laiyu_add_solid:
  description: Laiyu Add Solid
  class:
    module: unilabos.devices.laiyu_add_solid.laiyu:Laiyu
    type: python
    status_types: {}
    action_value_mappings:
      move_to_xyz:
        type: Point3DSeparateInput
        goal:
          x: x
          y: y
          z: z
        feedback: {}
        result: {}
      pick_powder_tube:
        type: IntSingleInput
        goal:
          int_input: int_input
        feedback: {}
        result: {}
      put_powder_tube:
        type: IntSingleInput
        goal:
          int_input: int_input
        feedback: {}
        result: {}
      reset:
        type: EmptyIn
        goal: {}
        feedback: {}
        result: {}
      add_powder_tube:
        type: SolidDispenseAddPowderTube
        goal:
          powder_tube_number: powder_tube_number
          target_tube_position: target_tube_position
          compound_mass: compound_mass
        feedback: {}
        result: 
          actual_mass_mg: actual_mass_mg
      move_to_plate:
        type: StrSingleInput
        goal:
          string: string
        feedback: {}
        result: {}
      discharge:
        type: FloatSingleInput
        goal:
          float_input: float_input
        feedback: {}
        result: {}
        
  schema:
    properties: {}