mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
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Squash merge from dev
Update recipe.yaml fix: figure_resource use call_async in all service to avoid deadlock fix: prcxi import error 临时兼容错误的driver写法 fix protocol node fix filter protocol bugfixes on organic protocols fix and remove redundant info feat: 新增use_remote_resource参数 fix all protocol_compilers and remove deprecated devices feat: 优化protocol node节点运行日志 fix pumps and liquid_handler handle feat: workstation example add: prcxi res fix: startup slow fix: prcxi_res fix: discard_tips fix: discard_tips error fix: drop_tips not using auto resource select feat: 添加ChinWe设备控制类，支持串口通信和电机控制功能 (#79) feat: add trace log level modify default discovery_interval to 15s fix: working dir error when input config path feat: report publish topic when error fix: workstation handlers and vessel_id parsing Cleanup registry to be easy-understanding (#76) * delete deprecated mock devices * rename categories * combine chromatographic devices * rename rviz simulation nodes * organic virtual devices * parse vessel_id * run registry completion before merge --------- Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com>
This commit is contained in:
Junhan Chang
Xuwznln
385
unilabos/registry/devices/solid_dispenser.yaml
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385
unilabos/registry/devices/solid_dispenser.yaml
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@@ -0,0 +1,385 @@
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solid_dispenser.laiyu:
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category:
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- solid_dispenser
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class:
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action_value_mappings:
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add_powder_tube:
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feedback: {}
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goal:
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compound_mass: compound_mass
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powder_tube_number: powder_tube_number
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target_tube_position: target_tube_position
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goal_default:
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compound_mass: 0.0
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powder_tube_number: 0
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target_tube_position: ''
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handles: []
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result:
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actual_mass_mg: actual_mass_mg
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schema:
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description: ''
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properties:
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feedback:
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properties: {}
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required: []
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title: SolidDispenseAddPowderTube_Feedback
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type: object
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goal:
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properties:
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compound_mass:
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type: number
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powder_tube_number:
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maximum: 2147483647
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minimum: -2147483648
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type: integer
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target_tube_position:
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type: string
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required:
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- powder_tube_number
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- target_tube_position
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- compound_mass
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title: SolidDispenseAddPowderTube_Goal
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type: object
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result:
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properties:
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actual_mass_mg:
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type: number
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return_info:
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type: string
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success:
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type: boolean
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required:
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- return_info
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- actual_mass_mg
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- success
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title: SolidDispenseAddPowderTube_Result
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type: object
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required:
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- goal
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title: SolidDispenseAddPowderTube
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type: object
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type: SolidDispenseAddPowderTube
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auto-calculate_crc:
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feedback: {}
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goal: {}
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goal_default:
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data: null
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handles: []
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result: {}
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schema:
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description: Modbus CRC-16校验码计算函数。计算Modbus RTU通信协议所需的CRC-16校验码，确保数据传输的完整性和可靠性。该函数实现标准的CRC-16算法，用于构造完整的Modbus指令帧。
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properties:
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feedback: {}
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goal:
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properties:
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data:
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type: string
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required:
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- data
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type: object
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result: {}
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required:
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- goal
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title: calculate_crc参数
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type: object
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type: UniLabJsonCommand
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auto-send_command:
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feedback: {}
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goal: {}
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goal_default:
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command: null
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handles: []
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result: {}
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schema:
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description: Modbus指令发送函数。构造完整的Modbus RTU指令帧（包含CRC校验），发送给分装设备并等待响应。该函数处理底层通信协议，确保指令的正确传输和响应接收，支持最长3分钟的响应等待时间。
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properties:
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feedback: {}
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goal:
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properties:
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command:
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type: string
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required:
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- command
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type: object
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result: {}
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required:
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- goal
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title: send_command参数
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type: object
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type: UniLabJsonCommand
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discharge:
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feedback: {}
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goal:
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float_input: float_input
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goal_default:
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float_in: 0.0
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handles: []
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result: {}
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schema:
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description: ''
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properties:
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feedback:
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properties: {}
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required: []
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title: FloatSingleInput_Feedback
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type: object
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goal:
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properties:
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float_in:
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type: number
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required:
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- float_in
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title: FloatSingleInput_Goal
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type: object
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result:
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properties:
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return_info:
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type: string
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success:
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type: boolean
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required:
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- return_info
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- success
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title: FloatSingleInput_Result
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type: object
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required:
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- goal
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title: FloatSingleInput
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type: object
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type: FloatSingleInput
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move_to_plate:
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feedback: {}
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goal:
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string: string
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goal_default:
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string: ''
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handles: []
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result: {}
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schema:
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description: ''
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properties:
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feedback:
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properties: {}
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required: []
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title: StrSingleInput_Feedback
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type: object
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goal:
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properties:
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string:
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type: string
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required:
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- string
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title: StrSingleInput_Goal
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type: object
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result:
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properties:
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return_info:
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type: string
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success:
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type: boolean
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required:
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- return_info
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- success
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title: StrSingleInput_Result
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type: object
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required:
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- goal
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title: StrSingleInput
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type: object
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type: StrSingleInput
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move_to_xyz:
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feedback: {}
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goal:
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x: x
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y: y
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z: z
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goal_default:
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x: 0.0
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y: 0.0
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z: 0.0
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handles: []
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result: {}
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schema:
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description: ''
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properties:
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feedback:
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properties: {}
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required: []
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title: Point3DSeparateInput_Feedback
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type: object
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goal:
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properties:
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x:
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type: number
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y:
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type: number
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z:
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type: number
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required:
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- x
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- y
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- z
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title: Point3DSeparateInput_Goal
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type: object
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result:
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properties:
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return_info:
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type: string
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success:
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type: boolean
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required:
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- return_info
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- success
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title: Point3DSeparateInput_Result
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type: object
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required:
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- goal
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title: Point3DSeparateInput
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type: object
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type: Point3DSeparateInput
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pick_powder_tube:
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feedback: {}
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goal:
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int_input: int_input
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goal_default:
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int_input: 0
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handles: []
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result: {}
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schema:
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description: ''
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properties:
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feedback:
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properties: {}
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required: []
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title: IntSingleInput_Feedback
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type: object
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goal:
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properties:
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int_input:
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maximum: 2147483647
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minimum: -2147483648
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type: integer
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required:
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- int_input
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title: IntSingleInput_Goal
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type: object
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result:
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properties:
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return_info:
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type: string
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success:
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type: boolean
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required:
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- return_info
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- success
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title: IntSingleInput_Result
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type: object
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required:
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- goal
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title: IntSingleInput
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type: object
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type: IntSingleInput
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put_powder_tube:
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feedback: {}
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goal:
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int_input: int_input
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goal_default:
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int_input: 0
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handles: []
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result: {}
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schema:
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description: ''
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properties:
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feedback:
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properties: {}
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required: []
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title: IntSingleInput_Feedback
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type: object
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goal:
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properties:
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int_input:
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maximum: 2147483647
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minimum: -2147483648
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type: integer
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required:
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- int_input
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title: IntSingleInput_Goal
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type: object
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result:
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properties:
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return_info:
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type: string
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success:
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type: boolean
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required:
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- return_info
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- success
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title: IntSingleInput_Result
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type: object
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required:
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- goal
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title: IntSingleInput
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type: object
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type: IntSingleInput
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reset:
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feedback: {}
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goal: {}
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goal_default: {}
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handles: []
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result: {}
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schema:
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description: ''
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properties:
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feedback:
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properties: {}
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required: []
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title: EmptyIn_Feedback
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type: object
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goal:
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properties: {}
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required: []
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title: EmptyIn_Goal
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type: object
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result:
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properties:
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return_info:
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type: string
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required:
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- return_info
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title: EmptyIn_Result
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type: object
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required:
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- goal
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title: EmptyIn
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type: object
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type: EmptyIn
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module: unilabos.devices.powder_dispense.laiyu:Laiyu
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status_types:
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status: str
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type: python
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config_info: []
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description: 来渝固体粉末自动分装设备，用于实验室化学试剂的精确称量和分装。该设备通过Modbus RTU协议与控制系统通信，集成了精密天平、三轴运动平台、粉筒管理系统等组件。支持多种粉末试剂的自动拿取、精确称量、定点分装和归位操作。具备高精度称量、位置控制和批量处理能力，适用于化学合成、药物研发、材料制备等需要精确固体试剂配制的实验室应用场景。
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handles: []
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icon: ''
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init_param_schema:
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config:
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properties:
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baudrate:
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default: 115200
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type: string
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port:
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type: string
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timeout:
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default: 0.5
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type: string
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required:
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- port
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type: object
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data:
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properties:
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status:
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type: string
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required:
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- status
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type: object
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version: 1.0.0
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