gripper.mock:
  description: Mock gripper
  class:
    module: unilabos.devices.gripper.mock:MockGripper
    type: python
    status_types:
      position: Float64
      torque: Float64
      status: String
    action_value_mappings:
      push_to:
        type: GripperCommand
        goal:
          command.position: position
          command.max_effort: torque
        feedback:
          position: position
          effort: torque
        result:
          position: position
          effort: torque

gripper.misumi_rz:
  description: Misumi RZ gripper
  class:
    module: unilabos.devices.motor:Grasp.EleGripper
    type: python
    status_types:
      status: String
    action_value_mappings:
      execute_command_from_outer:
        type: SendCmd
        goal:
          command: command
        feedback: {}
        result:
          success: success
