Merge branch 'dev' into device_visualization

2025-12-17 13:01:12 +00:00 · 2025-05-07 03:06:41 +08:00
parent 1b190ee62f 2dde5b6aae
commit ad5168c3eb
3 changed files with 4 additions and 5 deletions
--- a/unilabos/resources/graphio.py
+++ b/unilabos/resources/graphio.py
@@ -479,7 +479,8 @@ def initialize_resources(resources_config) -> list[dict]:
    from unilabos.registry.registry import lab_registry
    resources = []
    for resource_config in resources_config:
-
+        if resource_config["parent"] == "tip_rack" or resource_config["parent"] == "plate_well":
+            continue
        resources.extend(initialize_resource(resource_config, lab_registry))

    return resources
--- a/unilabos_msgs/action/LiquidHandlerAspirate.action
+++ b/unilabos_msgs/action/LiquidHandlerAspirate.action
@@ -1,12 +1,11 @@
-# Bio
 Resource[] resources
 float64[] vols
 int32[] use_channels
 float64[] flow_rates
-float64 end_delay
 geometry_msgs/Point[] offsets
 float64[] liquid_height
 float64[] blow_out_air_volume
+string spread="wide"
 ---
 bool success
 ---
--- a/unilabos_msgs/action/LiquidHandlerDispense.action
+++ b/unilabos_msgs/action/LiquidHandlerDispense.action
@@ -1,4 +1,3 @@
-# Bio
 # 请求字段
 Resource[] resources
 float64[] vols
@@ -6,7 +5,7 @@ int32[] use_channels
 float64[] flow_rates
 geometry_msgs/Point[] offsets
 int32[] blow_out_air_volume
-string spread
+string spread="wide"
 ---
 # 结果字段
 bool success