diff --git a/test/experiments/plr_test_converted.json b/test/experiments/plr_test_converted.json index 11206c80..fad49654 100644 --- a/test/experiments/plr_test_converted.json +++ b/test/experiments/plr_test_converted.json @@ -20,7 +20,7 @@ } ], "backend": { - "type": "LiquidHandlerRvizBackend" + "type": "LiquidHandlerChatterboxBackend" } } }, @@ -77,7 +77,87 @@ "tip_rack_E2", "tip_rack_F2", "tip_rack_G2", - "tip_rack_H2" + "tip_rack_H2", + "tip_rack_A3", + "tip_rack_B3", + "tip_rack_C3", + "tip_rack_D3", + "tip_rack_E3", + "tip_rack_F3", + "tip_rack_G3", + "tip_rack_H3", + "tip_rack_A4", + "tip_rack_B4", + "tip_rack_C4", + "tip_rack_D4", + "tip_rack_E4", + "tip_rack_F4", + "tip_rack_G4", + "tip_rack_H4", + "tip_rack_A5", + "tip_rack_B5", + "tip_rack_C5", + "tip_rack_D5", + "tip_rack_E5", + "tip_rack_F5", + "tip_rack_G5", + "tip_rack_H5", + "tip_rack_A6", + "tip_rack_B6", + "tip_rack_C6", + "tip_rack_D6", + "tip_rack_E6", + "tip_rack_F6", + "tip_rack_G6", + "tip_rack_H6", + "tip_rack_A7", + "tip_rack_B7", + "tip_rack_C7", + "tip_rack_D7", + "tip_rack_E7", + "tip_rack_F7", + "tip_rack_G7", + "tip_rack_H7", + "tip_rack_A8", + "tip_rack_B8", + "tip_rack_C8", + "tip_rack_D8", + "tip_rack_E8", + "tip_rack_F8", + "tip_rack_G8", + "tip_rack_H8", + "tip_rack_A9", + "tip_rack_B9", + "tip_rack_C9", + "tip_rack_D9", + "tip_rack_E9", + "tip_rack_F9", + "tip_rack_G9", + "tip_rack_H9", + "tip_rack_A10", + "tip_rack_B10", + "tip_rack_C10", + "tip_rack_D10", + "tip_rack_E10", + "tip_rack_F10", + "tip_rack_G10", + "tip_rack_H10", + "tip_rack_A11", + "tip_rack_B11", + "tip_rack_C11", + "tip_rack_D11", + "tip_rack_E11", + "tip_rack_F11", + "tip_rack_G11", + "tip_rack_H11", + "tip_rack_A12", + "tip_rack_B12", + "tip_rack_C12", + "tip_rack_D12", + "tip_rack_E12", + "tip_rack_F12", + "tip_rack_G12", + "tip_rack_H12" ], "parent": "deck", "type": "plate", @@ -210,14 +290,14 @@ "type": "device", "class": "", "position": { - "x": 11.804, - "y": 71.704, + "x": 7.2, + "y": 68.3, "z": 9.47 }, "config": { "type": "TipSpot", - "size_x": 5.112, - "size_y": 5.112, + "size_x": 9.0, + "size_y": 9.0, "size_z": 0, "rotation": { "x": 0, @@ -229,19 +309,19 @@ "model": null, "prototype_tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 } }, "data": { "tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 }, "tip_state": { "liquids": [], @@ -250,10 +330,10 @@ }, "pending_tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 } } }, @@ -266,14 +346,14 @@ "type": "device", "class": "", "position": { - "x": 11.804, - "y": 62.704, + "x": 7.2, + "y": 59.3, "z": 9.47 }, "config": { "type": "TipSpot", - "size_x": 5.112, - "size_y": 5.112, + "size_x": 9.0, + "size_y": 9.0, "size_z": 0, "rotation": { "x": 0, @@ -285,19 +365,19 @@ "model": null, "prototype_tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 } }, "data": { "tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 }, "tip_state": { "liquids": [], @@ -306,10 +386,10 @@ }, "pending_tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 } } }, @@ -322,14 +402,14 @@ "type": "device", "class": "", "position": { - "x": 11.804, - "y": 53.704, + "x": 7.2, + "y": 50.3, "z": 9.47 }, "config": { "type": "TipSpot", - "size_x": 5.112, - "size_y": 5.112, + "size_x": 9.0, + "size_y": 9.0, "size_z": 0, "rotation": { "x": 0, @@ -341,19 +421,19 @@ "model": null, "prototype_tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 } }, "data": { "tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 }, "tip_state": { "liquids": [], @@ -362,10 +442,10 @@ }, "pending_tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 } } }, @@ -378,14 +458,14 @@ "type": "device", "class": "", "position": { - "x": 11.804, - "y": 44.704, + "x": 7.2, + "y": 41.3, "z": 9.47 }, "config": { "type": "TipSpot", - "size_x": 5.112, - "size_y": 5.112, + "size_x": 9.0, + "size_y": 9.0, "size_z": 0, "rotation": { "x": 0, @@ -397,19 +477,19 @@ "model": null, "prototype_tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 } }, "data": { "tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 }, "tip_state": { "liquids": [], @@ -418,10 +498,10 @@ }, "pending_tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 } } }, @@ -434,14 +514,14 @@ "type": "device", "class": "", "position": { - "x": 11.804, - "y": 35.704, + "x": 7.2, + "y": 32.3, "z": 9.47 }, "config": { "type": "TipSpot", - "size_x": 5.112, - "size_y": 5.112, + "size_x": 9.0, + "size_y": 9.0, "size_z": 0, "rotation": { "x": 0, @@ -453,19 +533,19 @@ "model": null, "prototype_tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 } }, "data": { "tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 }, "tip_state": { "liquids": [], @@ -474,10 +554,10 @@ }, "pending_tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 } } }, @@ -490,14 +570,14 @@ "type": "device", "class": "", "position": { - "x": 11.804, - "y": 26.704, + "x": 7.2, + "y": 23.3, "z": 9.47 }, "config": { "type": "TipSpot", - "size_x": 5.112, - "size_y": 5.112, + "size_x": 9.0, + "size_y": 9.0, "size_z": 0, "rotation": { "x": 0, @@ -509,19 +589,19 @@ "model": null, "prototype_tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 } }, "data": { "tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 }, "tip_state": { "liquids": [], @@ -530,10 +610,10 @@ }, "pending_tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 } } }, @@ -546,14 +626,14 @@ "type": "device", "class": "", "position": { - "x": 11.804, - "y": 17.704, + "x": 7.2, + "y": 14.3, "z": 9.47 }, "config": { "type": "TipSpot", - "size_x": 5.112, - "size_y": 5.112, + "size_x": 9.0, + "size_y": 9.0, "size_z": 0, "rotation": { "x": 0, @@ -565,19 +645,19 @@ "model": null, "prototype_tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 } }, "data": { "tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 }, "tip_state": { "liquids": [], @@ -586,10 +666,10 @@ }, "pending_tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 } } }, @@ -602,14 +682,14 @@ "type": "device", "class": "", "position": { - "x": 11.804, - "y": 8.704, + "x": 7.2, + "y": 5.3, "z": 9.47 }, "config": { "type": "TipSpot", - "size_x": 5.112, - "size_y": 5.112, + "size_x": 9.0, + "size_y": 9.0, "size_z": 0, "rotation": { "x": 0, @@ -621,19 +701,19 @@ "model": null, "prototype_tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 } }, "data": { "tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 }, "tip_state": { "liquids": [], @@ -642,10 +722,10 @@ }, "pending_tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 } } }, @@ -658,14 +738,14 @@ "type": "device", "class": "", "position": { - "x": 20.804, - "y": 71.704, + "x": 16.2, + "y": 68.3, "z": 9.47 }, "config": { "type": "TipSpot", - "size_x": 5.112, - "size_y": 5.112, + "size_x": 9.0, + "size_y": 9.0, "size_z": 0, "rotation": { "x": 0, @@ -677,19 +757,19 @@ "model": null, "prototype_tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 } }, "data": { "tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 }, "tip_state": { "liquids": [], @@ -698,10 +778,10 @@ }, "pending_tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 } } }, @@ -714,14 +794,14 @@ "type": "device", "class": "", "position": { - "x": 20.804, - "y": 62.704, + "x": 16.2, + "y": 59.3, "z": 9.47 }, "config": { "type": "TipSpot", - "size_x": 5.112, - "size_y": 5.112, + "size_x": 9.0, + "size_y": 9.0, "size_z": 0, "rotation": { "x": 0, @@ -733,19 +813,19 @@ "model": null, "prototype_tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 } }, "data": { "tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 }, "tip_state": { "liquids": [], @@ -754,10 +834,10 @@ }, "pending_tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 } } }, @@ -770,14 +850,14 @@ "type": "device", "class": "", "position": { - "x": 20.804, - "y": 53.704, + "x": 16.2, + "y": 50.3, "z": 9.47 }, "config": { "type": "TipSpot", - "size_x": 5.112, - "size_y": 5.112, + "size_x": 9.0, + "size_y": 9.0, "size_z": 0, "rotation": { "x": 0, @@ -789,19 +869,19 @@ "model": null, "prototype_tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 } }, "data": { "tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 }, "tip_state": { "liquids": [], @@ -810,10 +890,10 @@ }, "pending_tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 } } }, @@ -826,14 +906,14 @@ "type": "device", "class": "", "position": { - "x": 20.804, - "y": 44.704, + "x": 16.2, + "y": 41.3, "z": 9.47 }, "config": { "type": "TipSpot", - "size_x": 5.112, - "size_y": 5.112, + "size_x": 9.0, + "size_y": 9.0, "size_z": 0, "rotation": { "x": 0, @@ -845,19 +925,19 @@ "model": null, "prototype_tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 } }, "data": { "tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 }, "tip_state": { "liquids": [], @@ -866,10 +946,10 @@ }, "pending_tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 } } }, @@ -882,14 +962,14 @@ "type": "device", "class": "", "position": { - "x": 20.804, - "y": 35.704, + "x": 16.2, + "y": 32.3, "z": 9.47 }, "config": { "type": "TipSpot", - "size_x": 5.112, - "size_y": 5.112, + "size_x": 9.0, + "size_y": 9.0, "size_z": 0, "rotation": { "x": 0, @@ -901,19 +981,19 @@ "model": null, "prototype_tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 } }, "data": { "tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 }, "tip_state": { "liquids": [], @@ -922,10 +1002,10 @@ }, "pending_tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 } } }, @@ -938,14 +1018,14 @@ "type": "device", "class": "", "position": { - "x": 20.804, - "y": 26.704, + "x": 16.2, + "y": 23.3, "z": 9.47 }, "config": { "type": "TipSpot", - "size_x": 5.112, - "size_y": 5.112, + "size_x": 9.0, + "size_y": 9.0, "size_z": 0, "rotation": { "x": 0, @@ -957,19 +1037,19 @@ "model": null, "prototype_tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 } }, "data": { "tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 }, "tip_state": { "liquids": [], @@ -978,10 +1058,10 @@ }, "pending_tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 } } }, @@ -994,14 +1074,14 @@ "type": "device", "class": "", "position": { - "x": 20.804, - "y": 17.704, + "x": 16.2, + "y": 14.3, "z": 9.47 }, "config": { "type": "TipSpot", - "size_x": 5.112, - "size_y": 5.112, + "size_x": 9.0, + "size_y": 9.0, "size_z": 0, "rotation": { "x": 0, @@ -1013,19 +1093,19 @@ "model": null, "prototype_tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 } }, "data": { "tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 }, "tip_state": { "liquids": [], @@ -1034,10 +1114,10 @@ }, "pending_tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 } } }, @@ -1050,14 +1130,14 @@ "type": "device", "class": "", "position": { - "x": 20.804, - "y": 8.704, + "x": 16.2, + "y": 5.3, "z": 9.47 }, "config": { "type": "TipSpot", - "size_x": 5.112, - "size_y": 5.112, + "size_x": 9.0, + "size_y": 9.0, "size_z": 0, "rotation": { "x": 0, @@ -1069,19 +1149,19 @@ "model": null, "prototype_tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 } }, "data": { "tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 }, "tip_state": { "liquids": [], @@ -1090,10 +1170,4490 @@ }, "pending_tip": { "type": "Tip", - "total_tip_length": 88, + "total_tip_length": 39.2, "has_filter": true, - "maximal_volume": 1000.0, - "fitting_depth": 7.95 + "maximal_volume": 20.0, + "fitting_depth": 3.29 + } + } + }, + { + "id": "tip_rack_A3", + "name": "tip_rack_A3", + "sample_id": null, + "children": [], + "parent": "tip_rack", + "type": "device", + "class": "", + "position": { + "x": 25.2, + "y": 68.3, + "z": 9.47 + }, + "config": { + "type": "TipSpot", + "size_x": 9.0, + "size_y": 9.0, + "size_z": 0, + "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": { + "tip": { + "type": "Tip", + "total_tip_length": 39.2, + "has_filter": true, + "maximal_volume": 20.0, + "fitting_depth": 3.29 + }, + "tip_state": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + }, + "pending_tip": { + "type": "Tip", + "total_tip_length": 39.2, + "has_filter": true, + "maximal_volume": 20.0, + "fitting_depth": 3.29 + } + } + }, + { 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39.2, + "has_filter": true, + "maximal_volume": 20.0, + "fitting_depth": 3.29 + }, + "tip_state": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + }, + "pending_tip": { + "type": "Tip", + "total_tip_length": 39.2, + "has_filter": true, + "maximal_volume": 20.0, + "fitting_depth": 3.29 } } }, @@ -1110,6 +5670,78 @@ "plate_well_F1", "plate_well_G1", "plate_well_H1", + "plate_well_A2", + "plate_well_B2", + "plate_well_C2", + "plate_well_D2", + "plate_well_E2", + "plate_well_F2", + "plate_well_G2", + "plate_well_H2", + "plate_well_A3", + "plate_well_B3", + "plate_well_C3", + "plate_well_D3", + "plate_well_E3", + "plate_well_F3", + "plate_well_G3", + "plate_well_H3", + "plate_well_A4", + "plate_well_B4", + "plate_well_C4", + "plate_well_D4", + "plate_well_E4", + "plate_well_F4", + "plate_well_G4", + "plate_well_H4", + "plate_well_A5", + "plate_well_B5", + "plate_well_C5", + "plate_well_D5", + "plate_well_E5", + "plate_well_F5", + "plate_well_G5", + "plate_well_H5", + "plate_well_A6", + "plate_well_B6", + "plate_well_C6", + "plate_well_D6", + "plate_well_E6", + "plate_well_F6", + "plate_well_G6", + "plate_well_H6", + "plate_well_A7", + "plate_well_B7", + "plate_well_C7", + "plate_well_D7", + "plate_well_E7", + "plate_well_F7", + "plate_well_G7", + "plate_well_H7", + "plate_well_A8", + "plate_well_B8", + "plate_well_C8", + "plate_well_D8", + "plate_well_E8", + "plate_well_F8", + "plate_well_G8", + "plate_well_H8", + "plate_well_A9", + "plate_well_B9", + "plate_well_C9", + "plate_well_D9", + "plate_well_E9", + "plate_well_F9", + "plate_well_G9", + "plate_well_H9", + "plate_well_A10", + "plate_well_B10", + "plate_well_C10", + "plate_well_D10", + "plate_well_E10", + "plate_well_F10", + "plate_well_G10", + "plate_well_H10", "plate_well_A11", "plate_well_B11", "plate_well_C11", @@ -1117,7 +5749,15 @@ "plate_well_E11", "plate_well_F11", "plate_well_G11", - "plate_well_H11" + "plate_well_H11", + "plate_well_A12", + "plate_well_B12", + "plate_well_C12", + "plate_well_D12", + "plate_well_E12", + "plate_well_F12", + "plate_well_G12", + "plate_well_H12" ], "parent": "deck", "type": "plate", @@ -1275,8 +5915,8 @@ "cross_section_type": "circle" }, "data": { - "liquids": [], - "pending_liquids": [], + "liquids": [["water", 50.0]], + "pending_liquids": [["water", 50.0]], "liquid_history": [] } }, @@ -1314,8 +5954,8 @@ "cross_section_type": "circle" }, "data": { - "liquids": [], - "pending_liquids": [], + "liquids": [["water", 50.0]], + "pending_liquids": [["water", 50.0]], "liquid_history": [] } }, @@ -1353,8 +5993,8 @@ "cross_section_type": "circle" }, "data": { - "liquids": [], - "pending_liquids": [], + "liquids": [["water", 50.0]], + "pending_liquids": [["water", 50.0]], "liquid_history": [] } }, @@ -1392,8 +6032,8 @@ "cross_section_type": "circle" }, "data": { - "liquids": [], - "pending_liquids": [], + "liquids": [["water", 50.0]], + "pending_liquids": [["water", 50.0]], "liquid_history": [] } }, @@ -1431,8 +6071,8 @@ "cross_section_type": "circle" }, "data": { - "liquids": [], - "pending_liquids": [], + "liquids": [["water", 50.0]], + "pending_liquids": [["water", 50.0]], "liquid_history": [] } }, @@ -1470,8 +6110,8 @@ "cross_section_type": "circle" }, "data": { - "liquids": [], - "pending_liquids": [], + "liquids": [["water", 50.0]], + "pending_liquids": [["water", 50.0]], "liquid_history": [] } }, @@ -1509,8 +6149,8 @@ "cross_section_type": "circle" }, "data": { - "liquids": [], - "pending_liquids": [], + "liquids": [["water", 50.0]], + "pending_liquids": [["water", 50.0]], "liquid_history": [] } }, @@ -1547,6 +6187,2814 @@ "bottom_type": "flat", "cross_section_type": "circle" }, + "data": { + "liquids": [["water", 50.0]], + "pending_liquids": [["water", 50.0]], + "liquid_history": [] + } + }, + { + "id": "plate_well_A2", + "name": "plate_well_A2", + "sample_id": null, + "children": [], + "parent": "plate_well", + "type": "device", + "class": "", + "position": { + "x": 19.87, + "y": 70.77, + "z": 3.03 + }, + "config": { + "type": "Well", + "size_x": 6.86, + "size_y": 6.86, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "max_volume": 360, + "material_z_thickness": 0.5, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "flat", + "cross_section_type": "circle" + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } + }, + { + "id": "plate_well_B2", + "name": "plate_well_B2", + "sample_id": null, + "children": [], + "parent": "plate_well", + "type": "device", + "class": "", + "position": { + "x": 19.87, + "y": 61.77, + "z": 3.03 + }, + "config": { + "type": "Well", + "size_x": 6.86, + "size_y": 6.86, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "max_volume": 360, + "material_z_thickness": 0.5, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "flat", + "cross_section_type": "circle" + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } + }, + { + "id": "plate_well_C2", + "name": "plate_well_C2", + "sample_id": null, + "children": [], + "parent": "plate_well", + "type": "device", + "class": "", + "position": { + "x": 19.87, + "y": 52.77, + "z": 3.03 + }, + "config": { + "type": "Well", + "size_x": 6.86, + "size_y": 6.86, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "max_volume": 360, + "material_z_thickness": 0.5, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "flat", + "cross_section_type": "circle" + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } + }, + { + "id": "plate_well_D2", + "name": "plate_well_D2", + "sample_id": null, + "children": [], + "parent": "plate_well", + "type": "device", + "class": "", + "position": { + "x": 19.87, + "y": 43.77, + "z": 3.03 + }, + "config": { + "type": "Well", + "size_x": 6.86, + "size_y": 6.86, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "max_volume": 360, + "material_z_thickness": 0.5, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "flat", + "cross_section_type": "circle" + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } + }, + { + "id": "plate_well_E2", + "name": "plate_well_E2", + "sample_id": null, + "children": [], + "parent": "plate_well", + "type": "device", + "class": "", + "position": { + "x": 19.87, + "y": 34.77, + "z": 3.03 + }, + "config": { + "type": "Well", + "size_x": 6.86, + "size_y": 6.86, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "max_volume": 360, + "material_z_thickness": 0.5, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "flat", + "cross_section_type": "circle" + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } + }, + { + "id": "plate_well_F2", + "name": "plate_well_F2", + "sample_id": null, + "children": [], + "parent": "plate_well", + "type": "device", + "class": "", + "position": { + "x": 19.87, + "y": 25.77, + "z": 3.03 + }, + "config": { + "type": "Well", + "size_x": 6.86, + "size_y": 6.86, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "max_volume": 360, + "material_z_thickness": 0.5, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "flat", + "cross_section_type": "circle" + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } + }, + { + "id": "plate_well_G2", + "name": "plate_well_G2", + "sample_id": null, + "children": [], + "parent": "plate_well", + "type": "device", + "class": "", + "position": { + "x": 19.87, + "y": 16.77, + "z": 3.03 + }, + "config": { + "type": "Well", + "size_x": 6.86, + "size_y": 6.86, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "max_volume": 360, + "material_z_thickness": 0.5, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "flat", + "cross_section_type": "circle" + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } + }, + { + "id": "plate_well_H2", + "name": "plate_well_H2", + "sample_id": null, + "children": [], + "parent": "plate_well", + "type": "device", + "class": "", + "position": { + "x": 19.87, + "y": 7.77, + "z": 3.03 + }, + "config": { + "type": "Well", + "size_x": 6.86, + "size_y": 6.86, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 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"category": "well", + "model": null, + "max_volume": 360, + "material_z_thickness": 0.5, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "flat", + "cross_section_type": "circle" + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } + }, + { + "id": "plate_well_A10", + "name": "plate_well_A10", + "sample_id": null, + "children": [], + "parent": "plate_well", + "type": "device", + "class": "", + "position": { + "x": 91.87, + "y": 70.77, + "z": 3.03 + }, + "config": { + "type": "Well", + "size_x": 6.86, + "size_y": 6.86, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "max_volume": 360, + "material_z_thickness": 0.5, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "flat", + "cross_section_type": "circle" + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } + }, + { + "id": "plate_well_B10", + "name": "plate_well_B10", + "sample_id": null, + "children": [], + "parent": "plate_well", + "type": "device", + "class": "", + "position": { + "x": 91.87, + "y": 61.77, + "z": 3.03 + }, + "config": { + "type": "Well", + "size_x": 6.86, + "size_y": 6.86, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "max_volume": 360, + "material_z_thickness": 0.5, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "flat", + "cross_section_type": "circle" + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } + }, + { + "id": "plate_well_C10", + "name": "plate_well_C10", + "sample_id": null, + "children": [], + "parent": "plate_well", + "type": "device", + "class": "", + "position": { + "x": 91.87, + "y": 52.77, + "z": 3.03 + }, + "config": { + "type": "Well", + "size_x": 6.86, + "size_y": 6.86, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "max_volume": 360, + "material_z_thickness": 0.5, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "flat", + "cross_section_type": "circle" + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } + }, + { + "id": "plate_well_D10", + "name": "plate_well_D10", + "sample_id": null, + "children": [], + "parent": "plate_well", + "type": "device", + "class": "", + "position": { + "x": 91.87, + "y": 43.77, + "z": 3.03 + }, + "config": { + "type": "Well", + "size_x": 6.86, + "size_y": 6.86, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "max_volume": 360, + "material_z_thickness": 0.5, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "flat", + "cross_section_type": "circle" + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } + }, + { + "id": "plate_well_E10", + "name": "plate_well_E10", + "sample_id": null, + "children": [], + "parent": "plate_well", + "type": "device", + "class": "", + "position": { + "x": 91.87, + "y": 34.77, + "z": 3.03 + }, + "config": { + "type": "Well", + "size_x": 6.86, + "size_y": 6.86, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "max_volume": 360, + "material_z_thickness": 0.5, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "flat", + "cross_section_type": "circle" + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } + }, + { + "id": "plate_well_F10", + "name": "plate_well_F10", + "sample_id": null, + "children": [], + "parent": "plate_well", + "type": "device", + "class": "", + "position": { + "x": 91.87, + "y": 25.77, + "z": 3.03 + }, + "config": { + "type": "Well", + "size_x": 6.86, + "size_y": 6.86, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "max_volume": 360, + "material_z_thickness": 0.5, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "flat", + "cross_section_type": "circle" + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } + }, + { + "id": "plate_well_G10", + "name": "plate_well_G10", + "sample_id": null, + "children": [], + "parent": "plate_well", + "type": "device", + "class": "", + "position": { + "x": 91.87, + "y": 16.77, + "z": 3.03 + }, + "config": { + "type": "Well", + "size_x": 6.86, + "size_y": 6.86, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "max_volume": 360, + "material_z_thickness": 0.5, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "flat", + "cross_section_type": "circle" + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } + }, + { + "id": "plate_well_H10", + "name": "plate_well_H10", + "sample_id": null, + "children": [], + "parent": "plate_well", + "type": "device", + "class": "", + "position": { + "x": 91.87, + "y": 7.77, + "z": 3.03 + }, + "config": { + "type": "Well", + "size_x": 6.86, + "size_y": 6.86, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "max_volume": 360, + "material_z_thickness": 0.5, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "flat", + "cross_section_type": "circle" + }, "data": { "liquids": [], "pending_liquids": [], @@ -1866,51 +9314,322 @@ } }, { - "id": "benyao", - "name": "benyao", + "id": "plate_well_A12", + "name": "plate_well_A12", + "sample_id": null, "children": [], - "parent": null, + "parent": "plate_well", "type": "device", - "class": "moveit.benyao_arm", + "class": "", "position": { - "x": -500, - "y": 1000, - "z": -100 + "x": 109.87, + "y": 70.77, + "z": 3.03 }, "config": { - "moveit_type": "benyao_arm", - "joint_poses": { - "arm": { - "hotel_1": [ - 1.05, - 0.568, - -1.0821, - 0.0, - 1.0821 - ], - "home": [ - 0.865, - 0.09, - 0.8727, - 0.0, - -0.8727 - ] - } - }, + "type": "Well", + "size_x": 6.86, + "size_y": 6.86, + "size_z": 10.67, "rotation": { "x": 0, "y": 0, - "z": -1.5708, + "z": 0, "type": "Rotation" }, - "device_config": {} + "category": "well", + "model": null, + "max_volume": 360, + "material_z_thickness": 0.5, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "flat", + "cross_section_type": "circle" }, - "data": {} + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } + }, + { + "id": "plate_well_B12", + "name": "plate_well_B12", + "sample_id": null, + "children": [], + "parent": "plate_well", + "type": "device", + "class": "", + "position": { + "x": 109.87, + "y": 61.77, + "z": 3.03 + }, + "config": { + "type": "Well", + "size_x": 6.86, + "size_y": 6.86, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "max_volume": 360, + "material_z_thickness": 0.5, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "flat", + "cross_section_type": "circle" + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } + }, + { + "id": "plate_well_C12", + "name": "plate_well_C12", + "sample_id": null, + "children": [], + "parent": "plate_well", + "type": "device", + "class": "", + "position": { + "x": 109.87, + "y": 52.77, + "z": 3.03 + }, + "config": { + "type": "Well", + "size_x": 6.86, + "size_y": 6.86, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "max_volume": 360, + "material_z_thickness": 0.5, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "flat", + "cross_section_type": "circle" + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } + }, + { + "id": "plate_well_D12", + "name": "plate_well_D12", + "sample_id": null, + "children": [], + "parent": "plate_well", + "type": "device", + "class": "", + "position": { + "x": 109.87, + "y": 43.77, + "z": 3.03 + }, + "config": { + "type": "Well", + "size_x": 6.86, + "size_y": 6.86, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "max_volume": 360, + "material_z_thickness": 0.5, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "flat", + "cross_section_type": "circle" + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } + }, + { + "id": "plate_well_E12", + "name": "plate_well_E12", + "sample_id": null, + "children": [], + "parent": "plate_well", + "type": "device", + "class": "", + "position": { + "x": 109.87, + "y": 34.77, + "z": 3.03 + }, + "config": { + "type": "Well", + "size_x": 6.86, + "size_y": 6.86, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "max_volume": 360, + "material_z_thickness": 0.5, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "flat", + "cross_section_type": "circle" + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } + }, + { + "id": "plate_well_F12", + "name": "plate_well_F12", + "sample_id": null, + "children": [], + "parent": "plate_well", + "type": "device", + "class": "", + "position": { + "x": 109.87, + "y": 25.77, + "z": 3.03 + }, + "config": { + "type": "Well", + "size_x": 6.86, + "size_y": 6.86, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "max_volume": 360, + "material_z_thickness": 0.5, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "flat", + "cross_section_type": "circle" + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } + }, + { + "id": "plate_well_G12", + "name": "plate_well_G12", + "sample_id": null, + "children": [], + "parent": "plate_well", + "type": "device", + "class": "", + "position": { + "x": 109.87, + "y": 16.77, + "z": 3.03 + }, + "config": { + "type": "Well", + "size_x": 6.86, + "size_y": 6.86, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "max_volume": 360, + "material_z_thickness": 0.5, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "flat", + "cross_section_type": "circle" + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } + }, + { + "id": "plate_well_H12", + "name": "plate_well_H12", + "sample_id": null, + "children": [], + "parent": "plate_well", + "type": "device", + "class": "", + "position": { + "x": 109.87, + "y": 7.77, + "z": 3.03 + }, + "config": { + "type": "Well", + "size_x": 6.86, + "size_y": 6.86, + "size_z": 10.67, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "well", + "model": null, + "max_volume": 360, + "material_z_thickness": 0.5, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "flat", + "cross_section_type": "circle" + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } }, { "id": "hotel", "name": "hotel", - "children": [], + "children": [ + ], "parent": null, "type": "device", "class": "hotel.thermo_orbitor_rs2_hotel", @@ -1926,9 +9645,11 @@ "z": 0, "type": "Rotation" }, - "device_config": {} + "device_config": { + } }, - "data": {} + "data": { + } } ], "links": [] diff --git a/unilabos/app/web/client.py b/unilabos/app/web/client.py index 648859f6..69329489 100644 --- a/unilabos/app/web/client.py +++ b/unilabos/app/web/client.py @@ -60,7 +60,7 @@ class HTTPClient: Dict: 返回的资源数据 """ response = requests.get( - f"{self.remote_addr}/lab/resource/", + f"{self.remote_addr}/lab/resource/?edge_format=1", params={"id": id, "with_children": with_children}, headers={"Authorization": f"lab {self.auth}"}, timeout=5, @@ -96,7 +96,7 @@ class HTTPClient: Response: API响应对象 """ response = requests.patch( - f"{self.remote_addr}/lab/resource/batch_update/", + f"{self.remote_addr}/lab/resource/batch_update/?edge_format=1", json=resources, headers={"Authorization": f"lab {self.auth}"}, timeout=5, diff --git a/unilabos/devices/liquid_handling/converted protocol/sci-lucif-assay4_plr_background_tested.ipynb b/unilabos/devices/liquid_handling/converted protocol/sci-lucif-assay4_plr_background_tested.ipynb index daf47e23..f380fc68 100644 --- a/unilabos/devices/liquid_handling/converted protocol/sci-lucif-assay4_plr_background_tested.ipynb +++ b/unilabos/devices/liquid_handling/converted protocol/sci-lucif-assay4_plr_background_tested.ipynb @@ -2,18 +2,18 @@ "cells": [ { "cell_type": "code", - "execution_count": 9, "id": "6e581f88", - "metadata": {}, - "outputs": [], + "metadata": { + "ExecuteTime": { + "end_time": "2025-06-08T15:32:44.429407Z", + "start_time": "2025-06-08T15:32:43.584559Z" + } + }, "source": [ "# NF‑κB Luciferase Reporter Assay – pylabrobot version\n", "\n", "import os\n", "import sys\n", - "os.getcwd()\n", - "sys.path.append('/Users/guangxinzhang/Documents/Deep Potential/pylabrobot/myfile')\n", - "\n", "from pylabrobot.resources import Coordinate\n", "from pylabrobot.liquid_handling.backends.chatterbox import LiquidHandlerChatterboxBackend\n", "from pylabrobot.visualizer.visualizer import Visualizer\n", @@ -24,33 +24,26 @@ " nest_1_reservoir_195ml,\n", " opentrons_96_tiprack_300ul\n", ")\n", - "from High_level_function.action_definition import DPLiquidHandler" - ] + "from pylabrobot.liquid_handling import LiquidHandler" + ], + "outputs": [], + "execution_count": 1 }, { "cell_type": "code", - "execution_count": 10, "id": "c3127d6e", - "metadata": {}, - "outputs": [ - { - "name": "stdout", - "output_type": "stream", - "text": [ - "Setting up the liquid handler.\n", - "Resource deck was assigned to the liquid handler.\n", - "Resource trash_container was assigned to the liquid handler.\n", - "Resource tiprack_1 was assigned to the liquid handler.\n", - "Resource tiprack_4 was assigned to the liquid handler.\n", - "Resource tiprack_8 was assigned to the liquid handler.\n", - "Resource tiprack_11 was assigned to the liquid handler.\n", - "Resource working_plate was assigned to the liquid handler.\n", - "Resource reagent_stock was assigned to the liquid handler.\n", - "Resource waste_liq was assigned to the liquid handler.\n" - ] + "metadata": { + "ExecuteTime": { + "end_time": "2025-06-08T15:32:45.234924Z", + "start_time": "2025-06-08T15:32:45.194957Z" } - ], + }, "source": [ + "\n", + "# from pylabrobot.resources import set_volume_tracking\n", + "# from pylabrobot.resources import set_tip_tracking\n", + "# set_volume_tracking(enabled=True)\n", + "# set_tip_tracking(enabled=True)\n", "# ──────────────────────────────────────\n", "# User‑configurable constants (µL)\n", "MEDIUM_VOL = 100 # volume of spent medium to remove\n", @@ -62,7 +55,7 @@ "\n", "# ──────────────────────────────────────\n", "\n", - "lh = DPLiquidHandler(backend=LiquidHandlerChatterboxBackend(), deck=OTDeck())\n", + "lh = LiquidHandler(backend=LiquidHandlerChatterboxBackend(), deck=OTDeck())\n", "await lh.setup()\n", "#vis = Visualizer(resource=lh)\n", "#await vis.setup()\n", @@ -88,14 +81,36 @@ "# 1‑channel waste reservoir at slot 9\n", "waste_liq = nest_1_reservoir_195ml(name='waste_liq')\n", "lh.deck.assign_child_at_slot(waste_liq, slot=9)" - ] + ], + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "Setting up the liquid handler.\n", + "Resource deck was assigned to the liquid handler.\n", + "Resource trash_container was assigned to the liquid handler.\n", + "Resource tiprack_1 was assigned to the liquid handler.\n", + "Resource tiprack_4 was assigned to the liquid handler.\n", + "Resource tiprack_8 was assigned to the liquid handler.\n", + "Resource tiprack_11 was assigned to the liquid handler.\n", + "Resource working_plate was assigned to the liquid handler.\n", + "Resource reagent_stock was assigned to the liquid handler.\n", + "Resource waste_liq was assigned to the liquid handler.\n" + ] + } + ], + "execution_count": 2 }, { "cell_type": "code", - "execution_count": 11, "id": "b5313453", - "metadata": {}, - "outputs": [], + "metadata": { + "ExecuteTime": { + "end_time": "2025-06-08T15:32:45.425953Z", + "start_time": "2025-06-08T15:32:45.420965Z" + } + }, "source": [ "pbs = reagent_stock[0][0]\n", "lysis = reagent_stock[1][0]\n", @@ -103,14 +118,19 @@ "waste_liq = waste_liq[0]\n", "wells_name = [f\"A{i}\" for i in range(1, 13)]\n", "cells_all = working_plate[wells_name] # A1–A12" - ] + ], + "outputs": [], + "execution_count": 3 }, { "cell_type": "code", - "execution_count": 12, "id": "e85d6752", - "metadata": {}, - "outputs": [], + "metadata": { + "ExecuteTime": { + "end_time": "2025-06-08T15:32:46.480024Z", + "start_time": "2025-06-08T15:32:46.473896Z" + } + }, "source": [ "working_plate_volumes = [\n", " ('culture medium', MEDIUM_VOL) if i % 8 == 0 else (None, 0)\n", @@ -119,14 +139,54 @@ "working_plate.set_well_liquids(working_plate_volumes)\n", "reagent_info = [('PBS Buffer', 5000), ('Lysis Buffer', 5000), ('Luciferase Reagent', 5000)]+[ (None, 0) ]* 9\n", "reagent_stock.set_well_liquids(reagent_info)\n", - "lh.set_tiprack(list(tipracks.values()))" - ] + "# lh.deck.set_tiprack(list(tipracks.values()))" + ], + "outputs": [], + "execution_count": 4 + }, + { + "metadata": { + "ExecuteTime": { + "end_time": "2025-06-08T15:32:47.742983Z", + "start_time": "2025-06-08T15:32:47.731878Z" + } + }, + "cell_type": "code", + "source": [ + "# state = reagent_stock.serialize_all_state()\n", + "# print(state)\n", + "reagent_stock.load_all_state({'reagent_stock': {}, 'reagent_stock_A1': {'liquids': [['PBS Buffer', 5000]], 'pending_liquids': [], 'liquid_history': []}, 'reagent_stock_A2': {'liquids': [['Lysis Buffer', 5000]], 'pending_liquids': [['Lysis Buffer', 5000]], 'liquid_history': ['Lysis Buffer']}, 'reagent_stock_A3': {'liquids': [['Luciferase Reagent', 5000]], 'pending_liquids': [['Luciferase Reagent', 5000]], 'liquid_history': ['Luciferase Reagent']}, 'reagent_stock_A4': {'liquids': [[None, 0]], 'pending_liquids': [[None, 0]], 'liquid_history': [None]}, 'reagent_stock_A5': {'liquids': [[None, 0]], 'pending_liquids': [[None, 0]], 'liquid_history': [None]}, 'reagent_stock_A6': {'liquids': [[None, 0]], 'pending_liquids': [[None, 0]], 'liquid_history': [None]}, 'reagent_stock_A7': {'liquids': [[None, 0]], 'pending_liquids': [[None, 0]], 'liquid_history': [None]}, 'reagent_stock_A8': {'liquids': [[None, 0]], 'pending_liquids': [[None, 0]], 'liquid_history': [None]}, 'reagent_stock_A9': {'liquids': [[None, 0]], 'pending_liquids': [[None, 0]], 'liquid_history': [None]}, 'reagent_stock_A10': {'liquids': [[None, 0]], 'pending_liquids': [[None, 0]], 'liquid_history': [None]}, 'reagent_stock_A11': {'liquids': [[None, 0]], 'pending_liquids': [[None, 0]], 'liquid_history': [None]}, 'reagent_stock_A12': {'liquids': [[None, 0]], 'pending_liquids': [[None, 0]], 'liquid_history': [None]}})\n", + "\n", + "reagent_stock[0][0].tracker.liquids" + ], + "id": "cd6ad8fb6494f14a", + "outputs": [ + { + "data": { + "text/plain": [ + "[('PBS Buffer', 5000)]" + ] + }, + "execution_count": 5, + "metadata": {}, + "output_type": "execute_result" + } + ], + "execution_count": 5 }, { "cell_type": "code", - "execution_count": 13, "id": "9dbfb0e2", - "metadata": {}, + "metadata": { + "ExecuteTime": { + "end_time": "2025-06-08T15:32:02.047523Z", + "start_time": "2025-06-08T15:32:02.042034Z" + } + }, + "source": [ + "from pylabrobot.resources import set_tip_tracking, set_volume_tracking\n", + "set_tip_tracking(True), set_volume_tracking(True)" + ], "outputs": [ { "data": { @@ -134,185 +194,9106 @@ "(None, None)" ] }, - "execution_count": 13, + "execution_count": 12, "metadata": {}, "output_type": "execute_result" } ], - "source": [ - "from pylabrobot.resources import set_tip_tracking, set_volume_tracking\n", - "set_tip_tracking(True), set_volume_tracking(True)" - ] + "execution_count": 12 + }, + { + "metadata": { + "ExecuteTime": { + "end_time": "2025-06-08T16:04:23.597819Z", + "start_time": "2025-06-08T16:04:23.427478Z" + } + }, + "cell_type": "code", + "source": "lh.serialize()", + "id": "6b2801f34ac96ef6", + "outputs": [ + { + "data": { + "text/plain": [ + "{'name': 'lh_deck',\n", + " 'type': 'LiquidHandler',\n", + " 'size_x': 624.3,\n", + " 'size_y': 565.2,\n", + " 'size_z': 900,\n", + " 'location': {'x': 0, 'y': 0, 'z': 0, 'type': 'Coordinate'},\n", + " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n", + " 'category': 'liquid_handler',\n", + " 'model': None,\n", + " 'children': [{'name': 'deck',\n", + " 'type': 'OTDeck',\n", + " 'size_x': 624.3,\n", + " 'size_y': 565.2,\n", + " 'size_z': 900,\n", + " 'location': {'x': 0, 'y': 0, 'z': 0, 'type': 'Coordinate'},\n", + " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n", + " 'category': 'deck',\n", + " 'children': [{'name': 'trash_container',\n", + " 'type': 'Resource',\n", + " 'size_x': 172.86,\n", + " 'size_y': 165.86,\n", + " 'size_z': 82,\n", + " 'location': {'x': 265.0, 'y': 271.5, 'z': 0.0, 'type': 'Coordinate'},\n", + " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n", + " 'category': None,\n", + " 'model': None,\n", + " 'children': [{'name': 'trash',\n", + " 'type': 'Trash',\n", + " 'size_x': 172.86,\n", + " 'size_y': 165.86,\n", + " 'size_z': 82,\n", + " 'location': {'x': 0, 'y': 0, 'z': 0, 'type': 'Coordinate'},\n", + " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n", + " 'category': 'trash',\n", + " 'model': None,\n", + " 'children': [],\n", + " 'parent_name': 'trash_container',\n", + " 'max_volume': 'Infinity',\n", + " 'material_z_thickness': 0,\n", + " 'compute_volume_from_height': None,\n", + " 'compute_height_from_volume': None}],\n", + " 'parent_name': 'deck'},\n", + " {'name': 'tiprack_1',\n", + " 'type': 'TipRack',\n", + " 'size_x': 127.76,\n", + " 'size_y': 85.48,\n", + " 'size_z': 64.49,\n", + " 'location': {'x': 0.0, 'y': 0.0, 'z': 0.0, 'type': 'Coordinate'},\n", + " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n", + " 'category': 'tip_rack',\n", + " 'model': 'Opentrons OT-2 96 Tip Rack 300 µL',\n", + " 'children': [{'name': 'tiprack_1_A1',\n", + " 'type': 'TipSpot',\n", + " 'size_x': 3.698,\n", + " 'size_y': 3.698,\n", + " 'size_z': 0,\n", + " 'location': {'x': 12.531, 'y': 72.391, 'z': 5.39, 'type': 'Coordinate'},\n", + " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n", + " 'category': 'tip_spot',\n", + " 'model': None,\n", + " 'children': [],\n", + " 'parent_name': 'tiprack_1',\n", + " 'prototype_tip': {'type': 'Tip',\n", + " 'total_tip_length': 59.3,\n", + " 'has_filter': False,\n", + " 'maximal_volume': 300.0,\n", + " 'fitting_depth': 7.47}},\n", + " {'name': 'tiprack_1_B1',\n", + " 'type': 'TipSpot',\n", + " 'size_x': 3.698,\n", + " 'size_y': 3.698,\n", + " 'size_z': 0,\n", + " 'location': {'x': 12.531, 'y': 63.391, 'z': 5.39, 'type': 'Coordinate'},\n", + " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n", + " 'category': 'tip_spot',\n", + " 'model': None,\n", + " 'children': [],\n", + " 'parent_name': 'tiprack_1',\n", + " 'prototype_tip': {'type': 'Tip',\n", + " 'total_tip_length': 59.3,\n", + " 'has_filter': False,\n", + " 'maximal_volume': 300.0,\n", + " 'fitting_depth': 7.47}},\n", + " {'name': 'tiprack_1_C1',\n", + " 'type': 'TipSpot',\n", + " 'size_x': 3.698,\n", + " 'size_y': 3.698,\n", + " 'size_z': 0,\n", + " 'location': {'x': 12.531, 'y': 54.391, 'z': 5.39, 'type': 'Coordinate'},\n", + " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n", + " 'category': 'tip_spot',\n", + " 'model': None,\n", + " 'children': [],\n", + " 'parent_name': 'tiprack_1',\n", + " 'prototype_tip': {'type': 'Tip',\n", + " 'total_tip_length': 59.3,\n", + " 'has_filter': False,\n", + " 'maximal_volume': 300.0,\n", + " 'fitting_depth': 7.47}},\n", + " {'name': 'tiprack_1_D1',\n", + " 'type': 'TipSpot',\n", + " 'size_x': 3.698,\n", + " 'size_y': 3.698,\n", + " 'size_z': 0,\n", + " 'location': {'x': 12.531, 'y': 45.391, 'z': 5.39, 'type': 'Coordinate'},\n", + " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n", + " 'category': 'tip_spot',\n", + " 'model': None,\n", + " 'children': [],\n", + " 'parent_name': 'tiprack_1',\n", + " 'prototype_tip': {'type': 'Tip',\n", + " 'total_tip_length': 59.3,\n", + " 'has_filter': False,\n", + " 'maximal_volume': 300.0,\n", + " 'fitting_depth': 7.47}},\n", + " {'name': 'tiprack_1_E1',\n", + " 'type': 'TipSpot',\n", + " 'size_x': 3.698,\n", + " 'size_y': 3.698,\n", + " 'size_z': 0,\n", + " 'location': {'x': 12.531, 'y': 36.391, 'z': 5.39, 'type': 'Coordinate'},\n", + " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n", + " 'category': 'tip_spot',\n", + " 'model': None,\n", + " 'children': [],\n", + " 'parent_name': 'tiprack_1',\n", + " 'prototype_tip': {'type': 'Tip',\n", + " 'total_tip_length': 59.3,\n", + " 'has_filter': False,\n", + " 'maximal_volume': 300.0,\n", + " 'fitting_depth': 7.47}},\n", + " {'name': 'tiprack_1_F1',\n", + " 'type': 'TipSpot',\n", + " 'size_x': 3.698,\n", + " 'size_y': 3.698,\n", + " 'size_z': 0,\n", + " 'location': {'x': 12.531, 'y': 27.391, 'z': 5.39, 'type': 'Coordinate'},\n", 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'location': {'x': 21.531, 'y': 18.391, 'z': 5.39, 'type': 'Coordinate'},\n", + " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n", + " 'category': 'tip_spot',\n", + " 'model': None,\n", + " 'children': [],\n", + " 'parent_name': 'tiprack_1',\n", + " 'prototype_tip': {'type': 'Tip',\n", + " 'total_tip_length': 59.3,\n", + " 'has_filter': False,\n", + " 'maximal_volume': 300.0,\n", + " 'fitting_depth': 7.47}},\n", + " {'name': 'tiprack_1_H2',\n", + " 'type': 'TipSpot',\n", + " 'size_x': 3.698,\n", + " 'size_y': 3.698,\n", + " 'size_z': 0,\n", + " 'location': {'x': 21.531, 'y': 9.391, 'z': 5.39, 'type': 'Coordinate'},\n", + " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n", + " 'category': 'tip_spot',\n", + " 'model': None,\n", + " 'children': [],\n", + " 'parent_name': 'tiprack_1',\n", + " 'prototype_tip': {'type': 'Tip',\n", + " 'total_tip_length': 59.3,\n", + " 'has_filter': False,\n", + " 'maximal_volume': 300.0,\n", + " 'fitting_depth': 7.47}},\n", + " {'name': 'tiprack_1_A3',\n", + " 'type': 'TipSpot',\n", + " 'size_x': 3.698,\n", + " 'size_y': 3.698,\n", + " 'size_z': 0,\n", + " 'location': {'x': 30.531, 'y': 72.391, 'z': 5.39, 'type': 'Coordinate'},\n", + " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n", + " 'category': 'tip_spot',\n", + " 'model': None,\n", + " 'children': [],\n", + " 'parent_name': 'tiprack_1',\n", + " 'prototype_tip': {'type': 'Tip',\n", + " 'total_tip_length': 59.3,\n", + " 'has_filter': False,\n", + " 'maximal_volume': 300.0,\n", + " 'fitting_depth': 7.47}},\n", + " {'name': 'tiprack_1_B3',\n", + " 'type': 'TipSpot',\n", + " 'size_x': 3.698,\n", + " 'size_y': 3.698,\n", + " 'size_z': 0,\n", + " 'location': {'x': 30.531, 'y': 63.391, 'z': 5.39, 'type': 'Coordinate'},\n", + " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n", + " 'category': 'tip_spot',\n", + " 'model': None,\n", + " 'children': [],\n", + " 'parent_name': 'tiprack_1',\n", + " 'prototype_tip': {'type': 'Tip',\n", + " 'total_tip_length': 59.3,\n", + " 'has_filter': False,\n", + " 'maximal_volume': 300.0,\n", + " 'fitting_depth': 7.47}},\n", + " {'name': 'tiprack_1_C3',\n", + " 'type': 'TipSpot',\n", + " 'size_x': 3.698,\n", + " 'size_y': 3.698,\n", + " 'size_z': 0,\n", + " 'location': {'x': 30.531, 'y': 54.391, 'z': 5.39, 'type': 'Coordinate'},\n", + " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n", + " 'category': 'tip_spot',\n", + " 'model': None,\n", + " 'children': [],\n", + " 'parent_name': 'tiprack_1',\n", + " 'prototype_tip': {'type': 'Tip',\n", + " 'total_tip_length': 59.3,\n", + " 'has_filter': False,\n", + " 'maximal_volume': 300.0,\n", + " 'fitting_depth': 7.47}},\n", + " {'name': 'tiprack_1_D3',\n", + " 'type': 'TipSpot',\n", + " 'size_x': 3.698,\n", + " 'size_y': 3.698,\n", + " 'size_z': 0,\n", + " 'location': {'x': 30.531, 'y': 45.391, 'z': 5.39, 'type': 'Coordinate'},\n", + " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n", + " 'category': 'tip_spot',\n", + 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" 'children': [],\n", + " 'parent_name': 'working_plate',\n", + " 'max_volume': 360,\n", + " 'material_z_thickness': None,\n", + " 'compute_volume_from_height': None,\n", + " 'compute_height_from_volume': None,\n", + " 'bottom_type': 'unknown',\n", + " 'cross_section_type': 'circle'},\n", + " {'name': 'working_plate_D7',\n", + " 'type': 'Well',\n", + " 'size_x': 4.851,\n", + " 'size_y': 4.851,\n", + " 'size_z': 10.67,\n", + " 'location': {'x': 65.9545,\n", + " 'y': 44.8145,\n", + " 'z': 3.55,\n", + " 'type': 'Coordinate'},\n", + " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n", + " 'category': 'well',\n", + " 'model': None,\n", + " 'children': [],\n", + " 'parent_name': 'working_plate',\n", + " 'max_volume': 360,\n", + " 'material_z_thickness': None,\n", + " 'compute_volume_from_height': None,\n", + " 'compute_height_from_volume': None,\n", + " 'bottom_type': 'unknown',\n", + " 'cross_section_type': 'circle'},\n", + " {'name': 'working_plate_E7',\n", + " 'type': 'Well',\n", + " 'size_x': 4.851,\n", + " 'size_y': 4.851,\n", + " 'size_z': 10.67,\n", + " 'location': {'x': 65.9545,\n", + " 'y': 35.8145,\n", + " 'z': 3.55,\n", + " 'type': 'Coordinate'},\n", + " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n", + " 'category': 'well',\n", + " 'model': None,\n", + " 'children': [],\n", + " 'parent_name': 'working_plate',\n", + " 'max_volume': 360,\n", + " 'material_z_thickness': None,\n", + " 'compute_volume_from_height': None,\n", + " 'compute_height_from_volume': None,\n", + " 'bottom_type': 'unknown',\n", + " 'cross_section_type': 'circle'},\n", + " {'name': 'working_plate_F7',\n", + " 'type': 'Well',\n", + " 'size_x': 4.851,\n", + " 'size_y': 4.851,\n", + " 'size_z': 10.67,\n", + " 'location': {'x': 65.9545,\n", + " 'y': 26.8145,\n", + " 'z': 3.55,\n", + " 'type': 'Coordinate'},\n", + " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n", + " 'category': 'well',\n", + " 'model': None,\n", + " 'children': [],\n", + " 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4.851,\n", + " 'size_y': 4.851,\n", + " 'size_z': 10.67,\n", + " 'location': {'x': 65.9545,\n", + " 'y': 8.8145,\n", + " 'z': 3.55,\n", + " 'type': 'Coordinate'},\n", + " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n", + " 'category': 'well',\n", + " 'model': None,\n", + " 'children': [],\n", + " 'parent_name': 'working_plate',\n", + " 'max_volume': 360,\n", + " 'material_z_thickness': None,\n", + " 'compute_volume_from_height': None,\n", + " 'compute_height_from_volume': None,\n", + " 'bottom_type': 'unknown',\n", + " 'cross_section_type': 'circle'},\n", + " {'name': 'working_plate_A8',\n", + " 'type': 'Well',\n", + " 'size_x': 4.851,\n", + " 'size_y': 4.851,\n", + " 'size_z': 10.67,\n", + " 'location': {'x': 74.9545,\n", + " 'y': 71.8145,\n", + " 'z': 3.55,\n", + " 'type': 'Coordinate'},\n", + " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n", + " 'category': 'well',\n", + " 'model': None,\n", + " 'children': [],\n", + " 'parent_name': 'working_plate',\n", 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'children': [],\n", + " 'parent_name': 'reagent_stock',\n", + " 'max_volume': 15000,\n", + " 'material_z_thickness': None,\n", + " 'compute_volume_from_height': None,\n", + " 'compute_height_from_volume': None,\n", + " 'bottom_type': 'unknown',\n", + " 'cross_section_type': 'rectangle'},\n", + " {'name': 'reagent_stock_A2',\n", + " 'type': 'Well',\n", + " 'size_x': 8.2,\n", + " 'size_y': 71.2,\n", + " 'size_z': 26.85,\n", + " 'location': {'x': 19.28, 'y': 7.18, 'z': 4.55, 'type': 'Coordinate'},\n", + " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n", + " 'category': 'well',\n", + " 'model': None,\n", + " 'children': [],\n", + " 'parent_name': 'reagent_stock',\n", + " 'max_volume': 15000,\n", + " 'material_z_thickness': None,\n", + " 'compute_volume_from_height': None,\n", + " 'compute_height_from_volume': None,\n", + " 'bottom_type': 'unknown',\n", + " 'cross_section_type': 'rectangle'},\n", + " {'name': 'reagent_stock_A3',\n", + " 'type': 'Well',\n", + " 'size_x': 8.2,\n", + " 'size_y': 71.2,\n", + " 'size_z': 26.85,\n", + " 'location': {'x': 28.28, 'y': 7.18, 'z': 4.55, 'type': 'Coordinate'},\n", + " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n", + " 'category': 'well',\n", + " 'model': None,\n", + " 'children': [],\n", + " 'parent_name': 'reagent_stock',\n", + " 'max_volume': 15000,\n", + " 'material_z_thickness': None,\n", + " 'compute_volume_from_height': None,\n", + " 'compute_height_from_volume': None,\n", + " 'bottom_type': 'unknown',\n", + " 'cross_section_type': 'rectangle'},\n", + " {'name': 'reagent_stock_A4',\n", + " 'type': 'Well',\n", + " 'size_x': 8.2,\n", + " 'size_y': 71.2,\n", + " 'size_z': 26.85,\n", + " 'location': {'x': 37.28, 'y': 7.18, 'z': 4.55, 'type': 'Coordinate'},\n", + " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n", + " 'category': 'well',\n", + " 'model': None,\n", + " 'children': [],\n", + " 'parent_name': 'reagent_stock',\n", + " 'max_volume': 15000,\n", + " 'material_z_thickness': None,\n", + " 'compute_volume_from_height': None,\n", + " 'compute_height_from_volume': None,\n", + " 'bottom_type': 'unknown',\n", + " 'cross_section_type': 'rectangle'},\n", + " {'name': 'reagent_stock_A5',\n", + " 'type': 'Well',\n", + " 'size_x': 8.2,\n", + " 'size_y': 71.2,\n", + " 'size_z': 26.85,\n", + " 'location': {'x': 46.28, 'y': 7.18, 'z': 4.55, 'type': 'Coordinate'},\n", + " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n", + " 'category': 'well',\n", + " 'model': None,\n", + " 'children': [],\n", + " 'parent_name': 'reagent_stock',\n", + " 'max_volume': 15000,\n", + " 'material_z_thickness': None,\n", + " 'compute_volume_from_height': None,\n", + " 'compute_height_from_volume': None,\n", + " 'bottom_type': 'unknown',\n", + " 'cross_section_type': 'rectangle'},\n", + " {'name': 'reagent_stock_A6',\n", + " 'type': 'Well',\n", + " 'size_x': 8.2,\n", + " 'size_y': 71.2,\n", + " 'size_z': 26.85,\n", + " 'location': {'x': 55.28, 'y': 7.18, 'z': 4.55, 'type': 'Coordinate'},\n", + " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n", + " 'category': 'well',\n", + " 'model': None,\n", + " 'children': [],\n", + " 'parent_name': 'reagent_stock',\n", + " 'max_volume': 15000,\n", + " 'material_z_thickness': None,\n", + " 'compute_volume_from_height': None,\n", + " 'compute_height_from_volume': None,\n", + " 'bottom_type': 'unknown',\n", + " 'cross_section_type': 'rectangle'},\n", + " {'name': 'reagent_stock_A7',\n", + " 'type': 'Well',\n", + " 'size_x': 8.2,\n", + " 'size_y': 71.2,\n", + " 'size_z': 26.85,\n", + " 'location': {'x': 64.28, 'y': 7.18, 'z': 4.55, 'type': 'Coordinate'},\n", + " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n", + " 'category': 'well',\n", + " 'model': None,\n", + " 'children': [],\n", + " 'parent_name': 'reagent_stock',\n", + " 'max_volume': 15000,\n", + " 'material_z_thickness': None,\n", + " 'compute_volume_from_height': None,\n", + " 'compute_height_from_volume': None,\n", + " 'bottom_type': 'unknown',\n", + " 'cross_section_type': 'rectangle'},\n", + " {'name': 'reagent_stock_A8',\n", + " 'type': 'Well',\n", + " 'size_x': 8.2,\n", + " 'size_y': 71.2,\n", + " 'size_z': 26.85,\n", + " 'location': {'x': 73.28, 'y': 7.18, 'z': 4.55, 'type': 'Coordinate'},\n", + " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n", + " 'category': 'well',\n", + " 'model': None,\n", + " 'children': [],\n", + " 'parent_name': 'reagent_stock',\n", + " 'max_volume': 15000,\n", + " 'material_z_thickness': None,\n", + " 'compute_volume_from_height': None,\n", + " 'compute_height_from_volume': None,\n", + " 'bottom_type': 'unknown',\n", + " 'cross_section_type': 'rectangle'},\n", + " {'name': 'reagent_stock_A9',\n", + " 'type': 'Well',\n", + " 'size_x': 8.2,\n", + " 'size_y': 71.2,\n", + " 'size_z': 26.85,\n", + " 'location': {'x': 82.28, 'y': 7.18, 'z': 4.55, 'type': 'Coordinate'},\n", + " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n", + " 'category': 'well',\n", + " 'model': None,\n", + " 'children': [],\n", + " 'parent_name': 'reagent_stock',\n", + " 'max_volume': 15000,\n", + " 'material_z_thickness': None,\n", + " 'compute_volume_from_height': None,\n", + " 'compute_height_from_volume': None,\n", + " 'bottom_type': 'unknown',\n", + " 'cross_section_type': 'rectangle'},\n", + " {'name': 'reagent_stock_A10',\n", + " 'type': 'Well',\n", + " 'size_x': 8.2,\n", + " 'size_y': 71.2,\n", + " 'size_z': 26.85,\n", + " 'location': {'x': 91.28, 'y': 7.18, 'z': 4.55, 'type': 'Coordinate'},\n", + " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n", + " 'category': 'well',\n", + " 'model': None,\n", + " 'children': [],\n", + " 'parent_name': 'reagent_stock',\n", + " 'max_volume': 15000,\n", + " 'material_z_thickness': None,\n", + " 'compute_volume_from_height': None,\n", + " 'compute_height_from_volume': None,\n", + " 'bottom_type': 'unknown',\n", + " 'cross_section_type': 'rectangle'},\n", + " {'name': 'reagent_stock_A11',\n", + " 'type': 'Well',\n", + " 'size_x': 8.2,\n", + " 'size_y': 71.2,\n", + " 'size_z': 26.85,\n", + " 'location': {'x': 100.28, 'y': 7.18, 'z': 4.55, 'type': 'Coordinate'},\n", + " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n", + " 'category': 'well',\n", + " 'model': None,\n", + " 'children': [],\n", + " 'parent_name': 'reagent_stock',\n", + " 'max_volume': 15000,\n", + " 'material_z_thickness': None,\n", + " 'compute_volume_from_height': None,\n", + " 'compute_height_from_volume': None,\n", + " 'bottom_type': 'unknown',\n", + " 'cross_section_type': 'rectangle'},\n", + " {'name': 'reagent_stock_A12',\n", + " 'type': 'Well',\n", + " 'size_x': 8.2,\n", + " 'size_y': 71.2,\n", + " 'size_z': 26.85,\n", + " 'location': {'x': 109.28, 'y': 7.18, 'z': 4.55, 'type': 'Coordinate'},\n", + " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n", + " 'category': 'well',\n", + " 'model': None,\n", + " 'children': [],\n", + " 'parent_name': 'reagent_stock',\n", + " 'max_volume': 15000,\n", + " 'material_z_thickness': None,\n", + " 'compute_volume_from_height': None,\n", + " 'compute_height_from_volume': None,\n", + " 'bottom_type': 'unknown',\n", + " 'cross_section_type': 'rectangle'}],\n", + " 'parent_name': 'deck',\n", + " 'ordering': ['A1',\n", + " 'A2',\n", + " 'A3',\n", + " 'A4',\n", + " 'A5',\n", + " 'A6',\n", + " 'A7',\n", + " 'A8',\n", + " 'A9',\n", + " 'A10',\n", + " 'A11',\n", + " 'A12']},\n", + " {'name': 'waste_liq',\n", + " 'type': 'Plate',\n", + " 'size_x': 127.76,\n", + " 'size_y': 85.48,\n", + " 'size_z': 31.4,\n", + " 'location': {'x': 265.0, 'y': 181.0, 'z': 0.0, 'type': 'Coordinate'},\n", + " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n", + " 'category': 'plate',\n", + " 'model': 'NEST 1 Well Reservoir 195 mL',\n", + " 'children': [{'name': 'waste_liq_A1',\n", + " 'type': 'Well',\n", + " 'size_x': 106.8,\n", + " 'size_y': 71.2,\n", + " 'size_z': 25,\n", + " 'location': {'x': 10.48, 'y': 7.14, 'z': 4.55, 'type': 'Coordinate'},\n", + " 'rotation': {'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation'},\n", + " 'category': 'well',\n", + " 'model': None,\n", + " 'children': [],\n", + " 'parent_name': 'waste_liq',\n", + " 'max_volume': 195000,\n", + " 'material_z_thickness': None,\n", + " 'compute_volume_from_height': None,\n", + " 'compute_height_from_volume': None,\n", + " 'bottom_type': 'unknown',\n", + " 'cross_section_type': 'rectangle'}],\n", + " 'parent_name': 'deck',\n", + " 'ordering': ['A1']}],\n", + " 'parent_name': 'lh_deck'}],\n", + " 'parent_name': None,\n", + " 'backend': {'type': 'LiquidHandlerChatterboxBackend', 'num_channels': 8}}" + ] + }, + "execution_count": 6, + "metadata": {}, + "output_type": "execute_result" + } + ], + "execution_count": 6 }, { "cell_type": "code", - "execution_count": 14, "id": "70094125", - "metadata": {}, - "outputs": [ - { - "name": "stdout", - "output_type": "stream", - "text": [ - "Picking up tips:\n", - "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n", - " p0: tiprack_1_A1 0,0,0 Tip 300.0 7.47 59.3 No \n", - "Aspirating:\n", - "pip# vol(ul) resource offset flow rate blowout lld_z \n", - " p0: 100.0 working_plate_A1 -2.5,0,0 0.2 None 0.2 \n", - "[Well(name=waste_liq_A1, location=Coordinate(010.480, 007.140, 004.550), size_x=106.8, size_y=71.2, size_z=25, category=well)]\n", - "Dispensing:\n", - "pip# vol(ul) resource offset flow rate blowout lld_z \n", - " p0: 100.0 waste_liq_A1 0,0,-5 3.0 None 0.0 \n", - "Dropping tips:\n", - "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n", - " p0: trash 0,0.0,0 Tip 300.0 7.47 59.3 No \n", - "Picking up tips:\n", - "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n", - " p0: tiprack_1_B1 0,0,0 Tip 300.0 7.47 59.3 No \n", - "Aspirating:\n", - "pip# vol(ul) resource offset flow rate blowout lld_z \n", - " p0: 100.0 working_plate_A2 -2.5,0,0 0.2 None 0.2 \n", - "[Well(name=waste_liq_A1, location=Coordinate(010.480, 007.140, 004.550), size_x=106.8, size_y=71.2, size_z=25, category=well)]\n", - "Dispensing:\n", - "pip# vol(ul) resource offset flow rate blowout lld_z \n", - " p0: 100.0 waste_liq_A1 0,0,-5 3.0 None 0.0 \n", - "Dropping tips:\n", - "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n", - " p0: trash 0,0.0,0 Tip 300.0 7.47 59.3 No \n", - "Picking up tips:\n", - "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n", - " p0: tiprack_1_C1 0,0,0 Tip 300.0 7.47 59.3 No \n", - "Aspirating:\n", - "pip# vol(ul) resource offset flow rate blowout lld_z \n", - " p0: 100.0 working_plate_A3 -2.5,0,0 0.2 None 0.2 \n", - "[Well(name=waste_liq_A1, location=Coordinate(010.480, 007.140, 004.550), size_x=106.8, size_y=71.2, size_z=25, category=well)]\n", - "Dispensing:\n", - "pip# vol(ul) resource offset flow rate blowout lld_z \n", - " p0: 100.0 waste_liq_A1 0,0,-5 3.0 None 0.0 \n", - "Dropping tips:\n", - "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n", - " p0: trash 0,0.0,0 Tip 300.0 7.47 59.3 No \n", - "Picking up tips:\n", - "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n", - " p0: tiprack_1_D1 0,0,0 Tip 300.0 7.47 59.3 No \n", - "Aspirating:\n", - "pip# vol(ul) resource offset flow rate blowout lld_z \n", - " p0: 100.0 working_plate_A4 -2.5,0,0 0.2 None 0.2 \n", - "[Well(name=waste_liq_A1, location=Coordinate(010.480, 007.140, 004.550), size_x=106.8, size_y=71.2, size_z=25, category=well)]\n", - "Dispensing:\n", - "pip# vol(ul) resource offset flow rate blowout lld_z \n", - " p0: 100.0 waste_liq_A1 0,0,-5 3.0 None 0.0 \n", - "Dropping tips:\n", - "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n", - " p0: trash 0,0.0,0 Tip 300.0 7.47 59.3 No \n", - "Picking up tips:\n", - "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n", - " p0: tiprack_1_E1 0,0,0 Tip 300.0 7.47 59.3 No \n", - "Aspirating:\n", - "pip# vol(ul) resource offset flow rate blowout lld_z \n", - " p0: 100.0 working_plate_A5 -2.5,0,0 0.2 None 0.2 \n", - "[Well(name=waste_liq_A1, location=Coordinate(010.480, 007.140, 004.550), size_x=106.8, size_y=71.2, size_z=25, category=well)]\n", - "Dispensing:\n", - "pip# vol(ul) resource offset flow rate blowout lld_z \n", - " p0: 100.0 waste_liq_A1 0,0,-5 3.0 None 0.0 \n", - "Dropping tips:\n", - "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n", - " p0: trash 0,0.0,0 Tip 300.0 7.47 59.3 No \n", - "Picking up tips:\n", - "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n", - " p0: tiprack_1_F1 0,0,0 Tip 300.0 7.47 59.3 No \n", - "Aspirating:\n", - "pip# vol(ul) resource offset flow rate blowout lld_z \n", - " p0: 100.0 working_plate_A6 -2.5,0,0 0.2 None 0.2 \n", - "[Well(name=waste_liq_A1, location=Coordinate(010.480, 007.140, 004.550), size_x=106.8, size_y=71.2, size_z=25, category=well)]\n", - "Dispensing:\n", - "pip# vol(ul) resource offset flow rate blowout lld_z \n", - " p0: 100.0 waste_liq_A1 0,0,-5 3.0 None 0.0 \n", - "Dropping tips:\n", - "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n", - " p0: trash 0,0.0,0 Tip 300.0 7.47 59.3 No \n", - "Picking up tips:\n", - "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n", - " p0: tiprack_1_G1 0,0,0 Tip 300.0 7.47 59.3 No \n", - "Aspirating:\n", - "pip# vol(ul) resource offset flow rate blowout lld_z \n", - " p0: 100.0 working_plate_A7 -2.5,0,0 0.2 None 0.2 \n", - "[Well(name=waste_liq_A1, location=Coordinate(010.480, 007.140, 004.550), size_x=106.8, size_y=71.2, size_z=25, category=well)]\n", - "Dispensing:\n", - "pip# vol(ul) resource offset flow rate blowout lld_z \n", - " p0: 100.0 waste_liq_A1 0,0,-5 3.0 None 0.0 \n", - "Dropping tips:\n", - "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n", - " p0: trash 0,0.0,0 Tip 300.0 7.47 59.3 No \n", - "Picking up tips:\n", - "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n", - " p0: tiprack_1_H1 0,0,0 Tip 300.0 7.47 59.3 No \n", - "Aspirating:\n", - "pip# vol(ul) resource offset flow rate blowout lld_z \n", - " p0: 100.0 working_plate_A8 -2.5,0,0 0.2 None 0.2 \n", - "[Well(name=waste_liq_A1, location=Coordinate(010.480, 007.140, 004.550), size_x=106.8, size_y=71.2, size_z=25, category=well)]\n", - "Dispensing:\n", - "pip# vol(ul) resource offset flow rate blowout lld_z \n", - " p0: 100.0 waste_liq_A1 0,0,-5 3.0 None 0.0 \n", - "Dropping tips:\n", - "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n", - " p0: trash 0,0.0,0 Tip 300.0 7.47 59.3 No \n", - "Picking up tips:\n", - "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n", - " p0: tiprack_1_A2 0,0,0 Tip 300.0 7.47 59.3 No \n", - "Aspirating:\n", - "pip# vol(ul) resource offset flow rate blowout lld_z \n", - " p0: 100.0 working_plate_A9 -2.5,0,0 0.2 None 0.2 \n", - "[Well(name=waste_liq_A1, location=Coordinate(010.480, 007.140, 004.550), size_x=106.8, size_y=71.2, size_z=25, category=well)]\n", - "Dispensing:\n", - "pip# vol(ul) resource offset flow rate blowout lld_z \n", - " p0: 100.0 waste_liq_A1 0,0,-5 3.0 None 0.0 \n", - "Dropping tips:\n", - "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n", - " p0: trash 0,0.0,0 Tip 300.0 7.47 59.3 No \n", - "Picking up tips:\n", - "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n", - " p0: tiprack_1_B2 0,0,0 Tip 300.0 7.47 59.3 No \n", - "Aspirating:\n", - "pip# vol(ul) resource offset flow rate blowout lld_z \n", - " p0: 100.0 working_plate_A10 -2.5,0,0 0.2 None 0.2 \n", - "[Well(name=waste_liq_A1, location=Coordinate(010.480, 007.140, 004.550), size_x=106.8, size_y=71.2, size_z=25, category=well)]\n", - "Dispensing:\n", - "pip# vol(ul) resource offset flow rate blowout lld_z \n", - " p0: 100.0 waste_liq_A1 0,0,-5 3.0 None 0.0 \n", - "Dropping tips:\n", - "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n", - " p0: trash 0,0.0,0 Tip 300.0 7.47 59.3 No \n", - "Picking up tips:\n", - "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n", - " p0: tiprack_1_C2 0,0,0 Tip 300.0 7.47 59.3 No \n", - "Aspirating:\n", - "pip# vol(ul) resource offset flow rate blowout lld_z \n", - " p0: 100.0 working_plate_A11 -2.5,0,0 0.2 None 0.2 \n", - "[Well(name=waste_liq_A1, location=Coordinate(010.480, 007.140, 004.550), size_x=106.8, size_y=71.2, size_z=25, category=well)]\n", - "Dispensing:\n", - "pip# vol(ul) resource offset flow rate blowout lld_z \n", - " p0: 100.0 waste_liq_A1 0,0,-5 3.0 None 0.0 \n", - "Dropping tips:\n", - "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n", - " p0: trash 0,0.0,0 Tip 300.0 7.47 59.3 No \n", - "Picking up tips:\n", - "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n", - " p0: tiprack_1_D2 0,0,0 Tip 300.0 7.47 59.3 No \n", - "Aspirating:\n", - "pip# vol(ul) resource offset flow rate blowout lld_z \n", - " p0: 100.0 working_plate_A12 -2.5,0,0 0.2 None 0.2 \n", - "[Well(name=waste_liq_A1, location=Coordinate(010.480, 007.140, 004.550), size_x=106.8, size_y=71.2, size_z=25, category=well)]\n", - "Dispensing:\n", - "pip# vol(ul) resource offset flow rate blowout lld_z \n", - " p0: 100.0 waste_liq_A1 0,0,-5 3.0 None 0.0 \n", - "Dropping tips:\n", - "pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter \n", - " p0: trash 0,0.0,0 Tip 300.0 7.47 59.3 No \n" - ] + "metadata": { + "ExecuteTime": { + "end_time": "2025-06-08T14:25:19.507693Z", + "start_time": "2025-06-08T14:25:18.487272Z" } - ], + }, "source": [ "await lh.remove_liquid(\n", " vols=[MEDIUM_VOL]*12,\n", @@ -323,7 +9304,21 @@ " flow_rates=[0.2,3],\n", " offsets=[Coordinate(-2.5, 0, 0),Coordinate(0, 0, -5)]\n", ")" - ] + ], + "outputs": [ + { + "ename": "AttributeError", + "evalue": "'LiquidHandler' object has no attribute 'remove_liquid'", + "output_type": "error", + "traceback": [ + "\u001B[31m---------------------------------------------------------------------------\u001B[39m", + "\u001B[31mAttributeError\u001B[39m Traceback (most recent call last)", + "\u001B[36mCell\u001B[39m\u001B[36m \u001B[39m\u001B[32mIn[6]\u001B[39m\u001B[32m, line 1\u001B[39m\n\u001B[32m----> \u001B[39m\u001B[32m1\u001B[39m \u001B[38;5;28;01mawait\u001B[39;00m \u001B[43mlh\u001B[49m\u001B[43m.\u001B[49m\u001B[43mremove_liquid\u001B[49m(\n\u001B[32m 2\u001B[39m vols=[MEDIUM_VOL]*\u001B[32m12\u001B[39m,\n\u001B[32m 3\u001B[39m sources=cells_all,\n\u001B[32m 4\u001B[39m waste_liquid=waste_liq,\n\u001B[32m 5\u001B[39m top=[-\u001B[32m0.2\u001B[39m],\n\u001B[32m 6\u001B[39m liquid_height=[\u001B[32m0.2\u001B[39m,\u001B[32m0\u001B[39m],\n\u001B[32m 7\u001B[39m flow_rates=[\u001B[32m0.2\u001B[39m,\u001B[32m3\u001B[39m],\n\u001B[32m 8\u001B[39m offsets=[Coordinate(-\u001B[32m2.5\u001B[39m, \u001B[32m0\u001B[39m, \u001B[32m0\u001B[39m),Coordinate(\u001B[32m0\u001B[39m, \u001B[32m0\u001B[39m, -\u001B[32m5\u001B[39m)]\n\u001B[32m 9\u001B[39m )\n", + "\u001B[31mAttributeError\u001B[39m: 'LiquidHandler' object has no attribute 'remove_liquid'" + ] + } + ], + "execution_count": 6 }, { "cell_type": "code", diff --git a/unilabos/resources/graphio.py b/unilabos/resources/graphio.py index cdc87756..cca7a35b 100644 --- a/unilabos/resources/graphio.py +++ b/unilabos/resources/graphio.py @@ -326,8 +326,6 @@ def convert_resources_to_type( elif all(issubclass(t, ResourcePLR) for t in resource_type): resources_tree = dict_to_tree({r["id"]: r for r in resources_list}) return [resource_ulab_to_plr(r, plr_model) for r in resources_tree] - - else: return None diff --git a/unilabos/ros/main_slave_run.py b/unilabos/ros/main_slave_run.py index c5b327c9..d38af2b2 100644 --- a/unilabos/ros/main_slave_run.py +++ b/unilabos/ros/main_slave_run.py @@ -6,7 +6,6 @@ import time from typing import Optional, Dict, Any, List import rclpy -from unilabos.ros.nodes.presets.joint_republisher import JointRepublisher from unilabos.ros.nodes.presets.resource_mesh_manager import ResourceMeshManager from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker from unilabos.devices.ros_dev.liquid_handler_joint_publisher import LiquidHandlerJointPublisher @@ -70,6 +69,8 @@ def main( ) if visual != "disable": + from unilabos.ros.nodes.presets.joint_republisher import JointRepublisher + resource_mesh_manager = ResourceMeshManager( resources_mesh_config, resources_config, @@ -80,11 +81,11 @@ def main( 'joint_republisher', host_node.resource_tracker ) - lh_joint_pub = LiquidHandlerJointPublisher(resources_config=resources_config, resource_tracker=host_node.resource_tracker) - executor.add_node(lh_joint_pub) - + lh_joint_pub = LiquidHandlerJointPublisher(resources_config=resources_config, + resource_tracker=host_node.resource_tracker) executor.add_node(resource_mesh_manager) executor.add_node(joint_republisher) + executor.add_node(lh_joint_pub) thread = threading.Thread(target=executor.spin, daemon=True, name="host_executor_thread") thread.start() diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index 67cdb6f9..ddc5fcaa 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -740,16 +740,23 @@ class BaseROS2DeviceNode(Node, Generic[T]): self.lab_logger().info(f"更新资源状态: {k}") r = ResourceUpdate.Request() # 仅当action_kwargs[k]不为None时尝试转换 - akv = action_kwargs[k] + akv = action_kwargs[k] # 已经是完成转换的物料了，只需要转换成ros msg Resource了 apv = action_paramtypes[k] final_type = get_type_class(apv) if final_type is None: continue try: - r.resources = [ - convert_to_ros_msg(Resource, self.resource_tracker.root_resource(rs)) - for rs in convert_resources_from_type(akv, final_type) # type: ignore # FIXME # 考虑反查到最大的 - ] + seen = set() + unique_resources = [] + for rs in akv: + res = self.resource_tracker.parent_resource(rs) # 获取 resource 对象 + if id(res) not in seen: + seen.add(id(res)) + converted_list = convert_resources_from_type([res], final_type) + unique_resources.extend([convert_to_ros_msg(Resource, converted) for converted in converted_list]) + + r.resources = unique_resources + response = await self._resource_clients["resource_update"].call_async(r) self.lab_logger().debug(f"资源更新结果: {response}") except Exception as e: diff --git a/unilabos/ros/nodes/resource_tracker.py b/unilabos/ros/nodes/resource_tracker.py index 04b54373..ff1a7797 100644 --- a/unilabos/ros/nodes/resource_tracker.py +++ b/unilabos/ros/nodes/resource_tracker.py @@ -1,3 +1,5 @@ +from typing import List, Tuple, Any + from unilabos.utils.log import logger @@ -5,12 +7,12 @@ class DeviceNodeResourceTracker(object): def __init__(self): self.resources = [] - self.root_resource2resource = {} + self.resource2parent_resource = {} pass - def root_resource(self, resource): - if id(resource) in self.root_resource2resource: - return self.root_resource2resource[id(resource)] + def parent_resource(self, resource): + if id(resource) in self.resource2parent_resource: + return self.resource2parent_resource[id(resource)] else: return resource @@ -44,20 +46,21 @@ class DeviceNodeResourceTracker(object): self.loop_find_resource(r, resource_cls_type, identifier_key, getattr(query_resource, identifier_key)) ) assert len(res_list) == 1, f"{query_resource} 找到多个资源，请检查资源是否唯一: {res_list}" - self.root_resource2resource[id(query_resource)] = res_list[0] + self.resource2parent_resource[id(query_resource)] = res_list[0][0] + self.resource2parent_resource[id(res_list[0][1])] = res_list[0][0] # 后续加入其他对比方式 - return res_list[0] + return res_list[0][1] - def loop_find_resource(self, resource, target_resource_cls_type, identifier_key, compare_value): + def loop_find_resource(self, resource, target_resource_cls_type, identifier_key, compare_value, parent_res=None) -> List[Tuple[Any, Any]]: res_list = [] # print(resource, target_resource_cls_type, identifier_key, compare_value) children = getattr(resource, "children", []) for child in children: - res_list.extend(self.loop_find_resource(child, target_resource_cls_type, identifier_key, compare_value)) + res_list.extend(self.loop_find_resource(child, target_resource_cls_type, identifier_key, compare_value, resource)) if target_resource_cls_type == type(resource) or target_resource_cls_type == dict: if hasattr(resource, identifier_key): if getattr(resource, identifier_key) == compare_value: - res_list.append(resource) + res_list.append((parent_res, resource)) return res_list def filter_find_list(self, res_list, compare_std_dict): diff --git a/unilabos/ros/utils/driver_creator.py b/unilabos/ros/utils/driver_creator.py index 1218725e..9f223f9f 100644 --- a/unilabos/ros/utils/driver_creator.py +++ b/unilabos/ros/utils/driver_creator.py @@ -105,40 +105,41 @@ class PyLabRobotCreator(DeviceClassCreator[T]): return nested_dict_to_list(resource), Resource return resource, source_type - def _process_resource_references(self, data: Any, to_dict=False) -> Any: + def _process_resource_references(self, data: Any, to_dict=False, states=None, prefix_path="") -> Any: """ 递归处理资源引用，替换_resource_child_name对应的资源 Args: data: 需要处理的数据，可能是字典、列表或其他类型 - to_dict: 转换成对应的实例，还是转换成对应的字典 + to_dict: 是否返回字典形式的资源 + states: 用于保存所有资源状态 + prefix_path: 当前递归路径 Returns: 处理后的数据 """ from pylabrobot.resources import Deck, Resource + if states is None: + states = {} if isinstance(data, dict): - # 检查是否包含资源引用 if "_resource_child_name" in data: child_name = data["_resource_child_name"] if child_name in self.children: - # 找到了对应的资源 resource = self.children[child_name] - - # 检查是否需要转换资源类型 if "_resource_type" in data: type_path = data["_resource_type"] try: - # 尝试导入指定的类型 target_type = import_manager.get_class(type_path) contain_model = not issubclass(target_type, Deck) resource, target_type = self._process_resource_mapping(resource, target_type) - # 在截图中格式，是deserialize，所以这里要转成plr resource可deserialize的字典 - # 这样后面执行deserialize的时候能够正确反序列化对应的物料 resource_instance: Resource = resource_ulab_to_plr(resource, contain_model) + + # 使用 prefix_path 作为 key 存储资源状态 if to_dict: - return resource_instance.serialize() + serialized = resource_instance.serialize() + states[prefix_path] = resource_instance.serialize_all_state() + return serialized else: self.resource_tracker.add_resource(resource_instance) return resource_instance @@ -151,18 +152,21 @@ class PyLabRobotCreator(DeviceClassCreator[T]): else: logger.warning(f"找不到资源引用 '{child_name}'，保持原值不变") - # 递归处理字典的每个值 + # 递归处理每个键值 result = {} for key, value in data.items(): - result[key] = self._process_resource_references(value, to_dict) + new_prefix = f"{prefix_path}.{key}" if prefix_path else key + result[key] = self._process_resource_references(value, to_dict, states, new_prefix) return result - # 处理列表类型 elif isinstance(data, list): - return [self._process_resource_references(item, to_dict) for item in data] + return [ + self._process_resource_references(item, to_dict, states, f"{prefix_path}[{i}]") + for i, item in enumerate(data) + ] - # 其他类型直接返回 - return data + else: + return data def create_instance(self, data: Dict[str, Any]) -> Optional[T]: """ @@ -187,10 +191,18 @@ class PyLabRobotCreator(DeviceClassCreator[T]): logger.debug(f"自动补充 _resource_type: {data[param_name]['_resource_type']}") # 首先处理资源引用 - processed_data = self._process_resource_references(data, to_dict=True) + states = {} + processed_data = self._process_resource_references(data, to_dict=True, states=states) try: self.device_instance = deserialize_method(**processed_data) + all_states = self.device_instance.serialize_all_state() + for k, v in states.items(): + logger.debug(f"PyLabRobot反序列化设置状态：{k}") + for kk, vv in all_states.items(): + if kk not in v: + v[kk] = vv + self.device_instance.deck.load_all_state(v) self.resource_tracker.add_resource(self.device_instance) self.post_create() return self.device_instance # type: ignore @@ -225,6 +237,10 @@ class PyLabRobotCreator(DeviceClassCreator[T]): if hasattr(self.device_instance, "setup") and asyncio.iscoroutinefunction(getattr(self.device_instance, "setup")): from unilabos.ros.nodes.base_device_node import ROS2DeviceNode def done_cb(*args): + from pylabrobot.resources import set_volume_tracking + # from pylabrobot.resources import set_tip_tracking + set_volume_tracking(enabled=True) + # set_tip_tracking(enabled=True) # 序列化tip_spot has为False logger.debug(f"PyLabRobot设备实例 {self.device_instance} 设置完成") from unilabos.config.config import BasicConfig if BasicConfig.vis_2d_enable: