gripper.misumi_rz:
  category:
  - robot_gripper
  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: 夹爪抓取运动控制函数。控制夹爪的开合运动，支持位置、速度、力矩的精确设定。位置参数控制夹爪开合程度，速度参数控制运动快慢，力矩参数控制夹持强度。该函数提供安全的力控制，避免损坏被抓取物体，适用于各种形状和材质的物品抓取。
          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: 夹爪初始化函数。执行Misumi RZ夹爪的完整初始化流程，包括Modbus通信建立、电机参数配置、传感器校准等。该函数确保夹爪系统从安全状态恢复到可操作状态，是夹爪使用前的必要步骤。初始化完成后夹爪将处于就绪状态，可接收抓取和旋转指令。
          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: 节点夹爪移动任务函数。接收逗号分隔的命令字符串，解析位置、速度、力矩参数并执行夹爪抓取动作。该函数等待运动完成并返回执行结果，提供同步的运动控制接口。适用于需要可靠完成确认的精密抓取操作。
          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: 节点旋转移动任务函数。接收逗号分隔的命令字符串，解析角度、速度、力矩参数并执行夹爪旋转动作。该函数等待旋转完成并返回执行结果，提供同步的旋转控制接口。适用于需要精确角度定位和完成确认的旋转操作。
          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: 夹爪绝对位置旋转控制函数。控制夹爪主轴旋转到指定的绝对角度位置，支持360度连续旋转。位置参数指定目标角度，速度参数控制旋转速率，力矩参数设定旋转阻力限制。该函数提供高精度的角度定位，适用于需要精确方向控制的操作场景。
          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: ''
          properties:
            feedback:
              properties:
                status:
                  type: string
              required:
              - status
              title: SendCmd_Feedback
              type: object
            goal:
              properties:
                command:
                  type: string
              required:
              - command
              title: SendCmd_Goal
              type: object
            result:
              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
  config_info: []
  description: Misumi RZ系列电子夹爪设备，集成旋转和抓取双重功能的精密夹爪系统。该设备通过Modbus RTU协议与控制系统通信，支持位置、速度、力矩的精确控制。具备高精度的位置反馈、实时状态监控和故障检测功能。适用于需要精密抓取和旋转操作的实验室自动化场景，如样品管理、精密装配、器件操作等应用。
  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
  version: 1.0.0
gripper.mock:
  category:
  - robot_gripper
  class:
    action_value_mappings:
      auto-edit_id:
        feedback: {}
        goal: {}
        goal_default:
          params: '{}'
          resource:
            Gripper1: {}
          wf_name: gripper_run
        handles: []
        result: {}
        schema:
          description: 模拟夹爪资源ID编辑函数。用于测试和演示资源管理功能，模拟修改夹爪资源的标识信息。该函数接收工作流名称、参数和资源对象，模拟真实的资源更新过程并返回修改后的资源信息。适用于系统测试和开发调试场景。
          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
      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: ''
          properties:
            feedback:
              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:
              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:
              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
  config_info: []
  description: 模拟夹爪设备，用于系统测试和开发调试。该设备模拟真实夹爪的位置、速度、力矩等物理特性，支持虚拟的抓取和移动操作。提供与真实夹爪相同的接口和状态反馈，便于在没有实际硬件的情况下进行系统集成测试和算法验证。适用于软件开发、系统调试和培训演示等场景。
  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
  version: 1.0.0