Initial commit

unilabos_msgs/action/AGVTransfer.action

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+# MobileRobot
+Resource from_repo
+string from_repo_position
+Resource to_repo
+string to_repo_position
+---
+bool success
+---
+string status

unilabos_msgs/action/Clean.action

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+# Organic
+string vessel  # Vessel to clean.
+string solvent # Solvent to clean vessel with.
+float64 volume # Optional. Volume of solvent to clean vessel with.
+float64 temp   # Optional. Temperature to heat vessel to while cleaning.
+int32 repeats  # Optional. Number of cleaning cycles to perform.
+---
+bool success
+---
+string status
+string current_device
+builtin_interfaces/Duration time_spent
+builtin_interfaces/Duration time_remaining

unilabos_msgs/action/EvacuateAndRefill.action

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+# Organic
+string vessel
+string gas
+int32 repeats
+---
+bool success
+---
+string status
+string current_device
+builtin_interfaces/Duration time_spent
+builtin_interfaces/Duration time_remaining

unilabos_msgs/action/Evaporate.action

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+# Organic
+string vessel
+float64 pressure
+float64 temp
+float64 time
+float64 stir_speed
+---
+bool success
+---
+string status
+string current_device
+builtin_interfaces/Duration time_spent
+builtin_interfaces/Duration time_remaining

unilabos_msgs/action/HeatChill.action

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+# Organic
+string vessel
+float64 temp
+float64 time
+bool stir
+float64 stir_speed
+string purpose
+---
+bool success
+---
+string status

unilabos_msgs/action/HeatChillStart.action

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+# Organic
+string vessel
+float64 temp
+string purpose
+---
+bool success
+---
+string status

unilabos_msgs/action/HeatChillStop.action

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+# Organic
+string vessel
+---
+bool success
+---
+string status

unilabos_msgs/action/LiquidHandlerAspirate.action

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+# 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
+---
+bool success
+---

unilabos_msgs/action/LiquidHandlerDiscardTips.action

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+# Bio
+# 请求字段
+int32[] use_channels
+---
+# 结果字段
+bool success
+---
+# 反馈字段 

unilabos_msgs/action/LiquidHandlerDispense.action

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+# Bio
+# 请求字段
+Resource[] resources
+float64[] vols
+int32[] use_channels
+float64[] flow_rates
+geometry_msgs/Point[] offsets
+int32[] blow_out_air_volume
+string spread
+---
+# 结果字段
+bool success
+---
+# 反馈字段 

unilabos_msgs/action/LiquidHandlerDropTips.action

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+# Bio
+# 请求字段
+Resource[] tip_spots
+int32[] use_channels
+geometry_msgs/Point[] offsets
+bool allow_nonzero_volume
+---
+# 结果字段
+bool success
+---
+# 反馈字段 

unilabos_msgs/action/LiquidHandlerDropTips96.action

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+# Bio
+# 请求字段
+Resource tip_rack
+geometry_msgs/Point offset
+bool allow_nonzero_volume
+---
+# 结果字段
+bool success
+---
+# 反馈字段 

unilabos_msgs/action/LiquidHandlerMoveLid.action

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+# Bio
+# 请求字段
+Resource lid
+Resource to
+geometry_msgs/Point[] intermediate_locations
+geometry_msgs/Point resource_offset
+geometry_msgs/Point destination_offset
+string pickup_direction
+string drop_direction
+string get_direction
+string put_direction
+float64 pickup_distance_from_top
+---
+# 结果字段
+bool success
+---
+# 反馈字段 

unilabos_msgs/action/LiquidHandlerMovePlate.action

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+# Bio
+# 请求字段
+Resource plate
+Resource to
+geometry_msgs/Point[] intermediate_locations
+geometry_msgs/Point resource_offset
+geometry_msgs/Point pickup_offset
+geometry_msgs/Point destination_offset
+string pickup_direction
+string drop_direction
+string get_direction
+string put_direction
+float64 pickup_distance_from_top
+---
+# 结果字段
+bool success
+---
+# 反馈字段 

unilabos_msgs/action/LiquidHandlerMoveResource.action

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+# Bio
+# 请求字段
+Resource resource
+geometry_msgs/Point to
+geometry_msgs/Point[] intermediate_locations
+geometry_msgs/Point resource_offset
+geometry_msgs/Point destination_offset
+float64 pickup_distance_from_top
+string pickup_direction
+string drop_direction
+string get_direction
+string put_direction
+---
+# 结果字段
+bool success
+---
+# 反馈字段 

unilabos_msgs/action/LiquidHandlerPickUpTips.action

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+# Bio
+# 请求字段
+Resource[] tip_spots
+int32[] use_channels
+geometry_msgs/Point[] offsets
+---
+# 结果字段
+bool success
+---
+# 反馈字段 

unilabos_msgs/action/LiquidHandlerPickUpTips96.action

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+# Bio
+# 请求字段
+Resource tip_rack
+geometry_msgs/Point offset
+---
+# 结果字段
+bool success
+---
+# 反馈字段 

unilabos_msgs/action/LiquidHandlerReturnTips.action

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+# Bio
+# 请求字段
+int32[] use_channels
+bool allow_nonzero_volume
+---
+# 结果字段
+bool success
+---
+# 反馈字段 

unilabos_msgs/action/LiquidHandlerReturnTips96.action

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+# Bio
+# 请求字段
+bool allow_nonzero_volume
+---
+# 结果字段
+bool success
+---
+# 反馈字段 

unilabos_msgs/action/LiquidHandlerStamp.action

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+# Bio
+# 请求字段
+Resource source
+Resource target
+float64 volume
+float64 aspiration_flow_rate
+float64 dispense_flow_rate
+---
+# 结果字段
+bool success
+---
+# 反馈字段 

unilabos_msgs/action/LiquidHandlerTransfer.action

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+# Bio
+Resource source
+Resource[] targets
+float64 source_vol
+float64[] ratios
+float64[] target_vols
+float64 aspiration_flow_rate
+float64[] dispense_flow_rates
+---
+bool success
+---

unilabos_msgs/action/PumpTransfer.action

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+# Organic
+string from_vessel
+string to_vessel
+float64 volume
+string amount
+float64 time
+bool viscous
+string rinsing_solvent
+float64 rinsing_volume
+int32 rinsing_repeats
+bool solid
+---
+bool success
+---
+string status
+string current_device
+builtin_interfaces/Duration time_spent
+builtin_interfaces/Duration time_remaining

unilabos_msgs/action/SendCmd.action

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+# Simple
+string command
+---
+bool success
+---
+string status

unilabos_msgs/action/Separate.action

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+# Organic
+string purpose  # 'wash' or 'extract'. 'wash' means that product phase will not be the added solvent phase, 'extract' means product phase will be the added solvent phase. If no solvent is added just use 'extract'.
+string product_phase # 'top' or 'bottom'. Phase that product will be in.
+string from_vessel #Contents of from_vessel are transferred to separation_vessel and separation is performed.
+string separation_vessel # Vessel in which separation of phases will be carried out.
+string to_vessel # Vessel to send product phase to.
+string waste_phase_to_vessel # Optional. Vessel to send waste phase to.
+string solvent # Optional. Solvent to add to separation vessel after contents of from_vessel has been transferred to create two phases.
+float64 solvent_volume # Optional. Volume of solvent to add.
+string through # Optional. Solid chemical to send product phase through on way to to_vessel, e.g. 'celite'.
+int32 repeats # Optional. Number of separations to perform.
+float64 stir_time # Optional. Time stir for after adding solvent, before separation of phases.
+float64 stir_speed # Optional. Speed to stir at after adding solvent, before separation of phases.
+float64 settling_time # Optional. Time
+---
+bool success
+---
+string status
+string current_device
+builtin_interfaces/Duration time_spent
+builtin_interfaces/Duration time_remaining

unilabos_msgs/action/Stir.action

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+# Organic
+float64 stir_time
+float64 stir_speed
+float64 settling_time
+---
+bool success
+---
+string status

unilabos_msgs/action/WorkStationRun.action

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+# MobileRobot
+string wf_name
+string params
+Resource resource
+---
+bool success
+---
+string status
+string gantt