open_pub/Uni-Lab-OS
1
0
Fork 0
mirror of https://github.com/dptech-corp/Uni-Lab-OS.git synced 2025-12-17 21:11:12 +00:00
Code Issues Packages Projects Releases Wiki Activity

fix tip resource data

Browse Source
This commit is contained in:
zhangshixiang
2025-06-08 21:50:43 +08:00
parent e6f927a23c
commit d2782943b4
2 changed files with 230 additions and 229 deletions
Download Patch File Download Diff File Expand all files Collapse all files

455
test/experiments/plr_test_converted.json
View File

@@ -210,14 +210,14 @@
"type": "device", "type": "device",
"class": "", "class": "",
"position": { "position": {
"x": 7.2, "x": 11.804,
"y": 68.3, "y": 71.704,
"z": 9.47 "z": 9.47
}, },
"config": { "config": {
"type": "TipSpot", "type": "TipSpot",
"size_x": 9.0, "size_x": 5.112,
"size_y": 9.0, "size_y": 5.112,
"size_z": 0, "size_z": 0,
"rotation": { "rotation": {
"x": 0, "x": 0,
@@ -229,19 +229,19 @@
"model": null, "model": null,
"prototype_tip": { "prototype_tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
} }
}, },
"data": { "data": {
"tip": { "tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
}, },
"tip_state": { "tip_state": {
"liquids": [], "liquids": [],
@@ -250,10 +250,10 @@
}, },
"pending_tip": { "pending_tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
} }
} }
}, },
@@ -266,14 +266,14 @@
"type": "device", "type": "device",
"class": "", "class": "",
"position": { "position": {
"x": 7.2, "x": 11.804,
"y": 59.3, "y": 62.704,
"z": 9.47 "z": 9.47
}, },
"config": { "config": {
"type": "TipSpot", "type": "TipSpot",
"size_x": 9.0, "size_x": 5.112,
"size_y": 9.0, "size_y": 5.112,
"size_z": 0, "size_z": 0,
"rotation": { "rotation": {
"x": 0, "x": 0,
@@ -285,19 +285,19 @@
"model": null, "model": null,
"prototype_tip": { "prototype_tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
} }
}, },
"data": { "data": {
"tip": { "tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
}, },
"tip_state": { "tip_state": {
"liquids": [], "liquids": [],
@@ -306,10 +306,10 @@
}, },
"pending_tip": { "pending_tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
} }
} }
}, },
@@ -322,14 +322,14 @@
"type": "device", "type": "device",
"class": "", "class": "",
"position": { "position": {
"x": 7.2, "x": 11.804,
"y": 50.3, "y": 53.704,
"z": 9.47 "z": 9.47
}, },
"config": { "config": {
"type": "TipSpot", "type": "TipSpot",
"size_x": 9.0, "size_x": 5.112,
"size_y": 9.0, "size_y": 5.112,
"size_z": 0, "size_z": 0,
"rotation": { "rotation": {
"x": 0, "x": 0,
@@ -341,19 +341,19 @@
"model": null, "model": null,
"prototype_tip": { "prototype_tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
} }
}, },
"data": { "data": {
"tip": { "tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
}, },
"tip_state": { "tip_state": {
"liquids": [], "liquids": [],
@@ -362,10 +362,10 @@
}, },
"pending_tip": { "pending_tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
} }
} }
}, },
@@ -378,14 +378,14 @@
"type": "device", "type": "device",
"class": "", "class": "",
"position": { "position": {
"x": 7.2, "x": 11.804,
"y": 41.3, "y": 44.704,
"z": 9.47 "z": 9.47
}, },
"config": { "config": {
"type": "TipSpot", "type": "TipSpot",
"size_x": 9.0, "size_x": 5.112,
"size_y": 9.0, "size_y": 5.112,
"size_z": 0, "size_z": 0,
"rotation": { "rotation": {
"x": 0, "x": 0,
@@ -397,19 +397,19 @@
"model": null, "model": null,
"prototype_tip": { "prototype_tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
} }
}, },
"data": { "data": {
"tip": { "tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
}, },
"tip_state": { "tip_state": {
"liquids": [], "liquids": [],
@@ -418,10 +418,10 @@
}, },
"pending_tip": { "pending_tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
} }
} }
}, },
@@ -434,14 +434,14 @@
"type": "device", "type": "device",
"class": "", "class": "",
"position": { "position": {
"x": 7.2, "x": 11.804,
"y": 32.3, "y": 35.704,
"z": 9.47 "z": 9.47
}, },
"config": { "config": {
"type": "TipSpot", "type": "TipSpot",
"size_x": 9.0, "size_x": 5.112,
"size_y": 9.0, "size_y": 5.112,
"size_z": 0, "size_z": 0,
"rotation": { "rotation": {
"x": 0, "x": 0,
@@ -453,19 +453,19 @@
"model": null, "model": null,
"prototype_tip": { "prototype_tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
} }
}, },
"data": { "data": {
"tip": { "tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
}, },
"tip_state": { "tip_state": {
"liquids": [], "liquids": [],
@@ -474,10 +474,10 @@
}, },
"pending_tip": { "pending_tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
} }
} }
}, },
@@ -490,14 +490,14 @@
"type": "device", "type": "device",
"class": "", "class": "",
"position": { "position": {
"x": 7.2, "x": 11.804,
"y": 23.3, "y": 26.704,
"z": 9.47 "z": 9.47
}, },
"config": { "config": {
"type": "TipSpot", "type": "TipSpot",
"size_x": 9.0, "size_x": 5.112,
"size_y": 9.0, "size_y": 5.112,
"size_z": 0, "size_z": 0,
"rotation": { "rotation": {
"x": 0, "x": 0,
@@ -509,19 +509,19 @@
"model": null, "model": null,
"prototype_tip": { "prototype_tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
} }
}, },
"data": { "data": {
"tip": { "tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
}, },
"tip_state": { "tip_state": {
"liquids": [], "liquids": [],
@@ -530,10 +530,10 @@
}, },
"pending_tip": { "pending_tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
} }
} }
}, },
@@ -546,14 +546,14 @@
"type": "device", "type": "device",
"class": "", "class": "",
"position": { "position": {
"x": 7.2, "x": 11.804,
"y": 14.3, "y": 17.704,
"z": 9.47 "z": 9.47
}, },
"config": { "config": {
"type": "TipSpot", "type": "TipSpot",
"size_x": 9.0, "size_x": 5.112,
"size_y": 9.0, "size_y": 5.112,
"size_z": 0, "size_z": 0,
"rotation": { "rotation": {
"x": 0, "x": 0,
@@ -565,19 +565,19 @@
"model": null, "model": null,
"prototype_tip": { "prototype_tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
} }
}, },
"data": { "data": {
"tip": { "tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
}, },
"tip_state": { "tip_state": {
"liquids": [], "liquids": [],
@@ -586,10 +586,10 @@
}, },
"pending_tip": { "pending_tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
} }
} }
}, },
@@ -602,14 +602,14 @@
"type": "device", "type": "device",
"class": "", "class": "",
"position": { "position": {
"x": 7.2, "x": 11.804,
"y": 5.3, "y": 8.704,
"z": 9.47 "z": 9.47
}, },
"config": { "config": {
"type": "TipSpot", "type": "TipSpot",
"size_x": 9.0, "size_x": 5.112,
"size_y": 9.0, "size_y": 5.112,
"size_z": 0, "size_z": 0,
"rotation": { "rotation": {
"x": 0, "x": 0,
@@ -621,19 +621,19 @@
"model": null, "model": null,
"prototype_tip": { "prototype_tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
} }
}, },
"data": { "data": {
"tip": { "tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
}, },
"tip_state": { "tip_state": {
"liquids": [], "liquids": [],
@@ -642,10 +642,10 @@
}, },
"pending_tip": { "pending_tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
} }
} }
}, },
@@ -658,14 +658,14 @@
"type": "device", "type": "device",
"class": "", "class": "",
"position": { "position": {
"x": 16.2, "x": 20.804,
"y": 68.3, "y": 71.704,
"z": 9.47 "z": 9.47
}, },
"config": { "config": {
"type": "TipSpot", "type": "TipSpot",
"size_x": 9.0, "size_x": 5.112,
"size_y": 9.0, "size_y": 5.112,
"size_z": 0, "size_z": 0,
"rotation": { "rotation": {
"x": 0, "x": 0,
@@ -677,19 +677,19 @@
"model": null, "model": null,
"prototype_tip": { "prototype_tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
} }
}, },
"data": { "data": {
"tip": { "tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
}, },
"tip_state": { "tip_state": {
"liquids": [], "liquids": [],
@@ -698,10 +698,10 @@
}, },
"pending_tip": { "pending_tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
} }
} }
}, },
@@ -714,14 +714,14 @@
"type": "device", "type": "device",
"class": "", "class": "",
"position": { "position": {
"x": 16.2, "x": 20.804,
"y": 59.3, "y": 62.704,
"z": 9.47 "z": 9.47
}, },
"config": { "config": {
"type": "TipSpot", "type": "TipSpot",
"size_x": 9.0, "size_x": 5.112,
"size_y": 9.0, "size_y": 5.112,
"size_z": 0, "size_z": 0,
"rotation": { "rotation": {
"x": 0, "x": 0,
@@ -733,19 +733,19 @@
"model": null, "model": null,
"prototype_tip": { "prototype_tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
} }
}, },
"data": { "data": {
"tip": { "tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
}, },
"tip_state": { "tip_state": {
"liquids": [], "liquids": [],
@@ -754,10 +754,10 @@
}, },
"pending_tip": { "pending_tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
} }
} }
}, },
@@ -770,14 +770,14 @@
"type": "device", "type": "device",
"class": "", "class": "",
"position": { "position": {
"x": 16.2, "x": 20.804,
"y": 50.3, "y": 53.704,
"z": 9.47 "z": 9.47
}, },
"config": { "config": {
"type": "TipSpot", "type": "TipSpot",
"size_x": 9.0, "size_x": 5.112,
"size_y": 9.0, "size_y": 5.112,
"size_z": 0, "size_z": 0,
"rotation": { "rotation": {
"x": 0, "x": 0,
@@ -789,19 +789,19 @@
"model": null, "model": null,
"prototype_tip": { "prototype_tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
} }
}, },
"data": { "data": {
"tip": { "tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
}, },
"tip_state": { "tip_state": {
"liquids": [], "liquids": [],
@@ -810,10 +810,10 @@
}, },
"pending_tip": { "pending_tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
} }
} }
}, },
@@ -826,14 +826,14 @@
"type": "device", "type": "device",
"class": "", "class": "",
"position": { "position": {
"x": 16.2, "x": 20.804,
"y": 41.3, "y": 44.704,
"z": 9.47 "z": 9.47
}, },
"config": { "config": {
"type": "TipSpot", "type": "TipSpot",
"size_x": 9.0, "size_x": 5.112,
"size_y": 9.0, "size_y": 5.112,
"size_z": 0, "size_z": 0,
"rotation": { "rotation": {
"x": 0, "x": 0,
@@ -845,19 +845,19 @@
"model": null, "model": null,
"prototype_tip": { "prototype_tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
} }
}, },
"data": { "data": {
"tip": { "tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
}, },
"tip_state": { "tip_state": {
"liquids": [], "liquids": [],
@@ -866,10 +866,10 @@
}, },
"pending_tip": { "pending_tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
} }
} }
}, },
@@ -882,14 +882,14 @@
"type": "device", "type": "device",
"class": "", "class": "",
"position": { "position": {
"x": 16.2, "x": 20.804,
"y": 32.3, "y": 35.704,
"z": 9.47 "z": 9.47
}, },
"config": { "config": {
"type": "TipSpot", "type": "TipSpot",
"size_x": 9.0, "size_x": 5.112,
"size_y": 9.0, "size_y": 5.112,
"size_z": 0, "size_z": 0,
"rotation": { "rotation": {
"x": 0, "x": 0,
@@ -901,19 +901,19 @@
"model": null, "model": null,
"prototype_tip": { "prototype_tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
} }
}, },
"data": { "data": {
"tip": { "tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
}, },
"tip_state": { "tip_state": {
"liquids": [], "liquids": [],
@@ -922,10 +922,10 @@
}, },
"pending_tip": { "pending_tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
} }
} }
}, },
@@ -938,14 +938,14 @@
"type": "device", "type": "device",
"class": "", "class": "",
"position": { "position": {
"x": 16.2, "x": 20.804,
"y": 23.3, "y": 26.704,
"z": 9.47 "z": 9.47
}, },
"config": { "config": {
"type": "TipSpot", "type": "TipSpot",
"size_x": 9.0, "size_x": 5.112,
"size_y": 9.0, "size_y": 5.112,
"size_z": 0, "size_z": 0,
"rotation": { "rotation": {
"x": 0, "x": 0,
@@ -957,19 +957,19 @@
"model": null, "model": null,
"prototype_tip": { "prototype_tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
} }
}, },
"data": { "data": {
"tip": { "tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
}, },
"tip_state": { "tip_state": {
"liquids": [], "liquids": [],
@@ -978,10 +978,10 @@
}, },
"pending_tip": { "pending_tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
} }
} }
}, },
@@ -994,14 +994,14 @@
"type": "device", "type": "device",
"class": "", "class": "",
"position": { "position": {
"x": 16.2, "x": 20.804,
"y": 14.3, "y": 17.704,
"z": 9.47 "z": 9.47
}, },
"config": { "config": {
"type": "TipSpot", "type": "TipSpot",
"size_x": 9.0, "size_x": 5.112,
"size_y": 9.0, "size_y": 5.112,
"size_z": 0, "size_z": 0,
"rotation": { "rotation": {
"x": 0, "x": 0,
@@ -1013,19 +1013,19 @@
"model": null, "model": null,
"prototype_tip": { "prototype_tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
} }
}, },
"data": { "data": {
"tip": { "tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
}, },
"tip_state": { "tip_state": {
"liquids": [], "liquids": [],
@@ -1034,10 +1034,10 @@
}, },
"pending_tip": { "pending_tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
} }
} }
}, },
@@ -1050,14 +1050,14 @@
"type": "device", "type": "device",
"class": "", "class": "",
"position": { "position": {
"x": 16.2, "x": 20.804,
"y": 5.3, "y": 8.704,
"z": 9.47 "z": 9.47
}, },
"config": { "config": {
"type": "TipSpot", "type": "TipSpot",
"size_x": 9.0, "size_x": 5.112,
"size_y": 9.0, "size_y": 5.112,
"size_z": 0, "size_z": 0,
"rotation": { "rotation": {
"x": 0, "x": 0,
@@ -1069,19 +1069,19 @@
"model": null, "model": null,
"prototype_tip": { "prototype_tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
} }
}, },
"data": { "data": {
"tip": { "tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
}, },
"tip_state": { "tip_state": {
"liquids": [], "liquids": [],
@@ -1090,15 +1090,13 @@
}, },
"pending_tip": { "pending_tip": {
"type": "Tip", "type": "Tip",
"total_tip_length": 39.2, "total_tip_length": 88,
"has_filter": true, "has_filter": true,
"maximal_volume": 20.0, "maximal_volume": 1000.0,
"fitting_depth": 3.29 "fitting_depth": 7.95
} }
} }
}, },
{ {
"id": "plate_well", "id": "plate_well",
"name": "plate_well", "name": "plate_well",
@@ -1555,8 +1553,6 @@
"liquid_history": [] "liquid_history": []
} }
}, },
{ {
"id": "plate_well_A11", "id": "plate_well_A11",
"name": "plate_well_A11", "name": "plate_well_A11",
@@ -1869,12 +1865,10 @@
"liquid_history": [] "liquid_history": []
} }
}, },
{ {
"id": "benyao", "id": "benyao",
"name": "benyao", "name": "benyao",
"children": [ "children": [],
],
"parent": null, "parent": null,
"type": "device", "type": "device",
"class": "moveit.benyao_arm", "class": "moveit.benyao_arm",
@@ -1887,8 +1881,20 @@
"moveit_type": "benyao_arm", "moveit_type": "benyao_arm",
"joint_poses": { "joint_poses": {
"arm": { "arm": {
"hotel_1": [1.05, 0.568, -1.0821, 0.0, 1.0821], "hotel_1": [
"home": [0.865, 0.09, 0.8727, 0.0, -0.8727] 1.05,
0.568,
-1.0821,
0.0,
1.0821
],
"home": [
0.865,
0.09,
0.8727,
0.0,
-0.8727
]
} }
}, },
"rotation": { "rotation": {
@@ -1897,17 +1903,14 @@
"z": -1.5708, "z": -1.5708,
"type": "Rotation" "type": "Rotation"
}, },
"device_config": { "device_config": {}
}
}, },
"data": { "data": {}
}
}, },
{ {
"id": "hotel", "id": "hotel",
"name": "hotel", "name": "hotel",
"children": [ "children": [],
],
"parent": null, "parent": null,
"type": "device", "type": "device",
"class": "hotel.thermo_orbitor_rs2_hotel", "class": "hotel.thermo_orbitor_rs2_hotel",
@@ -1923,11 +1926,9 @@
"z": 0, "z": 0,
"type": "Rotation" "type": "Rotation"
}, },
"device_config": { "device_config": {}
}
}, },
"data": { "data": {}
}
} }
], ],
"links": [] "links": []

4
unilabos/ros/main_slave_run.py
View File

@@ -80,11 +80,11 @@ def main(
'joint_republisher', 'joint_republisher',
host_node.resource_tracker host_node.resource_tracker
) )
lh_joint_pub = LiquidHandlerJointPublisher(resources_config=resources_config, resource_tracker=host_node.resource_tracker)
executor.add_node(lh_joint_pub)
executor.add_node(resource_mesh_manager) executor.add_node(resource_mesh_manager)
executor.add_node(joint_republisher) executor.add_node(joint_republisher)
lh_joint_pub = LiquidHandlerJointPublisher(resources_config=resources_config, resource_tracker=host_node.resource_tracker)
executor.add_node(lh_joint_pub)
thread = threading.Thread(target=executor.spin, daemon=True, name="host_executor_thread") thread = threading.Thread(target=executor.spin, daemon=True, name="host_executor_thread")
thread.start() thread.start()