Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization"

This reverts commit fa727220af, reversing changes made to 498c997ad7.
2025-12-17 21:11:12 +00:00 · 2025-05-20 17:13:05 +08:00
parent ae566f2bc2
commit aa85a1f3a2
12 changed files with 124 additions and 182 deletions
--- a/unilabos_msgs/action/LiquidHandlerAdd.action
+++ b/unilabos_msgs/action/LiquidHandlerAdd.action
@@ -1,20 +0,0 @@
-float64[] asp_vols
-float64[] dis_vols
-Resource[] reagent_sources
-Resource[] targets
-int32[] use_channels
-float64[] flow_rates
-geometry_msgs/Point[] offsets
-float64[] liquid_height
-float64[] blow_out_air_volume
-string spread
-bool is_96_well
-int32 mix_time
-int32 mix_vol
-int32 mix_rate
-float64 mix_liquid_height
-string[] none_keys
---
-bool success
---
-# 反馈
--- a/unilabos_msgs/action/LiquidHandlerMix.action
+++ b/unilabos_msgs/action/LiquidHandlerMix.action
@@ -1,11 +0,0 @@
-Resource[] targets
-int32 mix_time
-int32 mix_vol
-float64 height_to_bottom
-geometry_msgs/Point[] offsets
-float64 mix_rate
-string[] none_keys
---
-bool success
---
-# 反馈
--- a/unilabos_msgs/action/LiquidHandlerMoveTo.action
+++ b/unilabos_msgs/action/LiquidHandlerMoveTo.action
@@ -1,7 +0,0 @@
-Resource well
-float64 dis_to_top
-int32 channel
---
-bool success
---
-# 反馈
--- a/unilabos_msgs/action/LiquidHandlerRemove.action
+++ b/unilabos_msgs/action/LiquidHandlerRemove.action
@@ -1,17 +0,0 @@
-float64[] vols
-Resource[] sources
-Resource waste_liquid
-int32[] use_channels
-float64[] flow_rates
-geometry_msgs/Point[] offsets
-float64[] liquid_height
-float64[] blow_out_air_volume
-string spread
-int32[] delays
-bool is_96_well
-float64[] top
-string[] none_keys
---
-bool success
---
-# 反馈
--- a/unilabos_msgs/action/LiquidHandlerTransfer.action
+++ b/unilabos_msgs/action/LiquidHandlerTransfer.action
@@ -1,25 +1,11 @@
-float64[] asp_vols
-float64[] dis_vols
-Resource[] sources
+# Bio
+Resource source
 Resource[] targets
-Resource[] tip_racks
-int32[] use_channels
-float64[] asp_flow_rates
-float64[] dis_flow_rates
-geometry_msgs/Point[] offsets
-bool touch_tip
-float64[] liquid_height
-float64[] blow_out_air_volume
-string spread
-bool is_96_well
-string mix_stage
-int32[] mix_times
-int32 mix_vol
-int32 mix_rate
-float64 mix_liquid_height
-int32[] delays
-string[] none_keys
+float64 source_vol
+float64[] ratios
+float64[] target_vols
+float64 aspiration_flow_rate
+float64[] dispense_flow_rates
 ---
 bool success
---
-# 反馈
+---
--- a/unilabos_msgs/action/ResourceCreateFromOuterEasy.action
+++ b/unilabos_msgs/action/ResourceCreateFromOuterEasy.action
@@ -1,10 +0,0 @@
-string id
-string class
-string parent
-geometry_msgs/Point bind_locations
-int32[] liquid_input_slot
-string[] liquid_type
-float32[] liquid_volume
---
-bool success
---