moveit.toyo_xyz:
  description: Toyo XYZ
  class:
    module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
    type: python
    action_value_mappings:
      set_position:
        type: SendCmd
        goal:
          command: command
        feedback: { }
        result: { }
      pick_and_place:
        type: SendCmd
        goal:
          command: command
        feedback: { }
        result: { }
      set_status:
        type: SendCmd
        goal:
          command: command
        feedback: { }
        result: { }

  model:
    type: device
    mesh: toyo_xyz

moveit.arm_slider:
  description: Arm with Slider
  model:
    type: device
    mesh: arm_slider
  class:
    module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
    type: python
    action_value_mappings:
      set_position:
        type: SendCmd
        goal:
          command: command
        feedback: {}
        result: {}
      pick_and_place:
        type: SendCmd
        goal:
          command: command
        feedback: {}
        result: {}
      set_status:
        type: SendCmd
        goal:
          command: command
        feedback: {}
        result: {}
