon: ''
|
||
init_param_schema:
|
||
config:
|
||
properties:
|
||
host:
|
||
type: string
|
||
retry:
|
||
default: 30
|
||
type: string
|
||
required:
|
||
- host
|
||
type: object
|
||
data:
|
||
properties:
|
||
arm_pose:
|
||
type: array
|
||
arm_status:
|
||
type: string
|
||
gripper_pose:
|
||
type: number
|
||
gripper_status:
|
||
type: string
|
||
required:
|
||
- arm_pose
|
||
- gripper_pose
|
||
- arm_status
|
||
- gripper_status
|
||
type: object
|
||
version: 1.0.0
|
||
robotic_arm.elite:
|
||
category:
|
||
- robot_arm
|
||
class:
|
||
action_value_mappings:
|
||
auto-close:
|
||
feedback: {}
|
||
goal: {}
|
||
goal_default: {}
|
||
handles: {}
|
||
placeholder_keys: {}
|
||
result: {}
|
||
schema:
|
||
description: ''
|
||
properties:
|
||
feedback: {}
|
||
goal:
|
||
properties: {}
|
||
required: []
|
||
type: object
|
||
result: {}
|
||
required:
|
||
- goal
|
||
title: close参数
|
||
type: object
|
||
type: UniLabJsonCommand
|
||
auto-modbus_close:
|
||
feedback: {}
|
||
goal: {}
|
||
goal_default: {}
|
||
handles: {}
|
||
placeholder_keys: {}
|
||
result: {}
|
||
schema:
|
||
description: ''
|
||
properties:
|
||
feedback: {}
|
||
goal:
|
||
properties: {}
|
||
required: []
|
||
type: object
|
||
result: {}
|
||
required:
|
||
- goal
|
||
title: modbus_close参数
|
||
type: object
|
||
type: UniLabJsonCommand
|
||
auto-modbus_read_holding_registers:
|
||
feedback: {}
|
||
goal: {}
|
||
goal_default:
|
||
quantity: null
|
||
start_addr: null
|
||
unit_id: null
|
||
handles: {}
|
||
placeholder_keys: {}
|
||
result: {}
|
||
schema:
|
||
description: ''
|
||
properties:
|
||
feedback: {}
|
||
goal:
|
||
properties:
|
||
quantity:
|
||
type: string
|
||
start_addr:
|
||
type: string
|
||
unit_id:
|
||
type: string
|
||
required:
|
||
- unit_id
|
||
- start_addr
|
||
- quantity
|
||
type: object
|
||
result: {}
|
||
required:
|
||
- goal
|
||
title: modbus_read_holding_registers参数
|
||
type: object
|
||
type: UniLabJsonCommand
|
||
auto-modbus_task:
|
||
feedback: {}
|
||
goal: {}
|
||
goal_default:
|
||
job_id: null
|
||
handles: {}
|
||
placeholder_keys: {}
|
||
result: {}
|
||
schema:
|
||
description: ''
|
||
properties:
|
||
feedback: {}
|
||
goal:
|
||
properties:
|
||
job_id:
|
||
type: string
|
||
required:
|
||
- job_id
|
||
type: object
|
||
result: {}
|
||
required:
|
||
- goal
|
||
title: modbus_task参数
|
||
type: object
|
||
type: UniLabJsonCommand
|
||
auto-modbus_write_single_register:
|
||
feedback: {}
|
||
goal: {}
|
||
goal_default:
|
||
register_addr: null
|
||
unit_id: null
|
||
value: null
|
||
handles: {}
|
||
placeholder_keys: {}
|
||
result: {}
|
||
schema:
|
||
description: ''
|
||
properties:
|
||
feedback: {}
|
||
goal:
|
||
properties:
|
||
register_addr:
|
||
type: string
|
||
unit_id:
|
||
type: string
|
||
value:
|
||
type: string
|
||
required:
|
||
- unit_id
|
||
- register_addr
|
||
- value
|
||
type: object
|
||
result: {}
|
||
required:
|
||
- goal
|
||
title: modbus_write_single_register参数
|
||
type: object
|
||
type: UniLabJsonCommand
|
||
auto-parse_success_response:
|
||
feedback: {}
|
||
goal: {}
|
||
goal_default:
|
||
response: null
|
||
handles: {}
|
||
placeholder_keys: {}
|
||
result: {}
|
||
schema:
|
||
description: ''
|
||
properties:
|
||
feedback: {}
|
||
goal:
|
||
properties:
|
||
response:
|
||
type: string
|
||
required:
|
||
- response
|
||
type: object
|
||
result: {}
|
||
required:
|
||
- goal
|
||
title: parse_success_response参数
|
||
type: object
|
||
type: UniLabJsonCommand
|
||
auto-send_command:
|
||
feedback: {}
|
||
goal: {}
|
||
goal_default:
|
||
command: null
|
||
handles: {}
|
||
placeholder_keys: {}
|
||
result: {}
|
||
schema:
|
||
description: ''
|
||
properties:
|
||
feedback: {}
|
||
goal:
|
||
properties:
|
||
command:
|
||
type: string
|
||
required:
|
||
- command
|
||
type: object
|
||
result: {}
|
||
required:
|
||
- goal
|
||
title: send_command参数
|
||
type: object
|
||
type: UniLabJsonCommand
|
||
modbus_task_cmd:
|
||
feedback: {}
|
||
goal:
|
||
command: command
|
||
goal_default:
|
||
command: ''
|
||
handles: {}
|
||
result: {}
|
||
schema:
|
||
description: ''
|
||
properties:
|
||
feedback:
|
||
properties:
|
||
status:
|
||
type: string
|
||
required:
|
||
- status
|
||
title: SendCmd_Feedback
|
||
type: object
|
||
goal:
|
||
properties:
|
||
command:
|
||
type: string
|
||
required:
|
||
- command
|
||
title: SendCmd_Goal
|
||
type: object
|
||
result:
|
||
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.arm.elite_robot:EliteRobot
|
||
status_types:
|
||
actual_joint_positions: String
|
||
arm_pose: String
|
||
type: python
|
||
config_info: []
|
||
description: Elite robot arm
|
||
handles: []
|
||
icon: ''
|
||
init_param_schema:
|
||
config:
|
||
properties:
|
||
device_id:
|
||
type: string
|
||
host:
|
||
type: string
|
||
required:
|
||
- device_id
|
||
- host
|
||
type: object
|
||
data:
|
||
properties:
|
||
actual_joint_positions:
|
||
type: string
|
||
arm_pose:
|
||
items:
|
||
type: number
|
||
type: array
|
||
required:
|
||
- arm_pose
|
||
- actual_joint_positions
|
||
type: object
|
||
model:
|
||
mesh: elite_robot
|
||
type: device
|
||
version: 1.0.0
|