添加多枪头支持，夹爪支持，以及修复部分bug #234
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| name: CI Check | |
| on: | |
| push: | |
| branches: [main, dev] | |
| pull_request: | |
| branches: [main, dev] | |
| jobs: | |
| registry-check: | |
| runs-on: windows-latest | |
| env: | |
| # Fix Unicode encoding issue on Windows runner (cp1252 -> utf-8) | |
| PYTHONIOENCODING: utf-8 | |
| PYTHONUTF8: 1 | |
| defaults: | |
| run: | |
| shell: cmd | |
| steps: | |
| - uses: actions/checkout@v6 | |
| with: | |
| fetch-depth: 0 | |
| - name: Setup Miniforge | |
| uses: conda-incubator/setup-miniconda@v4 | |
| with: | |
| miniforge-version: latest | |
| use-mamba: true | |
| channels: robostack-staging,conda-forge,uni-lab | |
| channel-priority: flexible | |
| activate-environment: check-env | |
| auto-update-conda: false | |
| show-channel-urls: true | |
| - name: Install ROS dependencies, uv and unilabos-msgs | |
| run: | | |
| echo Installing ROS dependencies... | |
| mamba install -n check-env --override-channels -c robostack-staging -c conda-forge -c uni-lab conda-forge::uv conda-forge::opencv robostack-staging::ros-humble-ros-core robostack-staging::ros-humble-action-msgs robostack-staging::ros-humble-std-msgs robostack-staging::ros-humble-geometry-msgs robostack-staging::ros-humble-control-msgs robostack-staging::ros-humble-nav2-msgs uni-lab::ros-humble-unilabos-msgs robostack-staging::ros-humble-cv-bridge robostack-staging::ros-humble-vision-opencv robostack-staging::ros-humble-tf-transformations robostack-staging::ros-humble-moveit-msgs robostack-staging::ros-humble-tf2-ros robostack-staging::ros-humble-tf2-ros-py conda-forge::transforms3d -y | |
| - name: Install pip dependencies and unilabos | |
| run: | | |
| call conda activate check-env | |
| echo Installing pip dependencies... | |
| uv pip install -r unilabos/utils/requirements.txt | |
| uv pip install pywinauto git+https://github.com/Xuwznln/pylabrobot.git | |
| uv pip uninstall enum34 || echo enum34 not installed, skipping | |
| uv pip install . | |
| - name: Run check mode (AST registry validation) | |
| run: | | |
| call conda activate check-env | |
| echo Running check mode... | |
| python -m unilabos --check_mode --skip_env_check | |
| - name: Check for uncommitted changes | |
| shell: bash | |
| run: | | |
| if ! git diff --exit-code; then | |
| echo "::error::检测到文件变化！请先在本地运行 'python -m unilabos --complete_registry' 并提交变更" | |
| echo "变化的文件:" | |
| git diff --name-only | |
| exit 1 | |
| fi | |
| echo "检查通过：无文件变化" |