moveit.arm_slider:
  class:
    action_value_mappings:
      auto-check_tf_update_actions:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand check_tf_update_actions 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand check_tf_update_actions 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: check_tf_update_actions 命令参数
          type: object
        type: UniLabJsonCommand
      auto-moveit_joint_task:
        feedback: {}
        goal: {}
        goal_default:
          joint_names: null
          joint_positions: null
          move_group: null
          retry: 10
          speed: 1
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand moveit_joint_task 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand moveit_joint_task 的参数schema
              properties:
                joint_names:
                  description: '参数: joint_names'
                  type: string
                joint_positions:
                  description: '参数: joint_positions'
                  type: string
                move_group:
                  description: '参数: move_group'
                  type: string
                retry:
                  default: 10
                  description: '参数: retry'
                  type: string
                speed:
                  default: 1
                  description: '参数: speed'
                  type: string
              required:
              - move_group
              - joint_positions
              type: object
            result: {}
          required:
          - goal
          title: moveit_joint_task 命令参数
          type: object
        type: UniLabJsonCommand
      auto-moveit_task:
        feedback: {}
        goal: {}
        goal_default:
          cartesian: false
          move_group: null
          offsets:
          - 0
          - 0
          - 0
          position: null
          quaternion: null
          retry: 10
          speed: 1
          target_link: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand moveit_task 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand moveit_task 的参数schema
              properties:
                cartesian:
                  default: false
                  description: '参数: cartesian'
                  type: string
                move_group:
                  description: '参数: move_group'
                  type: string
                offsets:
                  default:
                  - 0
                  - 0
                  - 0
                  description: '参数: offsets'
                  type: string
                position:
                  description: '参数: position'
                  type: string
                quaternion:
                  description: '参数: quaternion'
                  type: string
                retry:
                  default: 10
                  description: '参数: retry'
                  type: string
                speed:
                  default: 1
                  description: '参数: speed'
                  type: string
                target_link:
                  description: '参数: target_link'
                  type: string
              required:
              - move_group
              - position
              - quaternion
              type: object
            result: {}
          required:
          - goal
          title: moveit_task 命令参数
          type: object
        type: UniLabJsonCommand
      auto-pick_and_place:
        feedback: {}
        goal: {}
        goal_default:
          command: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand pick_and_place 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand pick_and_place 的参数schema
              properties:
                command:
                  description: '参数: command'
                  type: string
              required:
              - command
              type: object
            result: {}
          required:
          - goal
          title: pick_and_place 命令参数
          type: object
        type: UniLabJsonCommand
      auto-post_init:
        feedback: {}
        goal: {}
        goal_default:
          ros_node: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand post_init 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand post_init 的参数schema
              properties:
                ros_node:
                  description: '参数: ros_node'
                  type: string
              required:
              - ros_node
              type: object
            result: {}
          required:
          - goal
          title: post_init 命令参数
          type: object
        type: UniLabJsonCommand
      auto-resource_manager:
        feedback: {}
        goal: {}
        goal_default:
          parent_link: null
          resource: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand resource_manager 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand resource_manager 的参数schema
              properties:
                parent_link:
                  description: '参数: parent_link'
                  type: string
                resource:
                  description: '参数: resource'
                  type: string
              required:
              - resource
              - parent_link
              type: object
            result: {}
          required:
          - goal
          title: resource_manager 命令参数
          type: object
        type: UniLabJsonCommand
      auto-set_position:
        feedback: {}
        goal: {}
        goal_default:
          command: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand set_position 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand set_position 的参数schema
              properties:
                command:
                  description: '参数: command'
                  type: string
              required:
              - command
              type: object
            result: {}
          required:
          - goal
          title: set_position 命令参数
          type: object
        type: UniLabJsonCommand
      auto-set_status:
        feedback: {}
        goal: {}
        goal_default:
          command: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand set_status 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand set_status 的参数schema
              properties:
                command:
                  description: '参数: command'
                  type: string
              required:
              - command
              type: object
            result: {}
          required:
          - goal
          title: set_status 命令参数
          type: object
        type: UniLabJsonCommand
      auto-wait_for_resource_action:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand wait_for_resource_action 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand wait_for_resource_action 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: wait_for_resource_action 命令参数
          type: object
        type: UniLabJsonCommand
      pick_and_place:
        feedback: {}
        goal:
          command: command
        goal_default:
          command: ''
        handles: []
        result: {}
        schema:
          description: ROS Action SendCmd 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:
                status:
                  type: string
              required:
              - status
              title: SendCmd_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                command:
                  type: string
              required:
              - command
              title: SendCmd_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: SendCmd_Result
              type: object
          required:
          - goal
          title: SendCmd
          type: object
        type: SendCmd
      set_position:
        feedback: {}
        goal:
          command: command
        goal_default:
          command: ''
        handles: []
        result: {}
        schema:
          description: ROS Action SendCmd 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:
                status:
                  type: string
              required:
              - status
              title: SendCmd_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                command:
                  type: string
              required:
              - command
              title: SendCmd_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: SendCmd_Result
              type: object
          required:
          - goal
          title: SendCmd
          type: object
        type: SendCmd
      set_status:
        feedback: {}
        goal:
          command: command
        goal_default:
          command: ''
        handles: []
        result: {}
        schema:
          description: ROS Action SendCmd 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:
                status:
                  type: string
              required:
              - status
              title: SendCmd_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                command:
                  type: string
              required:
              - command
              title: SendCmd_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: SendCmd_Result
              type: object
          required:
          - goal
          title: SendCmd
          type: object
        type: SendCmd
    module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
    status_types: {}
    type: python
  description: Arm with Slider
  handles: []
  icon: ''
  init_param_schema:
    description: UniLabJsonCommand __init__ 的参数schema
    properties:
      feedback: {}
      goal:
        description: UniLabJsonCommand __init__ 的参数schema
        properties:
          device_config:
            description: '参数: device_config'
            type: string
          joint_poses:
            description: '参数: joint_poses'
            type: string
          moveit_type:
            description: '参数: moveit_type'
            type: string
          rotation:
            description: '参数: rotation'
            type: string
        required:
        - moveit_type
        - joint_poses
        type: object
      result: {}
    required:
    - goal
    title: __init__ 命令参数
    type: object
  model:
    mesh: arm_slider
    type: device
moveit.toyo_xyz:
  class:
    action_value_mappings:
      auto-check_tf_update_actions:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand check_tf_update_actions 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand check_tf_update_actions 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: check_tf_update_actions 命令参数
          type: object
        type: UniLabJsonCommand
      auto-moveit_joint_task:
        feedback: {}
        goal: {}
        goal_default:
          joint_names: null
          joint_positions: null
          move_group: null
          retry: 10
          speed: 1
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand moveit_joint_task 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand moveit_joint_task 的参数schema
              properties:
                joint_names:
                  description: '参数: joint_names'
                  type: string
                joint_positions:
                  description: '参数: joint_positions'
                  type: string
                move_group:
                  description: '参数: move_group'
                  type: string
                retry:
                  default: 10
                  description: '参数: retry'
                  type: string
                speed:
                  default: 1
                  description: '参数: speed'
                  type: string
              required:
              - move_group
              - joint_positions
              type: object
            result: {}
          required:
          - goal
          title: moveit_joint_task 命令参数
          type: object
        type: UniLabJsonCommand
      auto-moveit_task:
        feedback: {}
        goal: {}
        goal_default:
          cartesian: false
          move_group: null
          offsets:
          - 0
          - 0
          - 0
          position: null
          quaternion: null
          retry: 10
          speed: 1
          target_link: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand moveit_task 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand moveit_task 的参数schema
              properties:
                cartesian:
                  default: false
                  description: '参数: cartesian'
                  type: string
                move_group:
                  description: '参数: move_group'
                  type: string
                offsets:
                  default:
                  - 0
                  - 0
                  - 0
                  description: '参数: offsets'
                  type: string
                position:
                  description: '参数: position'
                  type: string
                quaternion:
                  description: '参数: quaternion'
                  type: string
                retry:
                  default: 10
                  description: '参数: retry'
                  type: string
                speed:
                  default: 1
                  description: '参数: speed'
                  type: string
                target_link:
                  description: '参数: target_link'
                  type: string
              required:
              - move_group
              - position
              - quaternion
              type: object
            result: {}
          required:
          - goal
          title: moveit_task 命令参数
          type: object
        type: UniLabJsonCommand
      auto-pick_and_place:
        feedback: {}
        goal: {}
        goal_default:
          command: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand pick_and_place 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand pick_and_place 的参数schema
              properties:
                command:
                  description: '参数: command'
                  type: string
              required:
              - command
              type: object
            result: {}
          required:
          - goal
          title: pick_and_place 命令参数
          type: object
        type: UniLabJsonCommand
      auto-post_init:
        feedback: {}
        goal: {}
        goal_default:
          ros_node: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand post_init 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand post_init 的参数schema
              properties:
                ros_node:
                  description: '参数: ros_node'
                  type: string
              required:
              - ros_node
              type: object
            result: {}
          required:
          - goal
          title: post_init 命令参数
          type: object
        type: UniLabJsonCommand
      auto-resource_manager:
        feedback: {}
        goal: {}
        goal_default:
          parent_link: null
          resource: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand resource_manager 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand resource_manager 的参数schema
              properties:
                parent_link:
                  description: '参数: parent_link'
                  type: string
                resource:
                  description: '参数: resource'
                  type: string
              required:
              - resource
              - parent_link
              type: object
            result: {}
          required:
          - goal
          title: resource_manager 命令参数
          type: object
        type: UniLabJsonCommand
      auto-set_position:
        feedback: {}
        goal: {}
        goal_default:
          command: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand set_position 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand set_position 的参数schema
              properties:
                command:
                  description: '参数: command'
                  type: string
              required:
              - command
              type: object
            result: {}
          required:
          - goal
          title: set_position 命令参数
          type: object
        type: UniLabJsonCommand
      auto-set_status:
        feedback: {}
        goal: {}
        goal_default:
          command: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand set_status 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand set_status 的参数schema
              properties:
                command:
                  description: '参数: command'
                  type: string
              required:
              - command
              type: object
            result: {}
          required:
          - goal
          title: set_status 命令参数
          type: object
        type: UniLabJsonCommand
      auto-wait_for_resource_action:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand wait_for_resource_action 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand wait_for_resource_action 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: wait_for_resource_action 命令参数
          type: object
        type: UniLabJsonCommand
      pick_and_place:
        feedback: {}
        goal:
          command: command
        goal_default:
          command: ''
        handles: []
        result: {}
        schema:
          description: ROS Action SendCmd 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:
                status:
                  type: string
              required:
              - status
              title: SendCmd_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                command:
                  type: string
              required:
              - command
              title: SendCmd_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: SendCmd_Result
              type: object
          required:
          - goal
          title: SendCmd
          type: object
        type: SendCmd
      set_position:
        feedback: {}
        goal:
          command: command
        goal_default:
          command: ''
        handles: []
        result: {}
        schema:
          description: ROS Action SendCmd 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:
                status:
                  type: string
              required:
              - status
              title: SendCmd_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                command:
                  type: string
              required:
              - command
              title: SendCmd_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: SendCmd_Result
              type: object
          required:
          - goal
          title: SendCmd
          type: object
        type: SendCmd
      set_status:
        feedback: {}
        goal:
          command: command
        goal_default:
          command: ''
        handles: []
        result: {}
        schema:
          description: ROS Action SendCmd 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:
                status:
                  type: string
              required:
              - status
              title: SendCmd_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                command:
                  type: string
              required:
              - command
              title: SendCmd_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: SendCmd_Result
              type: object
          required:
          - goal
          title: SendCmd
          type: object
        type: SendCmd
    module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
    status_types: {}
    type: python
  description: Toyo XYZ
  handles: []
  icon: ''
  init_param_schema:
    description: UniLabJsonCommand __init__ 的参数schema
    properties:
      feedback: {}
      goal:
        description: UniLabJsonCommand __init__ 的参数schema
        properties:
          device_config:
            description: '参数: device_config'
            type: string
          joint_poses:
            description: '参数: joint_poses'
            type: string
          moveit_type:
            description: '参数: moveit_type'
            type: string
          rotation:
            description: '参数: rotation'
            type: string
        required:
        - moveit_type
        - joint_poses
        type: object
      result: {}
    required:
    - goal
    title: __init__ 命令参数
    type: object
  model:
    mesh: toyo_xyz
    type: device