laiyu_add_solid:
  class:
    action_value_mappings:
      add_powder_tube:
        feedback: {}
        goal:
          compound_mass: compound_mass
          powder_tube_number: powder_tube_number
          target_tube_position: target_tube_position
        goal_default:
          compound_mass: 0.0
          powder_tube_number: 0
          target_tube_position: ''
        handles: []
        result:
          actual_mass_mg: actual_mass_mg
        schema:
          description: ROS Action SolidDispenseAddPowderTube 的 JSON Schema
          properties:
            feedback:
              description: Action 反馈 - 执行过程中从服务器发送到客户端
              properties: {}
              required: []
              title: SolidDispenseAddPowderTube_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                compound_mass:
                  type: number
                powder_tube_number:
                  maximum: 2147483647
                  minimum: -2147483648
                  type: integer
                target_tube_position:
                  type: string
              required:
              - powder_tube_number
              - target_tube_position
              - compound_mass
              title: SolidDispenseAddPowderTube_Goal
              type: object
            result:
              description: Action 结果 - 完成后从服务器发送到客户端
              properties:
                actual_mass_mg:
                  type: number
                return_info:
                  type: string
                success:
                  type: boolean
              required:
              - return_info
              - actual_mass_mg
              - success
              title: SolidDispenseAddPowderTube_Result
              type: object
          required:
          - goal
          title: SolidDispenseAddPowderTube
          type: object
        type: SolidDispenseAddPowderTube
      auto-add_powder_tube:
        feedback: {}
        goal: {}
        goal_default:
          compound_mass: null
          powder_tube_number: null
          target_tube_position: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand add_powder_tube 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand add_powder_tube 的参数schema
              properties:
                compound_mass:
                  description: '参数: compound_mass'
                  type: string
                powder_tube_number:
                  description: '参数: powder_tube_number'
                  type: string
                target_tube_position:
                  description: '参数: target_tube_position'
                  type: string
              required:
              - powder_tube_number
              - target_tube_position
              - compound_mass
              type: object
            result: {}
          required:
          - goal
          title: add_powder_tube 命令参数
          type: object
        type: UniLabJsonCommand
      auto-calculate_crc:
        feedback: {}
        goal: {}
        goal_default:
          data: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand calculate_crc 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand calculate_crc 的参数schema
              properties:
                data:
                  description: '参数: data'
                  type: string
              required:
              - data
              type: object
            result: {}
          required:
          - goal
          title: calculate_crc 命令参数
          type: object
        type: UniLabJsonCommand
      auto-discharge:
        feedback: {}
        goal: {}
        goal_default:
          float_in: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand discharge 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand discharge 的参数schema
              properties:
                float_in:
                  description: '参数: float_in'
                  type: number
              required:
              - float_in
              type: object
            result: {}
          required:
          - goal
          title: discharge 命令参数
          type: object
        type: UniLabJsonCommand
      auto-move_to_plate:
        feedback: {}
        goal: {}
        goal_default:
          string: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand move_to_plate 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand move_to_plate 的参数schema
              properties:
                string:
                  description: '参数: string'
                  type: string
              required:
              - string
              type: object
            result: {}
          required:
          - goal
          title: move_to_plate 命令参数
          type: object
        type: UniLabJsonCommand
      auto-move_to_xyz:
        feedback: {}
        goal: {}
        goal_default:
          x: null
          y: null
          z: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand move_to_xyz 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand move_to_xyz 的参数schema
              properties:
                x:
                  description: '参数: x'
                  type: number
                y:
                  description: '参数: y'
                  type: number
                z:
                  description: '参数: z'
                  type: number
              required:
              - x
              - y
              - z
              type: object
            result: {}
          required:
          - goal
          title: move_to_xyz 命令参数
          type: object
        type: UniLabJsonCommand
      auto-pick_powder_tube:
        feedback: {}
        goal: {}
        goal_default:
          int_input: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand pick_powder_tube 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand pick_powder_tube 的参数schema
              properties:
                int_input:
                  description: '参数: int_input'
                  type: integer
              required:
              - int_input
              type: object
            result: {}
          required:
          - goal
          title: pick_powder_tube 命令参数
          type: object
        type: UniLabJsonCommand
      auto-put_powder_tube:
        feedback: {}
        goal: {}
        goal_default:
          int_input: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand put_powder_tube 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand put_powder_tube 的参数schema
              properties:
                int_input:
                  description: '参数: int_input'
                  type: integer
              required:
              - int_input
              type: object
            result: {}
          required:
          - goal
          title: put_powder_tube 命令参数
          type: object
        type: UniLabJsonCommand
      auto-reset:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand reset 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand reset 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: reset 命令参数
          type: object
        type: UniLabJsonCommand
      auto-send_command:
        feedback: {}
        goal: {}
        goal_default:
          command: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand send_command 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand send_command 的参数schema
              properties:
                command:
                  description: '参数: command'
                  type: string
              required:
              - command
              type: object
            result: {}
          required:
          - goal
          title: send_command 命令参数
          type: object
        type: UniLabJsonCommand
      discharge:
        feedback: {}
        goal:
          float_input: float_input
        goal_default:
          float_in: 0.0
        handles: []
        result: {}
        schema:
          description: ROS Action FloatSingleInput 的 JSON Schema
          properties:
            feedback:
              description: Action 反馈 - 执行过程中从服务器发送到客户端
              properties: {}
              required: []
              title: FloatSingleInput_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                float_in:
                  type: number
              required:
              - float_in
              title: FloatSingleInput_Goal
              type: object
            result:
              description: Action 结果 - 完成后从服务器发送到客户端
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              required:
              - return_info
              - success
              title: FloatSingleInput_Result
              type: object
          required:
          - goal
          title: FloatSingleInput
          type: object
        type: FloatSingleInput
      move_to_plate:
        feedback: {}
        goal:
          string: string
        goal_default:
          string: ''
        handles: []
        result: {}
        schema:
          description: ROS Action StrSingleInput 的 JSON Schema
          properties:
            feedback:
              description: Action 反馈 - 执行过程中从服务器发送到客户端
              properties: {}
              required: []
              title: StrSingleInput_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                string:
                  type: string
              required:
              - string
              title: StrSingleInput_Goal
              type: object
            result:
              description: Action 结果 - 完成后从服务器发送到客户端
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              required:
              - return_info
              - success
              title: StrSingleInput_Result
              type: object
          required:
          - goal
          title: StrSingleInput
          type: object
        type: StrSingleInput
      move_to_xyz:
        feedback: {}
        goal:
          x: x
          y: y
          z: z
        goal_default:
          x: 0.0
          y: 0.0
          z: 0.0
        handles: []
        result: {}
        schema:
          description: ROS Action Point3DSeparateInput 的 JSON Schema
          properties:
            feedback:
              description: Action 反馈 - 执行过程中从服务器发送到客户端
              properties: {}
              required: []
              title: Point3DSeparateInput_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                x:
                  type: number
                y:
                  type: number
                z:
                  type: number
              required:
              - x
              - y
              - z
              title: Point3DSeparateInput_Goal
              type: object
            result:
              description: Action 结果 - 完成后从服务器发送到客户端
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              required:
              - return_info
              - success
              title: Point3DSeparateInput_Result
              type: object
          required:
          - goal
          title: Point3DSeparateInput
          type: object
        type: Point3DSeparateInput
      pick_powder_tube:
        feedback: {}
        goal:
          int_input: int_input
        goal_default:
          int_input: 0
        handles: []
        result: {}
        schema:
          description: ROS Action IntSingleInput 的 JSON Schema
          properties:
            feedback:
              description: Action 反馈 - 执行过程中从服务器发送到客户端
              properties: {}
              required: []
              title: IntSingleInput_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                int_input:
                  maximum: 2147483647
                  minimum: -2147483648
                  type: integer
              required:
              - int_input
              title: IntSingleInput_Goal
              type: object
            result:
              description: Action 结果 - 完成后从服务器发送到客户端
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              required:
              - return_info
              - success
              title: IntSingleInput_Result
              type: object
          required:
          - goal
          title: IntSingleInput
          type: object
        type: IntSingleInput
      put_powder_tube:
        feedback: {}
        goal:
          int_input: int_input
        goal_default:
          int_input: 0
        handles: []
        result: {}
        schema:
          description: ROS Action IntSingleInput 的 JSON Schema
          properties:
            feedback:
              description: Action 反馈 - 执行过程中从服务器发送到客户端
              properties: {}
              required: []
              title: IntSingleInput_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                int_input:
                  maximum: 2147483647
                  minimum: -2147483648
                  type: integer
              required:
              - int_input
              title: IntSingleInput_Goal
              type: object
            result:
              description: Action 结果 - 完成后从服务器发送到客户端
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              required:
              - return_info
              - success
              title: IntSingleInput_Result
              type: object
          required:
          - goal
          title: IntSingleInput
          type: object
        type: IntSingleInput
      reset:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: ROS Action EmptyIn 的 JSON Schema
          properties:
            feedback:
              description: Action 反馈 - 执行过程中从服务器发送到客户端
              properties: {}
              required: []
              title: EmptyIn_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties: {}
              required: []
              title: EmptyIn_Goal
              type: object
            result:
              description: Action 结果 - 完成后从服务器发送到客户端
              properties:
                return_info:
                  type: string
              required:
              - return_info
              title: EmptyIn_Result
              type: object
          required:
          - goal
          title: EmptyIn
          type: object
        type: EmptyIn
    module: unilabos.devices.laiyu_add_solid.laiyu:Laiyu
    status_types:
      status: str
    type: python
  description: Laiyu Add Solid
  handles: []
  icon: ''
  init_param_schema:
    description: UniLabJsonCommand __init__ 的参数schema
    properties:
      feedback: {}
      goal:
        description: UniLabJsonCommand __init__ 的参数schema
        properties:
          baudrate:
            default: 115200
            description: '参数: baudrate'
            type: integer
          port:
            description: '参数: port'
            type: string
          timeout:
            default: 0.5
            description: '参数: timeout'
            type: number
        required:
        - port
        type: object
      result: {}
    required:
    - goal
    title: __init__ 命令参数
    type: object