mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2026-02-05 22:15:04 +00:00
添加抓取后物料上传
This commit is contained in:
zhangshixiang
@@ -30,10 +30,11 @@ from pylabrobot.liquid_handling.standard import (
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ResourceMove,
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ResourceDrop,
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)
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from pylabrobot.resources import ResourceHolder, ResourceStack, Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash, PlateAdapter, TubeRack
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from pylabrobot.resources import ResourceHolder, ResourceStack, Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash, PlateAdapter, TubeRack, create_homogeneous_resources, create_ordered_items_2d
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from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract, SimpleReturn
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from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
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from unilabos.resources.itemized_carrier import ItemizedCarrier
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from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode
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class PRCXIError(RuntimeError):
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@@ -86,19 +87,81 @@ class PRCXI9300Container(Plate):
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category: str,
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ordering: collections.OrderedDict,
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model: Optional[str] = None,
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material_info: Optional[Dict[str, Any]] = None,
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ordering_layout: str = "col-major",
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**kwargs,
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):
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super().__init__(name, size_x, size_y, size_z, category=category, ordering=ordering, model=model)
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self._unilabos_state = {}
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self.sites = kwargs.get("sites", [])
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self.sites = create_homogeneous_resources(
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klass=ResourceHolder,
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locations=[Coordinate(0, 0, 0)],
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resource_size_x=size_x,
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resource_size_y=size_y,
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resource_size_z=size_z,
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name_prefix=name,
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)[0]
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# 为 ItemizedCarrier 添加 _unilabos_state 属性，以便与其他 PRCXI 组件兼容
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sites_resource = ItemizedCarrier(
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name=name+"_sites",
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sites={name: self.sites},
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size_x=size_x,
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size_y=size_y,
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size_z=size_z,
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category="warehouse",
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model=model,
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)
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sites_resource._unilabos_state = {} # 添加 _unilabos_state 属性
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if material_info:
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sites_resource._unilabos_state["Material"] = material_info
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self.assign_child_resource(sites_resource, location=self.sites.location)
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# 保存排序方式，供graphio.py的坐标映射使用
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# 使用独立属性避免与父类的layout冲突
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self.ordering_layout = ordering_layout
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def serialize(self) -> dict:
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"""序列化时保存 ordering_layout 属性"""
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data = super().serialize()
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data['ordering_layout'] = self.ordering_layout
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return data
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def load_state(self, state: Dict[str, Any]) -> None:
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"""从给定的状态加载工作台信息。"""
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super().load_state(state)
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self._unilabos_state = state
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def get_site(self) -> ResourceHolder:
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"""获取容器的站点"""
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return self.sites
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def add_resource_to_site(self, resource) -> None:
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"""向站点添加资源"""
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self.sites.assign_child_resource(resource)
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def get_resource_at_site(self):
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"""获取站点上的资源"""
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return self.sites.children[0] if self.sites.children else None
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def serialize_state(self) -> Dict[str, Dict[str, Any]]:
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data = super().serialize_state()
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data.update(self._unilabos_state)
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# 避免序列化 ResourceHolder 对象
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if hasattr(self, 'sites') and self.sites:
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# 创建 sites 的可序列化版本
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if hasattr(self.sites, '__class__') and 'pylabrobot' in str(self.sites.__class__.__module__):
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data['sites'] = {
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"__pylabrobot_object__": True,
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"class": self.sites.__class__.__name__,
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"module": self.sites.__class__.__module__,
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"name": getattr(self.sites, 'name', str(self.sites))
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}
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else:
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data['sites'] = self.sites
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return data
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class PRCXI9300Plate(Plate):
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"""
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@@ -210,9 +273,16 @@ class PRCXI9300TipRack(TipRack):
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# 使用 ordering 参数，只包含位置信息（键）
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ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
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else:
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# ordering 的值已经是对象，可以直接使用
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items = ordering
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ordering_param = None
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# ordering 的值已经是对象，需要过滤掉 None 值
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# 只保留有效的对象，用于 ordered_items 参数
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valid_items = {k: v for k, v in ordering.items() if v is not None}
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if valid_items:
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items = valid_items
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ordering_param = None
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else:
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# 如果没有有效对象，使用 ordering 参数
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items = None
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ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
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else:
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items = None
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ordering_param = None
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@@ -348,9 +418,16 @@ class PRCXI9300TubeRack(TubeRack):
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# 使用 ordering 参数，只包含位置信息（键）
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ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
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else:
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# ordering 的值已经是对象，可以直接使用
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items_to_pass = ordering
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ordering_param = None
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# ordering 的值已经是对象，需要过滤掉 None 值
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# 只保留有效的对象，用于 ordered_items 参数
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valid_items = {k: v for k, v in ordering.items() if v is not None}
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if valid_items:
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items_to_pass = valid_items
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ordering_param = None
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else:
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# 如果没有有效对象，使用 ordering 参数
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items_to_pass = None
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ordering_param = collections.OrderedDict((k, None) for k in ordering.keys())
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elif items is not None:
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# 兼容旧的 items 参数
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items_to_pass = items
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@@ -804,7 +881,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
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**backend_kwargs,
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):
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return await super().move_plate(
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res = await super().move_plate(
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plate,
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to,
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intermediate_locations,
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@@ -816,6 +893,12 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
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target_plate_number = to,
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**backend_kwargs,
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)
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plate.unassign()
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to.assign_child_resource(plate, location=Coordinate(0, 0, 0))
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ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
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"resources": [self.deck]
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})
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return res
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class PRCXI9300Backend(LiquidHandlerBackend):
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"""PRCXI 9300 的后端实现，继承自 LiquidHandlerBackend。
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@@ -4019,7 +4019,8 @@ liquid_handler:
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mix_liquid_height: 0.0
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mix_rate: 0
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mix_stage: ''
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mix_times: 0
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mix_times:
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- 0
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mix_vol: 0
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none_keys:
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- ''
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@@ -4175,9 +4176,11 @@ liquid_handler:
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mix_stage:
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type: string
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mix_times:
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maximum: 2147483647
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minimum: -2147483648
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type: integer
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items:
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maximum: 2147483647
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minimum: -2147483648
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type: integer
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type: array
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mix_vol:
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maximum: 2147483647
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minimum: -2147483648
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@@ -5040,7 +5043,8 @@ liquid_handler.biomek:
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mix_liquid_height: 0.0
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mix_rate: 0
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mix_stage: ''
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mix_times: 0
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mix_times:
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- 0
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mix_vol: 0
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none_keys:
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- ''
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@@ -5183,9 +5187,11 @@ liquid_handler.biomek:
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mix_stage:
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type: string
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mix_times:
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maximum: 2147483647
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minimum: -2147483648
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type: integer
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items:
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maximum: 2147483647
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minimum: -2147483648
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type: integer
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type: array
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mix_vol:
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maximum: 2147483647
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minimum: -2147483648
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@@ -9665,7 +9671,8 @@ liquid_handler.prcxi:
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mix_liquid_height: 0.0
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mix_rate: 0
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mix_stage: ''
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mix_times: 0
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mix_times:
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- 0
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mix_vol: 0
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none_keys:
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- ''
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@@ -9821,9 +9828,11 @@ liquid_handler.prcxi:
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mix_stage:
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type: string
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mix_times:
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maximum: 2147483647
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minimum: -2147483648
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type: integer
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items:
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maximum: 2147483647
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minimum: -2147483648
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type: integer
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type: array
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mix_vol:
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maximum: 2147483647
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minimum: -2147483648
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@@ -8,8 +8,8 @@
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"parent": "",
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"pose": {
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"size": {
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"width": 562,
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"height": 394,
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"width": 542,
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"height": 374,
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"depth": 0
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}
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},
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@@ -37,7 +37,7 @@
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"model": null,
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"position": {
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"x": 0,
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"y": 240,
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"y": 700,
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"z": 0
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}
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},
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@@ -50,8 +50,8 @@
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"type": "deck",
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"class": "",
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"position": {
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"x": 10,
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"y": 10,
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"x": 0,
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"y": 0,
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"z": 0
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},
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"config": {
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@@ -83,7 +83,7 @@
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"z": 0
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},
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"config": {
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"type": "PRCXI9300Container",
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"type": "PRCXI9300PlateAdapterSite",
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"size_x": 127,
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"size_y": 85.5,
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"size_z": 10,
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@@ -96,7 +96,7 @@
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"category": "plate",
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"model": null,
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"barcode": null,
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"ordering": {},
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"sites": [
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{
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"label": "T1",
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@@ -128,7 +128,7 @@
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"z": 0
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},
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"config": {
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"type": "PRCXI9300Container",
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"type": "PRCXI9300PlateAdapterSite",
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"size_x": 127,
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"size_y": 85.5,
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"size_z": 10,
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@@ -141,7 +141,7 @@
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"category": "plate",
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"model": null,
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"barcode": null,
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"ordering": {},
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"sites": [
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{
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"label": "T2",
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@@ -173,7 +173,7 @@
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"z": 0
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},
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"config": {
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"type": "PRCXI9300Container",
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"type": "PRCXI9300PlateAdapterSite",
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"size_x": 127,
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"size_y": 85.5,
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"size_z": 10,
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@@ -186,7 +186,7 @@
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"category": "plate",
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"model": null,
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"barcode": null,
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"ordering": {},
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|
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"sites": [
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{
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"label": "T3",
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@@ -218,7 +218,7 @@
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"z": 0
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},
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"config": {
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"type": "PRCXI9300Container",
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"type": "PRCXI9300PlateAdapterSite",
|
||||
"size_x": 127,
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||||
"size_y": 85.5,
|
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"size_z": 10,
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@@ -231,7 +231,7 @@
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"category": "plate",
|
||||
"model": null,
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"barcode": null,
|
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"ordering": {},
|
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|
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"sites": [
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{
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"label": "T4",
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@@ -263,7 +263,7 @@
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"z": 0
|
||||
},
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"config": {
|
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"type": "PRCXI9300Container",
|
||||
"type": "PRCXI9300PlateAdapterSite",
|
||||
"size_x": 127,
|
||||
"size_y": 85.5,
|
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"size_z": 10,
|
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@@ -276,7 +276,7 @@
|
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"category": "plate",
|
||||
"model": null,
|
||||
"barcode": null,
|
||||
"ordering": {},
|
||||
|
||||
"sites": [
|
||||
{
|
||||
"label": "T5",
|
||||
@@ -308,7 +308,7 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"type": "PRCXI9300Container",
|
||||
"type": "PRCXI9300PlateAdapterSite",
|
||||
"size_x": 127,
|
||||
"size_y": 85.5,
|
||||
"size_z": 10,
|
||||
@@ -321,7 +321,7 @@
|
||||
"category": "plate",
|
||||
"model": null,
|
||||
"barcode": null,
|
||||
"ordering": {},
|
||||
|
||||
"sites": [
|
||||
{
|
||||
"label": "T6",
|
||||
@@ -353,7 +353,7 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"type": "PRCXI9300Container",
|
||||
"type": "PRCXI9300PlateAdapterSite",
|
||||
"size_x": 127,
|
||||
"size_y": 85.5,
|
||||
"size_z": 10,
|
||||
@@ -366,7 +366,7 @@
|
||||
"category": "plate",
|
||||
"model": null,
|
||||
"barcode": null,
|
||||
"ordering": {},
|
||||
|
||||
"sites": [
|
||||
{
|
||||
"label": "T7",
|
||||
@@ -398,7 +398,7 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"type": "PRCXI9300Container",
|
||||
"type": "PRCXI9300PlateAdapterSite",
|
||||
"size_x": 127,
|
||||
"size_y": 85.5,
|
||||
"size_z": 10,
|
||||
@@ -411,7 +411,7 @@
|
||||
"category": "plate",
|
||||
"model": null,
|
||||
"barcode": null,
|
||||
"ordering": {},
|
||||
|
||||
"sites": [
|
||||
{
|
||||
"label": "T8",
|
||||
@@ -443,7 +443,7 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"type": "PRCXI9300Container",
|
||||
"type": "PRCXI9300PlateAdapterSite",
|
||||
"size_x": 127,
|
||||
"size_y": 85.5,
|
||||
"size_z": 10,
|
||||
@@ -456,7 +456,7 @@
|
||||
"category": "plate",
|
||||
"model": null,
|
||||
"barcode": null,
|
||||
"ordering": {},
|
||||
|
||||
"sites": [
|
||||
{
|
||||
"label": "T9",
|
||||
@@ -488,7 +488,7 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"type": "PRCXI9300Container",
|
||||
"type": "PRCXI9300PlateAdapterSite",
|
||||
"size_x": 127,
|
||||
"size_y": 85.5,
|
||||
"size_z": 10,
|
||||
@@ -501,7 +501,7 @@
|
||||
"category": "plate",
|
||||
"model": null,
|
||||
"barcode": null,
|
||||
"ordering": {},
|
||||
|
||||
"sites": [
|
||||
{
|
||||
"label": "T10",
|
||||
@@ -533,7 +533,7 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"type": "PRCXI9300Container",
|
||||
"type": "PRCXI9300PlateAdapterSite",
|
||||
"size_x": 127,
|
||||
"size_y": 85.5,
|
||||
"size_z": 10,
|
||||
@@ -546,7 +546,7 @@
|
||||
"category": "plate",
|
||||
"model": null,
|
||||
"barcode": null,
|
||||
"ordering": {},
|
||||
|
||||
"sites": [
|
||||
{
|
||||
"label": "T11",
|
||||
@@ -578,7 +578,7 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"type": "PRCXI9300Container",
|
||||
"type": "PRCXI9300PlateAdapterSite",
|
||||
"size_x": 127,
|
||||
"size_y": 85.5,
|
||||
"size_z": 10,
|
||||
@@ -591,7 +591,7 @@
|
||||
"category": "plate",
|
||||
"model": null,
|
||||
"barcode": null,
|
||||
"ordering": {},
|
||||
|
||||
"sites": [
|
||||
{
|
||||
"label": "T12",
|
||||
@@ -623,7 +623,7 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"type": "PRCXI9300Container",
|
||||
"type": "PRCXI9300PlateAdapterSite",
|
||||
"size_x": 127,
|
||||
"size_y": 85.5,
|
||||
"size_z": 10,
|
||||
@@ -636,7 +636,7 @@
|
||||
"category": "plate",
|
||||
"model": null,
|
||||
"barcode": null,
|
||||
"ordering": {},
|
||||
|
||||
"sites": [
|
||||
{
|
||||
"label": "T13",
|
||||
@@ -668,7 +668,7 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"type": "PRCXI9300Container",
|
||||
"type": "PRCXI9300PlateAdapterSite",
|
||||
"size_x": 127,
|
||||
"size_y": 85.5,
|
||||
"size_z": 10,
|
||||
@@ -681,7 +681,7 @@
|
||||
"category": "plate",
|
||||
"model": null,
|
||||
"barcode": null,
|
||||
"ordering": {},
|
||||
|
||||
"sites": [
|
||||
{
|
||||
"label": "T14",
|
||||
@@ -713,7 +713,7 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"type": "PRCXI9300Container",
|
||||
"type": "PRCXI9300PlateAdapterSite",
|
||||
"size_x": 127,
|
||||
"size_y": 85.5,
|
||||
"size_z": 10,
|
||||
@@ -726,7 +726,7 @@
|
||||
"category": "plate",
|
||||
"model": null,
|
||||
"barcode": null,
|
||||
"ordering": {},
|
||||
|
||||
"sites": [
|
||||
{
|
||||
"label": "T15",
|
||||
@@ -758,7 +758,7 @@
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"type": "PRCXI9300Container",
|
||||
"type": "PRCXI9300PlateAdapterSite",
|
||||
"size_x": 127,
|
||||
"size_y": 85.5,
|
||||
"size_z": 10,
|
||||
@@ -771,7 +771,7 @@
|
||||
"category": "plate",
|
||||
"model": null,
|
||||
"barcode": null,
|
||||
"ordering": {},
|
||||
|
||||
"sites": [
|
||||
{
|
||||
"label": "T16",
|
||||
|
||||
Reference in New Issue
Block a user