workstation:
  description: Workstation
  class:
    module: unilabos.ros.nodes.presets.protocol_node:ROS2ProtocolNode
    type: ros2
  action_value_mappings:
    AddProtocol:
      type: Add
      goal:
        vessel: vessel
        reagent: reagent
        volume: volume
        mass: mass
        amount: amount
        time: time
        stir: stir
        stir_speed: stir_speed
        viscous: viscous
        purpose: purpose
      feedback: {}
      result: {}

    AGVTransferProtocol:
      type: AGVTransfer
      goal:
        from_repo: from_repo
        from_repo_position: from_repo_position
        to_repo: to_repo
        to_repo_position: to_repo_position
      feedback: {}
      result: {}

    CentrifugeProtocol:
      type: Centrifuge
      goal:
        vessel: vessel
        speed: speed
        time: time
        temp: temp
      feedback: {}
      result: {}

    CleanProtocol:
      type: Clean
      goal:
        vessel: vessel
        solvent: solvent
        volume: volume
        temp: temp
        repeats: repeats
      feedback: {}
      result: {}

    CleanVesselProtocol:
      type: CleanVessel
      goal:
        vessel: vessel
        solvent: solvent
        volume: volume
        temp: temp
        repeats: repeats
      feedback: {}
      result: {}

    DissolveProtocol:
      type: Dissolve
      goal:
        vessel: vessel
        solvent: solvent
        volume: volume
        amount: amount
        temp: temp
        time: time
        stir_speed: stir_speed
      feedback: {}
      result: {}

    EvacuateAndRefillProtocol:
      type: EvacuateAndRefill
      goal:
        vessel: vessel
        gas: gas
        repeats: repeats
      feedback: {}
      result: {}

    EvaporateProtocol:
      type: Evaporate
      goal:
        vessel: vessel
        pressure: pressure
        temp: temp
        time: time
        stir_speed: stir_speed
      feedback: {}
      result: {}

    FilterProtocol:
      type: Filter
      goal:
        vessel: vessel
        filtrate_vessel: filtrate_vessel
        stir: stir
        stir_speed: stir_speed
        temp: temp
        continue_heatchill: continue_heatchill
        volume: volume
      feedback: {}
      result: {}

    FilterThroughProtocol:
      type: FilterThrough
      goal:
        from_vessel: from_vessel
        to_vessel: to_vessel
        filter_through: filter_through
        eluting_solvent: eluting_solvent
        eluting_volume: eluting_volume
        eluting_repeats: eluting_repeats
        residence_time: residence_time
      feedback: {}
      result: {}

    HeatChillProtocol:
      type: HeatChill
      goal:
        vessel: vessel
        temp: temp
        time: time
        stir: stir
        stir_speed: stir_speed
        purpose: purpose
      feedback: {}
      result: {}

    HeatChillStartProtocol:
      type: HeatChillStart
      goal:
        vessel: vessel
        temp: temp
        purpose: purpose
      feedback: {}
      result: {}

    HeatChillStopProtocol:
      type: HeatChillStop
      goal:
        vessel: vessel
      feedback: {}
      result: {}

    PumpTransferProtocol:
      type: PumpTransfer
      goal:
        from_vessel: from_vessel
        to_vessel: to_vessel
        volume: volume
        amount: amount
        time: time
        viscous: viscous
        rinsing_solvent: rinsing_solvent
        rinsing_volume: rinsing_volume
        rinsing_repeats: rinsing_repeats
        solid: solid
      feedback: {}
      result: {}

    RunColumnProtocol:
      type: RunColumn
      goal:
        from_vessel: from_vessel
        to_vessel: to_vessel
        column: column
      feedback: {}
      result: {}

    SeparateProtocol:
      type: Separate
      goal:
        purpose: purpose
        product_phase: product_phase
        from_vessel: from_vessel
        separation_vessel: separation_vessel
        to_vessel: to_vessel
        waste_phase_to_vessel: waste_phase_to_vessel
        solvent: solvent
        solvent_volume: solvent_volume
        through: through
        repeats: repeats
        stir_time: stir_time
        stir_speed: stir_speed
        settling_time: settling_time
      feedback: {}
      result: {}

    StartStirProtocol:
      type: StartStir
      goal:
        vessel: vessel
        stir_speed: stir_speed
        purpose: purpose
      feedback: {}
      result: {}

    StirProtocol:
      type: Stir
      goal:
        stir_time: stir_time
        stir_speed: stir_speed
        settling_time: settling_time
      feedback: {}
      result: {}

    StopStirProtocol:
      type: StopStir
      goal:
        vessel: vessel
      feedback: {}
      result: {}

    TransferProtocol:
      type: Transfer
      goal:
        from_vessel: from_vessel
        to_vessel: to_vessel
        volume: volume
        amount: amount
        time: time
        viscous: viscous
        rinsing_solvent: rinsing_solvent
        rinsing_volume: rinsing_volume
        rinsing_repeats: rinsing_repeats
        solid: solid
      feedback: {}
      result: {}

    WashSolidProtocol:
      type: WashSolid
      goal:
        vessel: vessel
        solvent: solvent
        volume: volume
        filtrate_vessel: filtrate_vessel
        temp: temp
        stir: stir
        stir_speed: stir_speed
        time: time
        repeats: repeats
      feedback: {}
      result: {}