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新增transfer_biomek的msg

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This commit is contained in:
Xuwznln
2025-06-04 19:03:00 +08:00
parent 147b8f47c0
commit c5a495f409
5 changed files with 12 additions and 3 deletions
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1
unilabos/registry/devices/liquid_handler.yaml
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@@ -1,5 +1,6 @@
liquid_handler: liquid_handler:
description: Liquid handler device controlled by pylabrobot description: Liquid handler device controlled by pylabrobot
icon: icon_yiyezhan.webp
class: class:
module: unilabos.devices.liquid_handling.liquid_handler_abstract:LiquidHandlerAbstract module: unilabos.devices.liquid_handling.liquid_handler_abstract:LiquidHandlerAbstract
type: python type: python

2
unilabos/registry/registry.py
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@@ -132,8 +132,6 @@ class Registry:
resource_info["description"] = "" resource_info["description"] = ""
if "icon" not in resource_info: if "icon" not in resource_info:
resource_info["icon"] = "" resource_info["icon"] = ""
if "icon" not in resource_info:
resource_info["icon"] = ""
if "handles" not in resource_info: if "handles" not in resource_info:
resource_info["handles"] = [] resource_info["handles"] = []
if "init_param_schema" not in resource_info: if "init_param_schema" not in resource_info:

2
unilabos/ros/msgs/message_converter.py
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@@ -131,7 +131,7 @@ _msg_converter: Dict[Type, Any] = {
Bool: lambda x: Bool(data=bool(x)), Bool: lambda x: Bool(data=bool(x)),
str: str, str: str,
String: lambda x: String(data=str(x)), String: lambda x: String(data=str(x)),
Point: lambda x: Point(x=x.x, y=x.y, z=x.z), Point: lambda x: Point(x=x.x, y=x.y, z=x.z) if not isinstance(x, dict) else Point(x=x.get("x", 0), y=x.get("y", 0), z=x.get("z", 0)),
Resource: lambda x: Resource( Resource: lambda x: Resource(
id=x.get("id", ""), id=x.get("id", ""),
name=x.get("name", ""), name=x.get("name", ""),

1
unilabos_msgs/CMakeLists.txt
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@@ -45,6 +45,7 @@ set(action_files
"action/LiquidHandlerReturnTips96.action" "action/LiquidHandlerReturnTips96.action"
"action/LiquidHandlerStamp.action" "action/LiquidHandlerStamp.action"
"action/LiquidHandlerTransfer.action" "action/LiquidHandlerTransfer.action"
"action/LiquidHandlerTransferBiomek.action"
"action/LiquidHandlerAdd.action" "action/LiquidHandlerAdd.action"
"action/LiquidHandlerMix.action" "action/LiquidHandlerMix.action"

9
unilabos_msgs/action/LiquidHandlerTransferBiomek.action Normal file
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@@ -0,0 +1,9 @@
Resource source
Resource target
Resource tip_rack
string aspirate_technique
string dispense_technique
---
---