agv_transport_station:
  category:
  - work_station
  - transport_agv
  class:
    action_value_mappings:
      AGVTransferProtocol:
        feedback: {}
        goal:
          from_repo: from_repo
          from_repo_position: from_repo_position
          to_repo: to_repo
          to_repo_position: to_repo_position
        goal_default:
          from_repo:
            category: ''
            children: []
            config: ''
            data: ''
            id: ''
            name: ''
            parent: ''
            pose:
              orientation:
                w: 1.0
                x: 0.0
                y: 0.0
                z: 0.0
              position:
                x: 0.0
                y: 0.0
                z: 0.0
            sample_id: ''
            type: ''
          from_repo_position: ''
          to_repo:
            category: ''
            children: []
            config: ''
            data: ''
            id: ''
            name: ''
            parent: ''
            pose:
              orientation:
                w: 1.0
                x: 0.0
                y: 0.0
                z: 0.0
              position:
                x: 0.0
                y: 0.0
                z: 0.0
            sample_id: ''
            type: ''
          to_repo_position: ''
        handles: {}
        result: {}
        schema:
          description: ''
          properties:
            feedback:
              properties:
                status:
                  type: string
              required:
              - status
              title: AGVTransfer_Feedback
              type: object
            goal:
              properties:
                from_repo:
                  properties:
                    category:
                      type: string
                    children:
                      items:
                        type: string
                      type: array
                    config:
                      type: string
                    data:
                      type: string
                    id:
                      type: string
                    name:
                      type: string
                    parent:
                      type: string
                    pose:
                      properties:
                        orientation:
                          properties:
                            w:
                              type: number
                            x:
                              type: number
                            y:
                              type: number
                            z:
                              type: number
                          required:
                          - x
                          - y
                          - z
                          - w
                          title: orientation
                          type: object
                        position:
                          properties:
                            x:
                              type: number
                            y:
                              type: number
                            z:
                              type: number
                          required:
                          - x
                          - y
                          - z
                          title: position
                          type: object
                      required:
                      - position
                      - orientation
                      title: pose
                      type: object
                    sample_id:
                      type: string
                    type:
                      type: string
                  required:
                  - id
                  - name
                  - sample_id
                  - children
                  - parent
                  - type
                  - category
                  - pose
                  - config
                  - data
                  title: from_repo
                  type: object
                from_repo_position:
                  type: string
                to_repo:
                  properties:
                    category:
                      type: string
                    children:
                      items:
                        type: string
                      type: array
                    config:
                      type: string
                    data:
                      type: string
                    id:
                      type: string
                    name:
                      type: string
                    parent:
                      type: string
                    pose:
                      properties:
                        orientation:
                          properties:
                            w:
                              type: number
                            x:
                              type: number
                            y:
                              type: number
                            z:
                              type: number
                          required:
                          - x
                          - y
                          - z
                          - w
                          title: orientation
                          type: object
                        position:
                          properties:
                            x:
                              type: number
                            y:
                              type: number
                            z:
                              type: number
                          required:
                          - x
                          - y
                          - z
                          title: position
                          type: object
                      required:
                      - position
                      - orientation
                      title: pose
                      type: object
                    sample_id:
                      type: string
                    type:
                      type: string
                  required:
                  - id
                  - name
                  - sample_id
                  - children
                  - parent
                  - type
                  - category
                  - pose
                  - config
                  - data
                  title: to_repo
                  type: object
                to_repo_position:
                  type: string
              required:
              - from_repo
              - from_repo_position
              - to_repo
              - to_repo_position
              title: AGVTransfer_Goal
              type: object
            result:
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              required:
              - return_info
              - success
              title: AGVTransfer_Result
              type: object
          required:
          - goal
          title: AGVTransfer
          type: object
        type: AGVTransfer
      BatchTransferProtocol:
        feedback: {}
        goal:
          from_positions: from_positions
          from_repo: from_repo
          to_positions: to_positions
          to_repo: to_repo
          transfer_resources: transfer_resources
        goal_default:
          from_positions: []
          from_repo:
            category: ''
            children: []
            config: ''
            data: ''
            id: ''
            name: ''
            parent: ''
            pose:
              orientation:
                w: 1.0
                x: 0.0
                y: 0.0
                z: 0.0
              position:
                x: 0.0
                y: 0.0
                z: 0.0
            sample_id: ''
            type: ''
          to_positions: []
          to_repo:
            category: ''
            children: []
            config: ''
            data: ''
            id: ''
            name: ''
            parent: ''
            pose:
              orientation:
                w: 1.0
                x: 0.0
                y: 0.0
                z: 0.0
              position:
                x: 0.0
                y: 0.0
                z: 0.0
            sample_id: ''
            type: ''
          transfer_resources: []
        handles: {}
        result: {}
        schema:
          description: AGV 批量物料转运协议
          properties:
            feedback: {}
            goal:
              properties:
                from_positions:
                  items:
                    type: string
                  type: array
                from_repo:
                  type: object
                to_positions:
                  items:
                    type: string
                  type: array
                to_repo:
                  type: object
                transfer_resources:
                  items:
                    type: object
                  type: array
              required:
              - from_repo
              - to_repo
              - transfer_resources
              - from_positions
              - to_positions
              type: object
            result: {}
          required:
          - goal
          title: BatchTransferProtocol
          type: object
        type: BatchTransfer
    module: unilabos.devices.transport.agv_workstation:AGVTransportStation
    status_types:
      agv_status: String
      carrier_status: String
    type: python
  config_info: []
  description: 通用 AGV 转运工站。继承 WorkstationBase，通过 Warehouse 子资源管理物料中转态。支持单物料和批量物料转运协议，路由表和子设备配置全部由
    JSON 驱动。
  handles: []
  icon: ''
  init_param_schema:
    config:
      properties:
        device_roles:
          properties:
            arm:
              type: string
            navigator:
              type: string
          type: object
        protocol_type:
          items:
            type: string
          type: array
        route_table:
          type: object
      type: object
    data:
      properties:
        agv_status:
          type: string
        carrier_status:
          type: string
      type: object
  version: 1.0.0