lh_joint_publisher:
  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-find_resource_parent:
        feedback: {}
        goal: {}
        goal_default:
          resource_id: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand find_resource_parent 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand find_resource_parent 的参数schema
              properties:
                resource_id:
                  description: '参数: resource_id'
                  type: string
              required:
              - resource_id
              type: object
            result: {}
          required:
          - goal
          title: find_resource_parent 命令参数
          type: object
        type: UniLabJsonCommand
      auto-inverse_kinematics:
        feedback: {}
        goal: {}
        goal_default:
          parent_id: null
          x: null
          x_joint: null
          y: null
          y_joint: null
          z: null
          z_joint: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand inverse_kinematics 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand inverse_kinematics 的参数schema
              properties:
                parent_id:
                  description: '参数: parent_id'
                  type: string
                x:
                  description: '参数: x'
                  type: string
                x_joint:
                  description: '参数: x_joint'
                  type: object
                y:
                  description: '参数: y'
                  type: string
                y_joint:
                  description: '参数: y_joint'
                  type: object
                z:
                  description: '参数: z'
                  type: string
                z_joint:
                  description: '参数: z_joint'
                  type: object
              required:
              - x
              - y
              - z
              - parent_id
              - x_joint
              - y_joint
              - z_joint
              type: object
            result: {}
          required:
          - goal
          title: inverse_kinematics 命令参数
          type: object
        type: UniLabJsonCommand
      auto-lh_joint_action_callback:
        feedback: {}
        goal: {}
        goal_default:
          goal_handle: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand lh_joint_action_callback 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand lh_joint_action_callback 的参数schema
              properties:
                goal_handle:
                  description: '参数: goal_handle'
                  type: string
              required:
              - goal_handle
              type: object
            result: {}
          required:
          - goal
          title: lh_joint_action_callback 命令参数
          type: object
        type: UniLabJsonCommand
      auto-lh_joint_pub_callback:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand lh_joint_pub_callback 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand lh_joint_pub_callback 的参数schema
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: lh_joint_pub_callback 命令参数
          type: object
        type: UniLabJsonCommand
      auto-move_joints:
        feedback: {}
        goal: {}
        goal_default:
          option: null
          resource_names: null
          speed: 0.1
          x: null
          x_joint: null
          y: null
          y_joint: null
          z: null
          z_joint: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand move_joints 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand move_joints 的参数schema
              properties:
                option:
                  description: '参数: option'
                  type: string
                resource_names:
                  description: '参数: resource_names'
                  type: string
                speed:
                  default: 0.1
                  description: '参数: speed'
                  type: string
                x:
                  description: '参数: x'
                  type: string
                x_joint:
                  description: '参数: x_joint'
                  type: string
                y:
                  description: '参数: y'
                  type: string
                y_joint:
                  description: '参数: y_joint'
                  type: string
                z:
                  description: '参数: z'
                  type: string
                z_joint:
                  description: '参数: z_joint'
                  type: string
              required:
              - resource_names
              - x
              - y
              - z
              - option
              type: object
            result: {}
          required:
          - goal
          title: move_joints 命令参数
          type: object
        type: UniLabJsonCommand
      auto-move_to:
        feedback: {}
        goal: {}
        goal_default:
          joint_positions: null
          parent_id: null
          speed: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand move_to 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand move_to 的参数schema
              properties:
                joint_positions:
                  description: '参数: joint_positions'
                  type: string
                parent_id:
                  description: '参数: parent_id'
                  type: string
                speed:
                  description: '参数: speed'
                  type: string
              required:
              - joint_positions
              - speed
              - parent_id
              type: object
            result: {}
          required:
          - goal
          title: move_to 命令参数
          type: object
        type: UniLabJsonCommand
      auto-resource_move:
        feedback: {}
        goal: {}
        goal_default:
          channels: null
          link_name: null
          resource_id: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand resource_move 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand resource_move 的参数schema
              properties:
                channels:
                  description: '参数: channels'
                  type: array
                link_name:
                  description: '参数: link_name'
                  type: string
                resource_id:
                  description: '参数: resource_id'
                  type: string
              required:
              - resource_id
              - link_name
              - channels
              type: object
            result: {}
          required:
          - goal
          title: resource_move 命令参数
          type: object
        type: UniLabJsonCommand
      auto-send_resource_action:
        feedback: {}
        goal: {}
        goal_default:
          link_name: null
          resource_id_list: null
        handles: []
        result: {}
        schema:
          description: UniLabJsonCommand send_resource_action 的参数schema
          properties:
            feedback: {}
            goal:
              description: UniLabJsonCommand send_resource_action 的参数schema
              properties:
                link_name:
                  description: '参数: link_name'
                  type: string
                resource_id_list:
                  description: '参数: resource_id_list'
                  type: array
              required:
              - resource_id_list
              - link_name
              type: object
            result: {}
          required:
          - goal
          title: send_resource_action 命令参数
          type: object
        type: UniLabJsonCommand
    module: unilabos.devices.ros_dev.liquid_handler_joint_publisher:LiquidHandlerJointPublisher
    status_types: {}
    type: ros2
  description: ''
  handles: []
  icon: ''
  init_param_schema:
    description: UniLabJsonCommand __init__ 的参数schema
    properties:
      feedback: {}
      goal:
        description: UniLabJsonCommand __init__ 的参数schema
        properties:
          device_id:
            default: lh_joint_publisher
            description: '参数: device_id'
            type: string
          rate:
            default: 50
            description: '参数: rate'
            type: integer
          resource_tracker:
            description: '参数: resource_tracker'
            type: string
          resources_config:
            description: '参数: resources_config'
            type: array
        required:
        - resources_config
        - resource_tracker
        type: object
      result: {}
    required:
    - goal
    title: __init__ 命令参数
    type: object