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完成启动OT并联动rviz

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This commit is contained in:
zhangshixiang
2025-04-29 22:13:34 +08:00
committed by Junhan Chang
parent 49bb11b2a3
commit dc197bffe8
8 changed files with 257 additions and 103 deletions
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67
test/experiments/test_copy.json
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@@ -20,7 +20,7 @@
}
],
"backend": {
"type": "LiquidHandlerChatterboxBackend"
"type": "LiquidHandlerRvizBackend"
}
}
},
@@ -34,7 +34,6 @@
"name": "deck",
"sample_id": null,
"children": [
"teaching_carrier"
],
"parent": "PLR_STATION",
@@ -47,20 +46,13 @@
},
"config": {
"type": "OTDeck",
"size_x": 1360,
"size_y": 653.5,
"size_z": 900,
"with_trash": false,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "deck",
"num_rails": 32,
"with_trash": false,
"with_trash96": false,
"with_teaching_rack": false
}
},
"data": {}
},
@@ -70,20 +62,21 @@
"name": "teaching_carrier",
"sample_id": null,
"children": [
"teaching_carrier_A1"
],
"parent": "deck",
"type": "plate",
"class": "nest_96_wellplate_100ul_pcr_full_skirt",
"class": "opentrons_96_filtertiprack_1000ul",
"position": {
"x": 0,
"y": 0,
"x": 132.5,
"y": 271.5,
"z": 69
},
"config": {
"type": "Resource",
"size_x": 30,
"size_y": 445.2,
"size_z": 100,
"size_x": 127,
"size_y": 85,
"size_z": 0,
"rotation": {
"x": 0,
"y": 0,
@@ -94,6 +87,46 @@
"model": null
},
"data": {}
},
{
"id": "teaching_carrier_A1",
"name": "teaching_carrier_A1",
"sample_id": null,
"children": [],
"parent": "teaching_carrier",
"type": "device",
"class": "",
"position": {
"x": 10.87,
"y": 70.77,
"z": 3.03
},
"config": {
"type": "TipSpot",
"size_x": 6.86,
"size_y": 6.86,
"size_z": 10.67,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "tip_spot",
"model": null,
"prototype_tip": {
"type": "Tip",
"total_tip_length": 39.2,
"has_filter": true,
"maximal_volume": 20.0,
"fitting_depth": 3.29
}
},
"data": {
"liquids": [],
"pending_liquids": [],
"liquid_history": []
}
}
],
"links": [