gripper.misumi_rz:
  class:
    action_value_mappings:
      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: String
    type: python
  description: Misumi RZ gripper
  handles: []
  icon: ''
  init_param_schema:
    description: UniLabJsonCommand __init__ 的参数schema
    properties:
      feedback: {}
      goal:
        description: UniLabJsonCommand __init__ 的参数schema
        properties: {}
        required: []
        type: object
      result: {}
    required:
    - goal
    title: __init__ 命令参数
    type: object
gripper.mock:
  class:
    action_value_mappings:
      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: Float64
      status: String
      torque: Float64
    type: python
  description: Mock gripper
  handles: []
  icon: ''
  init_param_schema:
    description: UniLabJsonCommand __init__ 的参数schema
    properties:
      feedback: {}
      goal:
        description: UniLabJsonCommand __init__ 的参数schema
        properties: {}
        required: []
        type: object
      result: {}
    required:
    - goal
    title: __init__ 命令参数
    type: object