云端可启动夹爪

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -443,7 +443,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
     async def move_plate(
         self,
         plate: Plate,
-        to: Union[ResourceStack, ResourceHolder, Resource, Coordinate],
+        to: Resource,
         intermediate_locations: Optional[List[Coordinate]] = None,
         pickup_offset: Coordinate = Coordinate.zero(),
         destination_offset: Coordinate = Coordinate.zero(),
@@ -544,7 +544,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
 
 
         is_whole_plate = True
-        balance_height = drop.pickup_distance_from_top
+        balance_height = 0
         if plate_number is None:
             raise ValueError("target_plate_number is required when dropping a resource")
         step = self.api_client.clamp_jaw_drop(plate_number, is_whole_plate, balance_height)
@@ -612,7 +612,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
                 # 清除错误代码
                 self.api_client.clear_error_code()
                 print("PRCXI9300 error code cleared.")
-                
+                self.api_client.call("IAutomation", "Stop")
                 # 执行重置
                 print("Starting PRCXI9300 reset...")
                 self.api_client.call("IAutomation", "Reset")

unilabos/ros/nodes/base_device_node.py

@@ -1276,7 +1276,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                         seen = set()
                         unique_resources = []
                         for rs in akv:  # todo: 这里目前只支持plr的类型
-                            res = self.resource_tracker.parent_resource(rs)  # 获取 resource 对象
+                            if isinstance(rs, list):
+                                for r in rs:
+                                    res = self.resource_tracker.parent_resource(r)  # 获取 resource 对象
+                            else:
+                                res = self.resource_tracker.parent_resource(r)
                             if id(res) not in seen:
                                 seen.add(id(res))
                                 unique_resources.append(res)