gripper.misumi_rz:
  class:
    action_value_mappings:
      auto-data_loop:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: data_loop的参数schema
          properties:
            feedback: {}
            goal:
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: data_loop参数
          type: object
        type: UniLabJsonCommand
      auto-data_reader:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: data_reader的参数schema
          properties:
            feedback: {}
            goal:
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: data_reader参数
          type: object
        type: UniLabJsonCommand
      auto-gripper_move:
        feedback: {}
        goal: {}
        goal_default:
          force: null
          pos: null
          speed: null
        handles: []
        result: {}
        schema:
          description: gripper_move的参数schema
          properties:
            feedback: {}
            goal:
              properties:
                force:
                  type: string
                pos:
                  type: string
                speed:
                  type: string
              required:
              - pos
              - speed
              - force
              type: object
            result: {}
          required:
          - goal
          title: gripper_move参数
          type: object
        type: UniLabJsonCommand
      auto-init_gripper:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: init_gripper的参数schema
          properties:
            feedback: {}
            goal:
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: init_gripper参数
          type: object
        type: UniLabJsonCommand
      auto-modbus_crc:
        feedback: {}
        goal: {}
        goal_default:
          data: null
        handles: []
        result: {}
        schema:
          description: modbus_crc的参数schema
          properties:
            feedback: {}
            goal:
              properties:
                data:
                  type: string
              required:
              - data
              type: object
            result: {}
          required:
          - goal
          title: modbus_crc参数
          type: object
        type: UniLabJsonCommand
      auto-move_and_rotate:
        feedback: {}
        goal: {}
        goal_default:
          grasp_F: null
          grasp_pos: null
          grasp_v: null
          spin_F: null
          spin_pos: null
          spin_v: null
        handles: []
        result: {}
        schema:
          description: move_and_rotate的参数schema
          properties:
            feedback: {}
            goal:
              properties:
                grasp_F:
                  type: string
                grasp_pos:
                  type: string
                grasp_v:
                  type: string
                spin_F:
                  type: string
                spin_pos:
                  type: string
                spin_v:
                  type: string
              required:
              - spin_pos
              - grasp_pos
              - spin_v
              - grasp_v
              - spin_F
              - grasp_F
              type: object
            result: {}
          required:
          - goal
          title: move_and_rotate参数
          type: object
        type: UniLabJsonCommand
      auto-node_gripper_move:
        feedback: {}
        goal: {}
        goal_default:
          cmd: null
        handles: []
        result: {}
        schema:
          description: node_gripper_move的参数schema
          properties:
            feedback: {}
            goal:
              properties:
                cmd:
                  type: string
              required:
              - cmd
              type: object
            result: {}
          required:
          - goal
          title: node_gripper_move参数
          type: object
        type: UniLabJsonCommand
      auto-node_rotate_move:
        feedback: {}
        goal: {}
        goal_default:
          cmd: null
        handles: []
        result: {}
        schema:
          description: node_rotate_move的参数schema
          properties:
            feedback: {}
            goal:
              properties:
                cmd:
                  type: string
              required:
              - cmd
              type: object
            result: {}
          required:
          - goal
          title: node_rotate_move参数
          type: object
        type: UniLabJsonCommand
      auto-read_address:
        feedback: {}
        goal: {}
        goal_default:
          address: null
          data_len: null
          id: null
        handles: []
        result: {}
        schema:
          description: read_address的参数schema
          properties:
            feedback: {}
            goal:
              properties:
                address:
                  type: string
                data_len:
                  type: string
                id:
                  type: string
              required:
              - id
              - address
              - data_len
              type: object
            result: {}
          required:
          - goal
          title: read_address参数
          type: object
        type: UniLabJsonCommand
      auto-rotate_move_abs:
        feedback: {}
        goal: {}
        goal_default:
          force: null
          pos: null
          speed: null
        handles: []
        result: {}
        schema:
          description: rotate_move_abs的参数schema
          properties:
            feedback: {}
            goal:
              properties:
                force:
                  type: string
                pos:
                  type: string
                speed:
                  type: string
              required:
              - pos
              - speed
              - force
              type: object
            result: {}
          required:
          - goal
          title: rotate_move_abs参数
          type: object
        type: UniLabJsonCommand
      auto-send_cmd:
        feedback: {}
        goal: {}
        goal_default:
          address: null
          data: null
          fun: null
          id: null
        handles: []
        result: {}
        schema:
          description: send_cmd的参数schema
          properties:
            feedback: {}
            goal:
              properties:
                address:
                  type: string
                data:
                  type: string
                fun:
                  type: string
                id:
                  type: string
              required:
              - id
              - fun
              - address
              - data
              type: object
            result: {}
          required:
          - goal
          title: send_cmd参数
          type: object
        type: UniLabJsonCommand
      auto-wait_for_gripper:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: wait_for_gripper的参数schema
          properties:
            feedback: {}
            goal:
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: wait_for_gripper参数
          type: object
        type: UniLabJsonCommand
      auto-wait_for_gripper_init:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: wait_for_gripper_init的参数schema
          properties:
            feedback: {}
            goal:
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: wait_for_gripper_init参数
          type: object
        type: UniLabJsonCommand
      auto-wait_for_rotate:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: []
        result: {}
        schema:
          description: wait_for_rotate的参数schema
          properties:
            feedback: {}
            goal:
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: wait_for_rotate参数
          type: object
        type: UniLabJsonCommand
      execute_command_from_outer:
        feedback: {}
        goal:
          command: command
        goal_default:
          command: ''
        handles: []
        result:
          success: success
        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.motor.Grasp:EleGripper
    status_types:
      status: str
    type: python
  description: Misumi RZ gripper
  handles: []
  icon: ''
  init_param_schema:
    config:
      properties:
        baudrate:
          default: 115200
          type: string
        id:
          default: 9
          type: string
        port:
          type: string
        pos_error:
          default: -11
          type: string
      required:
      - port
      type: object
    data:
      properties:
        status:
          type: string
      required:
      - status
      type: object
gripper.mock:
  class:
    action_value_mappings:
      auto-edit_id:
        feedback: {}
        goal: {}
        goal_default:
          params: '{}'
          resource:
            Gripper1: {}
          wf_name: gripper_run
        handles: []
        result: {}
        schema:
          description: edit_id的参数schema
          properties:
            feedback: {}
            goal:
              properties:
                params:
                  default: '{}'
                  type: string
                resource:
                  default:
                    Gripper1: {}
                  type: object
                wf_name:
                  default: gripper_run
                  type: string
              required: []
              type: object
            result: {}
          required:
          - goal
          title: edit_id参数
          type: object
        type: UniLabJsonCommand
      auto-push_to:
        feedback: {}
        goal: {}
        goal_default:
          position: null
          torque: null
          velocity: 0.0
        handles: []
        result: {}
        schema:
          description: push_to的参数schema
          properties:
            feedback: {}
            goal:
              properties:
                position:
                  type: number
                torque:
                  type: number
                velocity:
                  default: 0.0
                  type: number
              required:
              - position
              - torque
              type: object
            result: {}
          required:
          - goal
          title: push_to参数
          type: object
        type: UniLabJsonCommand
      push_to:
        feedback:
          effort: torque
          position: position
        goal:
          command.max_effort: torque
          command.position: position
        goal_default:
          command:
            max_effort: 0.0
            position: 0.0
        handles: []
        result:
          effort: torque
          position: position
        schema:
          description: ROS Action GripperCommand 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:
                effort:
                  type: number
                position:
                  type: number
                reached_goal:
                  type: boolean
                stalled:
                  type: boolean
              required:
              - position
              - effort
              - stalled
              - reached_goal
              title: GripperCommand_Feedback
              type: object
            goal:
              description: Action 目标 - 从客户端发送到服务器
              properties:
                command:
                  properties:
                    max_effort:
                      type: number
                    position:
                      type: number
                  required:
                  - position
                  - max_effort
                  title: GripperCommand
                  type: object
              required:
              - command
              title: GripperCommand_Goal
              type: object
            result:
              description: Action 结果 - 完成后从服务器发送到客户端
              properties:
                effort:
                  type: number
                position:
                  type: number
                reached_goal:
                  type: boolean
                stalled:
                  type: boolean
              required:
              - position
              - effort
              - stalled
              - reached_goal
              title: GripperCommand_Result
              type: object
          required:
          - goal
          title: GripperCommand
          type: object
        type: GripperCommand
    module: unilabos.devices.gripper.mock:MockGripper
    status_types:
      position: float
      status: str
      torque: float
      velocity: float
    type: python
  description: Mock gripper
  handles: []
  icon: ''
  init_param_schema:
    config:
      properties: {}
      required: []
      type: object
    data:
      properties:
        position:
          type: number
        status:
          type: string
        torque:
          type: number
        velocity:
          type: number
      required:
      - position
      - velocity
      - torque
      - status
      type: object