robotic_arm.UR:
  description: UR robotic arm
  class:
    module: unilabos.devices.agv.ur_arm_task:UrArmTask
    type: python
    status_types:
      arm_pose: Float64MultiArray
      gripper_pose: Float64
      arm_status: String
      gripper_status: String
    action_value_mappings:
      move_pos_task:
        type: SendCmd
        goal:
          command: command
        feedback: {}
        result:
          success: success
  schema:
    properties:
      arm_pose:
        type: array
        items:
          type: number
      gripper_pose:
        type: number
      arm_status:
        type: string
        description: 机械臂设备状态
      gripper_status:
        type: string
        description: 机械爪设备状态
    required:
      - arm_status
      - gripper_status
    additionalProperties: false
    type: object