From 84aeb6921d402aa79e0aeee7483c2d1a49c56d96 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Fri, 18 Jul 2025 22:38:40 +0800 Subject: [PATCH 1/4] mix --- unilabos/registry/devices/liquid_handler.yaml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/unilabos/registry/devices/liquid_handler.yaml b/unilabos/registry/devices/liquid_handler.yaml index d8c05a5..bb81208 100644 --- a/unilabos/registry/devices/liquid_handler.yaml +++ b/unilabos/registry/devices/liquid_handler.yaml @@ -6178,6 +6178,8 @@ liquid_handler.prcxi: vols: - 0.0 handles: [] + placeholder_keys: + resources: unilabos_resources result: {} schema: description: '' @@ -6535,6 +6537,8 @@ liquid_handler.prcxi: sample_id: '' type: '' handles: [] + placeholder_keys: + targets: unilabos_resources result: {} schema: description: '' From 45eaf7019d39d6c19408f6db5ae4d00a5f36721b Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Fri, 18 Jul 2025 23:43:22 +0800 Subject: [PATCH 2/4] registry fix --- unilabos/registry/devices/liquid_handler.yaml | 426 ++++++++++++++---- 1 file changed, 348 insertions(+), 78 deletions(-) diff --git a/unilabos/registry/devices/liquid_handler.yaml b/unilabos/registry/devices/liquid_handler.yaml index bb81208..3b5dcb0 100644 --- a/unilabos/registry/devices/liquid_handler.yaml +++ b/unilabos/registry/devices/liquid_handler.yaml @@ -5466,6 +5466,354 @@ liquid_handler.biomek: liquid_handler.prcxi: class: action_value_mappings: + add_liquid: + feedback: {} + goal: + asp_vols: asp_vols + blow_out_air_volume: blow_out_air_volume + dis_vols: dis_vols + flow_rates: flow_rates + is_96_well: is_96_well + liquid_height: liquid_height + mix_liquid_height: mix_liquid_height + mix_rate: mix_rate + mix_time: mix_time + mix_vol: mix_vol + none_keys: none_keys + offsets: offsets + reagent_sources: reagent_sources + spread: spread + targets: targets + use_channels: use_channels + goal_default: + asp_vols: + - 0.0 + blow_out_air_volume: + - 0.0 + dis_vols: + - 0.0 + flow_rates: + - 0.0 + is_96_well: false + liquid_height: + - 0.0 + mix_liquid_height: 0.0 + mix_rate: 0 + mix_time: 0 + mix_vol: 0 + none_keys: + - '' + offsets: + - x: 0.0 + y: 0.0 + z: 0.0 + reagent_sources: + - 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: '' + 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: '' + use_channels: + - 0 + handles: [] + placeholder_keys: + reagent_sources: unilabos_resources + targets: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: {} + required: [] + title: LiquidHandlerAdd_Feedback + type: object + goal: + properties: + asp_vols: + items: + type: number + type: array + blow_out_air_volume: + items: + type: number + type: array + dis_vols: + items: + type: number + type: array + flow_rates: + items: + type: number + type: array + is_96_well: + type: boolean + liquid_height: + items: + type: number + type: array + mix_liquid_height: + type: number + mix_rate: + maximum: 2147483647 + minimum: -2147483648 + type: integer + 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 + reagent_sources: + 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 + 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 + use_channels: + items: + maximum: 2147483647 + minimum: -2147483648 + type: integer + type: array + required: + - asp_vols + - dis_vols + - reagent_sources + - targets + - use_channels + - flow_rates + - offsets + - liquid_height + - blow_out_air_volume + - spread + - is_96_well + - mix_time + - mix_vol + - mix_rate + - mix_liquid_height + - none_keys + title: LiquidHandlerAdd_Goal + type: object + result: + properties: + return_info: + type: string + success: + type: boolean + required: + - return_info + - success + title: LiquidHandlerAdd_Result + type: object + required: + - goal + title: LiquidHandlerAdd + type: object + type: LiquidHandlerAdd aspirate: feedback: {} goal: @@ -5669,84 +6017,6 @@ liquid_handler.prcxi: title: LiquidHandlerAspirate type: object type: LiquidHandlerAspirate - auto-add_liquid: - feedback: {} - goal: {} - goal_default: - asp_vols: null - blow_out_air_volume: null - delays: null - dis_vols: null - flow_rates: null - is_96_well: false - liquid_height: null - mix_liquid_height: null - mix_rate: null - mix_time: null - mix_vol: null - none_keys: [] - offsets: null - reagent_sources: null - spread: wide - targets: null - use_channels: null - handles: [] - result: {} - schema: - description: add_liquid的参数schema - properties: - feedback: {} - goal: - properties: - asp_vols: - type: string - blow_out_air_volume: - type: string - delays: - type: string - dis_vols: - type: string - flow_rates: - type: string - is_96_well: - default: false - type: boolean - liquid_height: - type: string - mix_liquid_height: - type: string - mix_rate: - type: string - mix_time: - type: string - mix_vol: - type: string - none_keys: - default: [] - type: array - offsets: - type: string - reagent_sources: - type: string - spread: - default: wide - type: string - targets: - type: string - use_channels: - type: string - required: - - asp_vols - - dis_vols - - reagent_sources - - targets - type: object - result: {} - required: - - goal - title: add_liquid参数 - type: object - type: UniLabJsonCommandAsync auto-create_protocol: feedback: {} goal: {} From c61c4aae59b448963eea14e34c0b657842288136 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Fri, 18 Jul 2025 23:59:59 +0800 Subject: [PATCH 3/4] registry fix --- unilabos/registry/devices/liquid_handler.yaml | 1933 +++++++++++------ 1 file changed, 1289 insertions(+), 644 deletions(-) diff --git a/unilabos/registry/devices/liquid_handler.yaml b/unilabos/registry/devices/liquid_handler.yaml index 3b5dcb0..662d080 100644 --- a/unilabos/registry/devices/liquid_handler.yaml +++ b/unilabos/registry/devices/liquid_handler.yaml @@ -647,70 +647,6 @@ liquid_handler: title: iter_tips参数 type: object type: UniLabJsonCommand - auto-remove_liquid: - feedback: {} - goal: {} - goal_default: - blow_out_air_volume: null - delays: null - flow_rates: null - is_96_well: false - liquid_height: null - none_keys: [] - offsets: null - sources: null - spread: wide - top: null - use_channels: null - vols: null - waste_liquid: null - handles: [] - result: {} - schema: - description: 液体移除操作函数。从指定容器位置移除液体并转移到废液容器中。支持多源位置批量操作、流速控制、液面高度检测、96孔板模式等功能。可配置延时、吹气体积、位置偏移等参数，确保液体完全移除和容器清洁。适用于样品清洗、废液处理、容器清空等实验清理操作。 - properties: - feedback: {} - goal: - properties: - blow_out_air_volume: - type: string - delays: - type: string - flow_rates: - type: string - is_96_well: - default: false - type: string - liquid_height: - type: string - none_keys: - default: [] - type: string - offsets: - type: string - sources: - type: string - spread: - default: wide - type: string - top: - type: string - use_channels: - type: string - vols: - type: string - waste_liquid: - type: string - required: - - vols - - sources - type: object - result: {} - required: - - goal - title: remove_liquid参数 - type: object - type: UniLabJsonCommandAsync auto-set_tiprack: feedback: {} goal: {} @@ -3181,6 +3117,333 @@ liquid_handler: title: LiquidHandlerRemove type: object type: LiquidHandlerRemove + remove_liquid: + feedback: {} + goal: + blow_out_air_volume: blow_out_air_volume + delays: delays + flow_rates: flow_rates + is_96_well: is_96_well + liquid_height: liquid_height + none_keys: none_keys + offsets: offsets + sources: sources + spread: spread + top: top + use_channels: use_channels + vols: vols + waste_liquid: waste_liquid + goal_default: + blow_out_air_volume: + - 0.0 + delays: + - 0 + flow_rates: + - 0.0 + is_96_well: false + liquid_height: + - 0.0 + none_keys: + - '' + offsets: + - x: 0.0 + y: 0.0 + z: 0.0 + sources: + - 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: '' + top: + - 0.0 + use_channels: + - 0 + vols: + - 0.0 + waste_liquid: + 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: '' + properties: + feedback: + properties: {} + required: [] + title: LiquidHandlerRemove_Feedback + type: object + goal: + properties: + blow_out_air_volume: + items: + type: number + type: array + delays: + items: + maximum: 2147483647 + minimum: -2147483648 + type: integer + type: array + flow_rates: + items: + type: number + type: array + is_96_well: + type: boolean + liquid_height: + items: + type: number + type: array + 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 + sources: + 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 + top: + items: + type: number + type: array + use_channels: + items: + maximum: 2147483647 + minimum: -2147483648 + type: integer + type: array + vols: + items: + type: number + type: array + waste_liquid: + 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 + required: + - vols + - sources + - waste_liquid + - use_channels + - flow_rates + - offsets + - liquid_height + - blow_out_air_volume + - spread + - delays + - is_96_well + - top + - none_keys + title: LiquidHandlerRemove_Goal + type: object + result: + properties: + return_info: + type: string + success: + type: boolean + required: + - return_info + - success + title: LiquidHandlerRemove_Result + type: object + required: + - goal + title: LiquidHandlerRemove + type: object + type: LiquidHandlerRemove return_tips: feedback: {} goal: @@ -3524,453 +3787,90 @@ liquid_handler: target_vols: target_vols targets: targets goal_default: - asp_flow_rates: - - 0.0 - asp_vols: - - 0.0 - blow_out_air_volume: - - 0.0 - delays: - - 0 - dis_flow_rates: - - 0.0 - dis_vols: - - 0.0 - is_96_well: false - liquid_height: - - 0.0 - mix_liquid_height: 0.0 - mix_rate: 0 - mix_stage: '' - mix_times: - - 0 - mix_vol: 0 - none_keys: - - '' - offsets: - - x: 0.0 - y: 0.0 - z: 0.0 - sources: - - 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: '' - 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: '' - tip_racks: - - 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: '' - touch_tip: false - use_channels: - - 0 + amount: '' + from_vessel: '' + rinsing_repeats: 0 + rinsing_solvent: '' + rinsing_volume: 0.0 + solid: false + time: 0.0 + to_vessel: '' + viscous: false + volume: 0.0 handles: [] schema: description: '' properties: feedback: - properties: {} - required: [] - title: LiquidHandlerTransfer_Feedback + properties: + current_status: + type: string + progress: + type: number + transferred_volume: + type: number + required: + - progress + - transferred_volume + - current_status + title: Transfer_Feedback type: object goal: properties: - asp_flow_rates: - items: - type: number - type: array - asp_vols: - items: - type: number - type: array - blow_out_air_volume: - items: - type: number - type: array - delays: - items: - maximum: 2147483647 - minimum: -2147483648 - type: integer - type: array - dis_flow_rates: - items: - type: number - type: array - dis_vols: - items: - type: number - type: array - is_96_well: - type: boolean - liquid_height: - items: - type: number - type: array - mix_liquid_height: + amount: + type: string + from_vessel: + type: string + rinsing_repeats: + maximum: 2147483647 + minimum: -2147483648 + type: integer + rinsing_solvent: + type: string + rinsing_volume: type: number - mix_rate: - maximum: 2147483647 - minimum: -2147483648 - type: integer - mix_stage: - type: string - mix_times: - items: - maximum: 2147483647 - minimum: -2147483648 - type: integer - type: array - 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 - sources: - 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 - 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 - tip_racks: - 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 - touch_tip: + solid: type: boolean - use_channels: - items: - maximum: 2147483647 - minimum: -2147483648 - type: integer - type: array + time: + type: number + to_vessel: + type: string + viscous: + type: boolean + volume: + type: number required: - - asp_vols - - dis_vols - - sources - - targets - - tip_racks - - use_channels - - asp_flow_rates - - dis_flow_rates - - offsets - - touch_tip - - liquid_height - - blow_out_air_volume - - spread - - is_96_well - - mix_stage - - mix_times - - mix_vol - - mix_rate - - mix_liquid_height - - delays - - none_keys - title: LiquidHandlerTransfer_Goal + - from_vessel + - to_vessel + - volume + - amount + - time + - viscous + - rinsing_solvent + - rinsing_volume + - rinsing_repeats + - solid + title: Transfer_Goal type: object result: properties: + message: + type: string return_info: type: string success: type: boolean required: - - return_info - success - title: LiquidHandlerTransfer_Result + - message + - return_info + title: Transfer_Result type: object required: - goal - title: LiquidHandlerTransfer + title: Transfer type: object - type: LiquidHandlerTransfer + type: Transfer transfer_liquid: feedback: {} goal: @@ -4088,6 +3988,10 @@ liquid_handler: use_channels: - 0 handles: [] + placeholder_keys: + sources: unilabos_resources + targets: unilabos_resources + tip_racks: unilabos_resources result: {} schema: description: '' @@ -6178,70 +6082,6 @@ liquid_handler.prcxi: title: move_to参数 type: object type: UniLabJsonCommandAsync - auto-remove_liquid: - feedback: {} - goal: {} - goal_default: - blow_out_air_volume: null - delays: null - flow_rates: null - is_96_well: false - liquid_height: null - none_keys: [] - offsets: null - sources: null - spread: wide - top: null - use_channels: null - vols: null - waste_liquid: null - handles: [] - result: {} - schema: - description: remove_liquid的参数schema - properties: - feedback: {} - goal: - properties: - blow_out_air_volume: - type: string - delays: - type: string - flow_rates: - type: string - is_96_well: - default: false - type: string - liquid_height: - type: string - none_keys: - default: [] - type: array - offsets: - type: string - sources: - type: string - spread: - default: wide - type: string - top: - type: string - use_channels: - type: string - vols: - type: array - waste_liquid: - type: string - required: - - vols - - sources - type: object - result: {} - required: - - goal - title: remove_liquid参数 - type: object - type: UniLabJsonCommandAsync auto-run_protocol: feedback: {} goal: {} @@ -6310,99 +6150,6 @@ liquid_handler.prcxi: title: touch_tip参数 type: object type: UniLabJsonCommandAsync - auto-transfer_liquid: - feedback: {} - goal: {} - goal_default: - asp_flow_rates: null - asp_vols: null - blow_out_air_volume: null - delays: null - dis_flow_rates: null - dis_vols: null - is_96_well: false - liquid_height: null - mix_liquid_height: null - mix_rate: null - mix_stage: none - mix_times: null - mix_vol: null - none_keys: [] - offsets: null - sources: null - spread: wide - targets: null - tip_racks: null - touch_tip: false - use_channels: null - handles: [] - result: {} - schema: - description: transfer_liquid的参数schema - properties: - feedback: {} - goal: - properties: - asp_flow_rates: - type: string - asp_vols: - type: string - blow_out_air_volume: - type: string - delays: - type: string - dis_flow_rates: - type: string - dis_vols: - type: string - is_96_well: - default: false - type: boolean - liquid_height: - type: string - mix_liquid_height: - type: string - mix_rate: - type: string - mix_stage: - default: none - type: string - mix_times: - type: string - mix_vol: - type: string - none_keys: - default: [] - type: array - offsets: - type: string - sources: - type: string - spread: - default: wide - type: string - targets: - type: string - tip_racks: - type: string - touch_tip: - default: false - type: boolean - use_channels: - type: string - required: - - sources - - targets - - tip_racks - - asp_vols - - dis_vols - type: object - result: {} - required: - - goal - title: transfer_liquid参数 - type: object - type: UniLabJsonCommandAsync dispense: feedback: {} goal: @@ -7119,6 +6866,333 @@ liquid_handler.prcxi: title: LiquidHandlerPickUpTips type: object type: LiquidHandlerPickUpTips + remove_liquid: + feedback: {} + goal: + blow_out_air_volume: blow_out_air_volume + delays: delays + flow_rates: flow_rates + is_96_well: is_96_well + liquid_height: liquid_height + none_keys: none_keys + offsets: offsets + sources: sources + spread: spread + top: top + use_channels: use_channels + vols: vols + waste_liquid: waste_liquid + goal_default: + blow_out_air_volume: + - 0.0 + delays: + - 0 + flow_rates: + - 0.0 + is_96_well: false + liquid_height: + - 0.0 + none_keys: + - '' + offsets: + - x: 0.0 + y: 0.0 + z: 0.0 + sources: + - 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: '' + top: + - 0.0 + use_channels: + - 0 + vols: + - 0.0 + waste_liquid: + 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: '' + properties: + feedback: + properties: {} + required: [] + title: LiquidHandlerRemove_Feedback + type: object + goal: + properties: + blow_out_air_volume: + items: + type: number + type: array + delays: + items: + maximum: 2147483647 + minimum: -2147483648 + type: integer + type: array + flow_rates: + items: + type: number + type: array + is_96_well: + type: boolean + liquid_height: + items: + type: number + type: array + 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 + sources: + 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 + top: + items: + type: number + type: array + use_channels: + items: + maximum: 2147483647 + minimum: -2147483648 + type: integer + type: array + vols: + items: + type: number + type: array + waste_liquid: + 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 + required: + - vols + - sources + - waste_liquid + - use_channels + - flow_rates + - offsets + - liquid_height + - blow_out_air_volume + - spread + - delays + - is_96_well + - top + - none_keys + title: LiquidHandlerRemove_Goal + type: object + result: + properties: + return_info: + type: string + success: + type: boolean + required: + - return_info + - success + title: LiquidHandlerRemove_Result + type: object + required: + - goal + title: LiquidHandlerRemove + type: object + type: LiquidHandlerRemove set_liquid: feedback: {} goal: @@ -7266,6 +7340,577 @@ liquid_handler.prcxi: title: LiquidHandlerSetLiquid type: object type: LiquidHandlerSetLiquid + transfer: + goal: + aspiration_flow_rate: aspiration_flow_rate + dispense_flow_rates: dispense_flow_rates + ratios: ratios + source: source + source_vol: source_vol + target_vols: target_vols + targets: targets + goal_default: + amount: '' + from_vessel: '' + rinsing_repeats: 0 + rinsing_solvent: '' + rinsing_volume: 0.0 + solid: false + time: 0.0 + to_vessel: '' + viscous: false + volume: 0.0 + handles: [] + schema: + description: '' + properties: + feedback: + properties: + current_status: + type: string + progress: + type: number + transferred_volume: + type: number + required: + - progress + - transferred_volume + - current_status + title: Transfer_Feedback + type: object + goal: + properties: + amount: + type: string + from_vessel: + type: string + rinsing_repeats: + maximum: 2147483647 + minimum: -2147483648 + type: integer + rinsing_solvent: + type: string + rinsing_volume: + type: number + solid: + type: boolean + time: + type: number + to_vessel: + type: string + viscous: + type: boolean + volume: + type: number + required: + - from_vessel + - to_vessel + - volume + - amount + - time + - viscous + - rinsing_solvent + - rinsing_volume + - rinsing_repeats + - solid + title: Transfer_Goal + type: object + result: + properties: + message: + type: string + return_info: + type: string + success: + type: boolean + required: + - success + - message + - return_info + title: Transfer_Result + type: object + required: + - goal + title: Transfer + type: object + type: Transfer + transfer_liquid: + feedback: {} + goal: + asp_flow_rates: asp_flow_rates + asp_vols: asp_vols + blow_out_air_volume: blow_out_air_volume + delays: delays + dis_flow_rates: dis_flow_rates + dis_vols: dis_vols + is_96_well: is_96_well + liquid_height: liquid_height + mix_liquid_height: mix_liquid_height + mix_rate: mix_rate + mix_stage: mix_stage + mix_times: mix_times + mix_vol: mix_vol + none_keys: none_keys + offsets: offsets + sources: sources + spread: spread + targets: targets + tip_racks: tip_racks + touch_tip: touch_tip + use_channels: use_channels + goal_default: + asp_flow_rates: + - 0.0 + asp_vols: + - 0.0 + blow_out_air_volume: + - 0.0 + delays: + - 0 + dis_flow_rates: + - 0.0 + dis_vols: + - 0.0 + is_96_well: false + liquid_height: + - 0.0 + mix_liquid_height: 0.0 + mix_rate: 0 + mix_stage: '' + mix_times: + - 0 + mix_vol: 0 + none_keys: + - '' + offsets: + - x: 0.0 + y: 0.0 + z: 0.0 + sources: + - 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: '' + 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: '' + tip_racks: + - 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: '' + touch_tip: false + use_channels: + - 0 + handles: [] + placeholder_keys: + sources: unilabos_resources + targets: unilabos_resources + tip_racks: unilabos_resources + result: {} + schema: + description: '' + properties: + feedback: + properties: {} + required: [] + title: LiquidHandlerTransfer_Feedback + type: object + goal: + properties: + asp_flow_rates: + items: + type: number + type: array + asp_vols: + items: + type: number + type: array + blow_out_air_volume: + items: + type: number + type: array + delays: + items: + maximum: 2147483647 + minimum: -2147483648 + type: integer + type: array + dis_flow_rates: + items: + type: number + type: array + dis_vols: + items: + type: number + type: array + is_96_well: + type: boolean + liquid_height: + items: + type: number + type: array + mix_liquid_height: + type: number + mix_rate: + maximum: 2147483647 + minimum: -2147483648 + type: integer + mix_stage: + type: string + mix_times: + items: + maximum: 2147483647 + minimum: -2147483648 + type: integer + type: array + 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 + sources: + 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 + 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 + tip_racks: + 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 + touch_tip: + type: boolean + use_channels: + items: + maximum: 2147483647 + minimum: -2147483648 + type: integer + type: array + required: + - asp_vols + - dis_vols + - sources + - targets + - tip_racks + - use_channels + - asp_flow_rates + - dis_flow_rates + - offsets + - touch_tip + - liquid_height + - blow_out_air_volume + - spread + - is_96_well + - mix_stage + - mix_times + - mix_vol + - mix_rate + - mix_liquid_height + - delays + - none_keys + title: LiquidHandlerTransfer_Goal + type: object + result: + properties: + return_info: + type: string + success: + type: boolean + required: + - return_info + - success + title: LiquidHandlerTransfer_Result + type: object + required: + - goal + title: LiquidHandlerTransfer + type: object + type: LiquidHandlerTransfer module: unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Handler status_types: reset_ok: bool From 9eb1f9823e650bf8dcec222c6e55ef3d36d52116 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Sat, 19 Jul 2025 00:03:02 +0800 Subject: [PATCH 4/4] registry fix --- unilabos/registry/devices/liquid_handler.yaml | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/unilabos/registry/devices/liquid_handler.yaml b/unilabos/registry/devices/liquid_handler.yaml index 662d080..f5d7137 100644 --- a/unilabos/registry/devices/liquid_handler.yaml +++ b/unilabos/registry/devices/liquid_handler.yaml @@ -86,6 +86,9 @@ liquid_handler: use_channels: - 0 handles: [] + placeholder_keys: + reagent_sources: unilabos_resources + targets: unilabos_resources result: {} schema: description: '' @@ -3197,6 +3200,9 @@ liquid_handler: sample_id: '' type: '' handles: [] + placeholder_keys: + sources: unilabos_resources + waste_liquid: unilabos_resources result: {} schema: description: '' @@ -4991,6 +4997,10 @@ liquid_handler.biomek: handler_key: liquid-output io_type: source label: Liquid Output + placeholder_keys: + sources: unilabos_resources + targets: unilabos_resources + tip_racks: unilabos_resources result: {} schema: description: '' @@ -6946,6 +6956,9 @@ liquid_handler.prcxi: sample_id: '' type: '' handles: [] + placeholder_keys: + sources: unilabos_resources + waste_liquid: unilabos_resources result: {} schema: description: ''