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update prcxi

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This commit is contained in:
Xuwznln
2025-07-11 18:20:50 +08:00
parent 0e11dacead
commit 5d214ebcd8
1 changed files with 791 additions and 16 deletions
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807
unilabos/registry/devices/liquid_handler.yaml
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@@ -6067,6 +6067,202 @@ liquid_handler.biomek:
liquid_handler.prcxi: liquid_handler.prcxi:
class: class:
action_value_mappings: action_value_mappings:
aspirate:
feedback: {}
goal: {}
goal_default:
blow_out_air_volume:
- 0.0
flow_rates:
- 0.0
liquid_height:
- 0.0
offsets:
- x: 0.0
y: 0.0
z: 0.0
resources:
- 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: ''
spread: ''
use_channels:
- 0
vols:
- 0.0
handles: []
result: {}
schema:
description: ROS Action LiquidHandlerAspirate 的 JSON Schema
properties:
feedback:
description: Action 反馈 - 执行过程中从服务器发送到客户端
properties: {}
required: []
title: LiquidHandlerAspirate_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties:
blow_out_air_volume:
items:
type: number
type: array
flow_rates:
items:
type: number
type: array
liquid_height:
items:
type: number
type: array
offsets:
items:
properties:
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
title: Point
type: object
type: array
resources:
items:
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: Quaternion
type: object
position:
properties:
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
title: Point
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: Resource
type: object
type: array
spread:
type: string
use_channels:
items:
maximum: 2147483647
minimum: -2147483648
type: integer
type: array
vols:
items:
type: number
type: array
required:
- resources
- vols
- use_channels
- flow_rates
- offsets
- liquid_height
- blow_out_air_volume
- spread
title: LiquidHandlerAspirate_Goal
type: object
result:
description: Action 结果 - 完成后从服务器发送到客户端
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: LiquidHandlerAspirate_Result
type: object
required:
- goal
title: LiquidHandlerAspirate
type: object
type: LiquidHandlerAspirate
auto-add_liquid: auto-add_liquid:
feedback: {} feedback: {}
goal: {} goal: {}
@@ -6197,12 +6393,12 @@ liquid_handler.prcxi:
goal: {} goal: {}
goal_default: goal_default:
none_keys: [] none_keys: []
protocol_author: null protocol_author: ''
protocol_date: null protocol_date: ''
protocol_description: null protocol_description: ''
protocol_name: null protocol_name: ''
protocol_type: null protocol_type: ''
protocol_version: null protocol_version: ''
handles: [] handles: []
result: {} result: {}
schema: schema:
@@ -6215,24 +6411,24 @@ liquid_handler.prcxi:
default: [] default: []
type: array type: array
protocol_author: protocol_author:
default: ''
type: string type: string
protocol_date: protocol_date:
default: ''
type: string type: string
protocol_description: protocol_description:
default: ''
type: string type: string
protocol_name: protocol_name:
default: ''
type: string type: string
protocol_type: protocol_type:
default: ''
type: string type: string
protocol_version: protocol_version:
default: ''
type: string type: string
required: required: []
- protocol_name
- protocol_description
- protocol_version
- protocol_author
- protocol_date
- protocol_type
type: object type: object
result: {} result: {}
required: required:
@@ -6344,6 +6540,40 @@ liquid_handler.prcxi:
title: dispense参数 title: dispense参数
type: object type: object
type: UniLabJsonCommandAsync type: UniLabJsonCommandAsync
auto-drop_tips:
feedback: {}
goal: {}
goal_default:
allow_nonzero_volume: false
offsets: null
tip_spots: null
use_channels: null
handles: []
result: {}
schema:
description: drop_tips的参数schema
properties:
feedback: {}
goal:
properties:
allow_nonzero_volume:
default: false
type: boolean
offsets:
type: string
tip_spots:
type: string
use_channels:
type: string
required:
- tip_spots
type: object
result: {}
required:
- goal
title: drop_tips参数
type: object
type: UniLabJsonCommandAsync
auto-iter_tips: auto-iter_tips:
feedback: {} feedback: {}
goal: {} goal: {}
@@ -6698,6 +6928,547 @@ liquid_handler.prcxi:
title: transfer_liquid参数 title: transfer_liquid参数
type: object type: object
type: UniLabJsonCommandAsync type: UniLabJsonCommandAsync
dispense:
feedback: {}
goal: {}
goal_default:
blow_out_air_volume:
- 0
flow_rates:
- 0.0
offsets:
- x: 0.0
y: 0.0
z: 0.0
resources:
- 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: ''
spread: ''
use_channels:
- 0
vols:
- 0.0
handles: []
result: {}
schema:
description: ROS Action LiquidHandlerDispense 的 JSON Schema
properties:
feedback:
description: Action 反馈 - 执行过程中从服务器发送到客户端
properties: {}
required: []
title: LiquidHandlerDispense_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties:
blow_out_air_volume:
items:
maximum: 2147483647
minimum: -2147483648
type: integer
type: array
flow_rates:
items:
type: number
type: array
offsets:
items:
properties:
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
title: Point
type: object
type: array
resources:
items:
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: Quaternion
type: object
position:
properties:
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
title: Point
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: Resource
type: object
type: array
spread:
type: string
use_channels:
items:
maximum: 2147483647
minimum: -2147483648
type: integer
type: array
vols:
items:
type: number
type: array
required:
- resources
- vols
- use_channels
- flow_rates
- offsets
- blow_out_air_volume
- spread
title: LiquidHandlerDispense_Goal
type: object
result:
description: Action 结果 - 完成后从服务器发送到客户端
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: LiquidHandlerDispense_Result
type: object
required:
- goal
title: LiquidHandlerDispense
type: object
type: LiquidHandlerDispense
drop_tips:
feedback: {}
goal: {}
goal_default:
allow_nonzero_volume: false
offsets:
- x: 0.0
y: 0.0
z: 0.0
tip_spots:
- 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: ''
use_channels:
- 0
handles: []
result: {}
schema:
description: ROS Action LiquidHandlerDropTips 的 JSON Schema
properties:
feedback:
description: Action 反馈 - 执行过程中从服务器发送到客户端
properties: {}
required: []
title: LiquidHandlerDropTips_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties:
allow_nonzero_volume:
type: boolean
offsets:
items:
properties:
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
title: Point
type: object
type: array
tip_spots:
items:
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: Quaternion
type: object
position:
properties:
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
title: Point
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: Resource
type: object
type: array
use_channels:
items:
maximum: 2147483647
minimum: -2147483648
type: integer
type: array
required:
- tip_spots
- use_channels
- offsets
- allow_nonzero_volume
title: LiquidHandlerDropTips_Goal
type: object
result:
description: Action 结果 - 完成后从服务器发送到客户端
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: LiquidHandlerDropTips_Result
type: object
required:
- goal
title: LiquidHandlerDropTips
type: object
type: LiquidHandlerDropTips
mix:
feedback: {}
goal: {}
goal_default:
height_to_bottom: 0.0
mix_rate: 0.0
mix_time: 0
mix_vol: 0
none_keys:
- ''
offsets:
- x: 0.0
y: 0.0
z: 0.0
targets:
- 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: ''
handles: []
result: {}
schema:
description: ROS Action LiquidHandlerMix 的 JSON Schema
properties:
feedback:
description: Action 反馈 - 执行过程中从服务器发送到客户端
properties: {}
required: []
title: LiquidHandlerMix_Feedback
type: object
goal:
description: Action 目标 - 从客户端发送到服务器
properties:
height_to_bottom:
type: number
mix_rate:
type: number
mix_time:
maximum: 2147483647
minimum: -2147483648
type: integer
mix_vol:
maximum: 2147483647
minimum: -2147483648
type: integer
none_keys:
items:
type: string
type: array
offsets:
items:
properties:
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
title: Point
type: object
type: array
targets:
items:
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: Quaternion
type: object
position:
properties:
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
title: Point
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: Resource
type: object
type: array
required:
- targets
- mix_time
- mix_vol
- height_to_bottom
- offsets
- mix_rate
- none_keys
title: LiquidHandlerMix_Goal
type: object
result:
description: Action 结果 - 完成后从服务器发送到客户端
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: LiquidHandlerMix_Result
type: object
required:
- goal
title: LiquidHandlerMix
type: object
type: LiquidHandlerMix
pick_up_tips: pick_up_tips:
feedback: {} feedback: {}
goal: goal:
@@ -6866,7 +7637,8 @@ liquid_handler.prcxi:
type: object type: object
type: LiquidHandlerPickUpTips type: LiquidHandlerPickUpTips
module: unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Handler module: unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Handler
status_types: {} status_types:
reset_ok: bool
type: python type: python
description: prcxi液体处理器设备，基于pylabrobot控制 description: prcxi液体处理器设备，基于pylabrobot控制
handles: [] handles: []
@@ -6892,8 +7664,11 @@ liquid_handler.prcxi:
- timeout - timeout
type: object type: object
data: data:
properties: {} properties:
required: [] reset_ok:
type: boolean
required:
- reset_ok
type: object type: object
liquid_handler.revvity: liquid_handler.revvity:
class: class: