[{"data":1,"prerenderedAt":494},["ShallowReactive",2],{"doc-page-capability":3},{"id":4,"title":5,"body":6,"description":13,"extension":487,"meta":488,"navigation":489,"path":490,"seo":491,"stem":492,"__hash__":493},"docs\u002Fdocs\u002F6-能力开发手册.md","6 能力开发手册",{"type":7,"value":8,"toc":459},"minimark",[9,14,17,21,23,27,30,32,35,45,47,50,67,69,73,76,87,94,96,99,102,110,116,118,122,124,127,138,143,145,148,162,168,170,173,176,184,187,190,201,203,207,209,213,250,256,262,268,270,274,285,287,291,293,296,313,322,325,330,333,339,342,357,364,370,372,375,377,385,391,393,396,404,410,416,422,428,434,436,439,445,447,450,453],[10,11,13],"p",{"style":12},"font-size: 32px; font-weight: bold; margin-bottom: 2rem;","能力开发手册",[15,16],"hr",{},[18,19,20],"h3",{"id":20},"能力平台概述",[15,22],{},[24,25,26],"h4",{"id":26},"平台概述",[10,28,29],{},"完成行为能力开发、封装、验证、上架全流程操作，遵循平台标准化流程，提升开发与联调效率。",[15,31],{},[24,33,34],{"id":34},"适用范围",[36,37,38,42],"ol",{},[39,40,41],"li",{},"适用于原子行为能力库开发、节点封装、部署上架全流程",[39,43,44],{},"用于测试环境\u002F正式环境能力发布与验证",[15,46],{},[24,48,49],{"id":49},"核心功能",[36,51,52,55,58,61,64],{},[39,53,54],{},"新手引导：三步快速上手（开发→封装→上架）",[39,56,57],{},"行为能力开发：能力开发和编译",[39,59,60],{},"行为能力封装：CR\u002FCRD 转 JSON、节点模板配置、前端交互",[39,62,63],{},"能力上架：上架 IDE\u002FStudio 进行使用",[39,65,66],{},"能力验证：测试\u002F正式环境提交、可视化交互使用",[15,68],{},[18,70,72],{"id":71},"快速入门新手引导","快速入门（新手引导）",[10,74,75],{},"首页头像旁快速教程按钮，共 3 页：",[36,77,78,81,84],{},[39,79,80],{},"行为能力开发：了解开发入口与流程",[39,82,83],{},"行为能力封装：了解节点生成与配置",[39,85,86],{},"行为能力上架：了解测试→正式发布流程",[10,88,89],{},[90,91],"img",{"alt":92,"src":93},"快速入门教程","https:\u002F\u002Fassets.insightos.cn\u002Fdocs\u002Fimages\u002Fimg_50.webp",[15,95],{},[18,97,98],{"id":98},"首页操作",[10,100,101],{},"进入工具默认展示首页，包含两大入口：",[36,103,104,107],{},[39,105,106],{},"行为能力开发：新建、开发、部署、管理能力",[39,108,109],{},"行为能力封装：将能力转为可视化节点并上架",[10,111,112],{},[90,113],{"alt":114,"src":115},"能力开发工具界面","https:\u002F\u002Fassets.insightos.cn\u002Fdocs\u002Fimages\u002Fimg_51.webp",[15,117],{},[18,119,121],{"id":120},"行为能力开发核心流程","行为能力开发（核心流程）",[15,123],{},[24,125,126],{"id":126},"能力列表页面",[36,128,129,132,135],{},[39,130,131],{},"搜索：按能力 ID\u002F名称\u002FIP 搜索",[39,133,134],{},"筛选：全部\u002F已部署\u002F未部署",[39,136,137],{},"列表字段：序号、能力 ID、名称、部署时间、部署人、版本、状态、IP、仓库地址、操作",[10,139,140],{},[90,141],{"alt":126,"src":142},"https:\u002F\u002Fassets.insightos.cn\u002Fdocs\u002Fimages\u002Fimg_52.webp",[15,144],{},[24,146,147],{"id":147},"新开发行为能力",[36,149,150,153,156,159],{},[39,151,152],{},"点击【新开发行为能力】",[39,154,155],{},"弹窗填写：英文名称（唯一标识），a.b.c格式；",[39,157,158],{},"进入 Web VSCode 在线开发环境",[39,160,161],{},"编写能力程序",[10,163,164],{},[90,165],{"alt":166,"src":167},"能力开发界面","https:\u002F\u002Fassets.insightos.cn\u002Fdocs\u002Fimages\u002Fimg_53.webp",[15,169],{},[24,171,172],{"id":172},"编译能力程序",[10,174,175],{},"在左侧功能栏中使用编译功能：",[36,177,178,181],{},[39,179,180],{},"选择编译场景：通用场景；SMT 场景；Yolo 场景",[39,182,183],{},"选择编译方式：单文件编译、目录编译；",[24,185,186],{"id":186},"目录结构说明",[10,188,189],{},"能力项目的标准目录结构如下：",[191,192,197],"pre",{"className":193,"code":195,"language":196},[194],"language-text","workspace\u002F\n  package\u002F\n    bin\u002F              # 存放脚本文件\n    crds\u002F             # 存放能力和设备定义文件\n    crs\u002F              # 原子能力的注册与配置文件\n    package.yaml      # 包基础信息配置\n  src\u002F\n    ability_sdk\u002F      # 能力 SDK 依赖目录\n    ArmAbilityAbility.py  # 能力主逻辑实现文件\n    .clangd           # 代码补全配置\n    .gitmodules        # git 子模块配置\n    make-package.sh    # 打包构建脚本\n    README.md          # 说明文档\n","text",[198,199,195],"code",{"__ignoreMap":200},"",[15,202],{},[18,204,206],{"id":205},"行为能力封装上架节点生成","行为能力封装上架（节点生成）",[15,208],{},[24,210,212],{"id":211},"步骤-1行为封装","步骤 1：行为封装",[36,214,215,218],{},[39,216,217],{},"进入行为封装页面，右键进入封装",[39,219,220,221],{},"按需配置能力参数，配置项：\n",[36,222,223,226,229,232,235,238,241,244,247],{},[39,224,225],{},"查看模板 JSON",[39,227,228],{},"设置能力名称",[39,230,231],{},"添加字段描述",[39,233,234],{},"设置是否必填（出现按钮开关，可选参数是否填入）",[39,236,237],{},"配置前端交互（输入框、下拉框等）",[39,239,240],{},"设置范围约束限制",[39,242,243],{},"设置是否显示在小节点、是否引用和是否可编辑",[39,245,246],{},"上传图标、",[39,248,249],{},"设置输出参数是否显示",[10,251,252],{},[90,253],{"alt":254,"src":255},"行为封装页面","https:\u002F\u002Fassets.insightos.cn\u002Fdocs\u002Fimages\u002Fimg_54.webp",[10,257,258],{},[90,259],{"alt":260,"src":261},"封装配置详情1","https:\u002F\u002Fassets.insightos.cn\u002Fdocs\u002Fimages\u002Fimg_55.webp",[10,263,264],{},[90,265],{"alt":266,"src":267},"封装配置详情2","https:\u002F\u002Fassets.insightos.cn\u002Fdocs\u002Fimages\u002Fimg_56.webp",[15,269],{},[24,271,273],{"id":272},"步骤-2提交环境","步骤 2：提交环境",[36,275,276,279,282],{},[39,277,278],{},"点击【完成】",[39,280,281],{},"选择：上架生产环境 \u002F 返回列表",[39,283,284],{},"弹窗提示 → Toast 提示上架完成",[15,286],{},[18,288,290],{"id":289},"应用案例夹爪移动能力","应用案例（夹爪移动能力）",[15,292],{},[24,294,295],{"id":295},"开发能力",[36,297,298,300,302,304,307,310],{},[39,299,152],{},[39,301,155],{},[39,303,158],{},[39,305,306],{},"编写能力程序（packages下的cr和crd文件需要开发, 二者的规范与样例见）",[39,308,309],{},"crd文件：存放能力和设备定义",[39,311,312],{},"cr文件：原子能力注册与配置",[10,314,315],{},[316,317,321],"a",{"href":318,"rel":319},"https:\u002F\u002Fassets.insightos.cn\u002Fdocs\u002Ffiles\u002FHeadAbility.crd.yaml",[320],"nofollow","HeadAbility.crd.yaml",[10,323,324],{},"以上是一个机器人头部控制能力的CRD.",[10,326,327],{},[90,328],{"alt":166,"src":329},"https:\u002F\u002Fassets.insightos.cn\u002Fdocs\u002Fimages\u002Fimg_57.webp",[10,331,332],{},"编写CRD规范后, 为能力类实现生命周期回调接口.",[10,334,335],{},[90,336],{"alt":337,"src":338},"截图","https:\u002F\u002Fassets.insightos.cn\u002Fdocs\u002Fimages\u002Fimg_58.webp",[10,340,341],{},"生命周期接口有:",[343,344,345,348,351,354],"ul",{},[39,346,347],{},"on_start(), 此时能力初始化自身资源, 连接底层设备",[39,349,350],{},"on_connect(), 此时能力开启api服务器, 可接受任务",[39,352,353],{},"on_disconnect(), 此时能力关闭api服务器",[39,355,356],{},"on_terminate(), 程序终止, 释放资源\n编写生命周期接口后, 为能力实现任务接口, 当能力connect 后, 可接受任务. 以该能力408行的头部控制任务为例",[10,358,359],{},[316,360,363],{"href":361,"rel":362},"https:\u002F\u002Fassets.insightos.cn\u002Fdocs\u002Ffiles\u002FHeadAbility.py",[320],"HeadAbility.py",[10,365,366,369],{},[198,367,368],{},"def head_joint_control_func(self,task_status: task.TaskStatus, input: dict = None) -> dict:","\n它除自身外, 还接受 task_status,用于发送任务进程消息, 接受input,用于获取输入内容. 根据任务结果, 它将返回值包裹在一个dict中.",[15,371],{},[24,373,172],{"id":374},"编译能力程序-1",[10,376,175],{},[36,378,379,382],{},[39,380,381],{},"选择编译场景：通用场景即可",[39,383,384],{},"选择编译方式：单文件编译",[10,386,387],{},[90,388],{"alt":389,"src":390},"项目编译配置","https:\u002F\u002Fassets.insightos.cn\u002Fdocs\u002Fimages\u002Fimg_59.webp",[15,392],{},[24,394,395],{"id":395},"封装能力",[36,397,398,401],{},[39,399,400],{},"在行为封装界面右键选择封装进入参数配置界面",[39,402,403],{},"设置入参和结果展示效果",[10,405,406],{},[90,407],{"alt":408,"src":409},"行为封装入口","https:\u002F\u002Fassets.insightos.cn\u002Fdocs\u002Fimages\u002Fimg_60.webp",[10,411,412],{},[90,413],{"alt":414,"src":415},"行为配置页面","https:\u002F\u002Fassets.insightos.cn\u002Fdocs\u002Fimages\u002Fimg_61.webp",[10,417,418],{},[90,419],{"alt":420,"src":421},"入参配置1","https:\u002F\u002Fassets.insightos.cn\u002Fdocs\u002Fimages\u002Fimg_62.webp",[10,423,424],{},[90,425],{"alt":426,"src":427},"入参配置2","https:\u002F\u002Fassets.insightos.cn\u002Fdocs\u002Fimages\u002Fimg_63.webp",[10,429,430],{},[90,431],{"alt":432,"src":433},"结果配置","https:\u002F\u002Fassets.insightos.cn\u002Fdocs\u002Fimages\u002Fimg_64.webp",[15,435],{},[24,437,438],{"id":438},"上架能力",[10,440,441],{},[90,442],{"alt":443,"src":444},"能力上架","https:\u002F\u002Fassets.insightos.cn\u002Fdocs\u002Fimages\u002Fimg_65.webp",[15,446],{},[24,448,449],{"id":449},"结果查看",[10,451,452],{},"登录Insight Studio进入项目中，查看行为卡片列表，可拖拽节点进行使用。",[10,454,455],{},[90,456],{"alt":457,"src":458},"Insight Studio流程编排界面","https:\u002F\u002Fassets.insightos.cn\u002Fdocs\u002Fimages\u002Fimg_66.webp",{"title":200,"searchDepth":460,"depth":460,"links":461},4,[462,468,469,470,476,480],{"id":20,"depth":463,"text":20,"children":464},3,[465,466,467],{"id":26,"depth":460,"text":26},{"id":34,"depth":460,"text":34},{"id":49,"depth":460,"text":49},{"id":71,"depth":463,"text":72},{"id":98,"depth":463,"text":98},{"id":120,"depth":463,"text":121,"children":471},[472,473,474,475],{"id":126,"depth":460,"text":126},{"id":147,"depth":460,"text":147},{"id":172,"depth":460,"text":172},{"id":186,"depth":460,"text":186},{"id":205,"depth":463,"text":206,"children":477},[478,479],{"id":211,"depth":460,"text":212},{"id":272,"depth":460,"text":273},{"id":289,"depth":463,"text":290,"children":481},[482,483,484,485,486],{"id":295,"depth":460,"text":295},{"id":374,"depth":460,"text":172},{"id":395,"depth":460,"text":395},{"id":438,"depth":460,"text":438},{"id":449,"depth":460,"text":449},"md",{},true,"\u002Fdocs\u002F6",{"description":13},"docs\u002F6-能力开发手册","U2V1Gzb-FlD_rtIm7vza8SIzjK71G77TOE0VMld8PN8",1788761853773]