bump version to 0.10.3

.conda/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: 0.10.12
+  version: 0.10.13
 
 source:
   path: ../unilabos

recipes/msgs/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: ros-humble-unilabos-msgs
-  version: 0.10.12
+  version: 0.10.13
 source:
   path: ../../unilabos_msgs
   target_directory: src

recipes/unilabos/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.10.12"
+  version: "0.10.13"
 
 source:
   path: ../..

setup.py

@@ -4,7 +4,7 @@ package_name = 'unilabos'
 
 setup(
     name=package_name,
-    version='0.10.12',
+    version='0.10.13',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],

unilabos/__init__.py

@@ -1 +1 @@
-__version__ = "0.10.12"
+__version__ = "0.10.13"

unilabos/registry/devices/bioyond_dispensing_station.yaml

@@ -174,6 +174,35 @@ bioyond_dispensing_station:
           title: query_resource_by_name参数
           type: object
         type: UniLabJsonCommand
+      auto-transfer_materials_to_reaction_station:
+        feedback: {}
+        goal: {}
+        goal_default:
+          target_device_id: null
+          transfer_groups: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                target_device_id:
+                  type: string
+                transfer_groups:
+                  type: array
+              required:
+              - target_device_id
+              - transfer_groups
+              type: object
+            result: {}
+          required:
+          - goal
+          title: transfer_materials_to_reaction_station参数
+          type: object
+        type: UniLabJsonCommand
       auto-workflow_sample_locations:
         feedback: {}
         goal: {}

unilabos/registry/devices/cameraSII.yaml

@@ -9,6 +9,7 @@ cameracontroller_device:
         goal_default:
           config: null
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: ''
@@ -31,6 +32,7 @@ cameracontroller_device:
         goal: {}
         goal_default: {}
         handles: {}
+        placeholder_keys: {}
         result: {}
         schema:
           description: ''

unilabos/registry/devices/chinwe.yaml

@@ -4,6 +4,73 @@ separator.chinwe:
   - chinwe
   class:
     action_value_mappings:
+      auto-connect:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: connect参数
+          type: object
+        type: UniLabJsonCommand
+      auto-disconnect:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: disconnect参数
+          type: object
+        type: UniLabJsonCommand
+      auto-execute_command_from_outer:
+        feedback: {}
+        goal: {}
+        goal_default:
+          command_dict: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                command_dict:
+                  type: object
+              required:
+              - command_dict
+              type: object
+            result: {}
+          required:
+          - goal
+          title: execute_command_from_outer参数
+          type: object
+        type: UniLabJsonCommand
       motor_rotate_quarter:
         goal:
           direction: 顺时针
@@ -303,42 +370,44 @@ separator.chinwe:
   handles: []
   icon: ''
   init_param_schema:
-    goal:
+    config:
+      properties:
         baudrate:
           default: 9600
-        description: 串口波特率
           type: integer
         motor_ids:
-        default:
-        - 4
-        - 5
-        description: 步进电机ID列表
           items:
             type: integer
           type: array
         port:
           default: 192.168.1.200:8899
-        description: 串口号或 IP:Port
           type: string
         pump_ids:
-        default:
-        - 1
-        - 2
-        - 3
-        description: 注射泵ID列表
           items:
             type: integer
           type: array
         sensor_id:
           default: 6
-        description: XKC传感器ID
           type: integer
         sensor_threshold:
           default: 300
-        description: 传感器液位判定阈值
           type: integer
         timeout:
-        default: 10
+          default: 10.0
-        description: 通信超时时间 (秒)
+          type: number
+      required: []
+      type: object
+    data:
+      properties:
+        is_connected:
+          type: boolean
+        sensor_level:
+          type: boolean
+        sensor_rssi:
           type: integer
+      required:
+      - sensor_level
+      - sensor_rssi
+      - is_connected
+      type: object
   version: 2.1.0

unilabos/registry/devices/laiyu_liquid_test.yaml

@@ -3,11 +3,11 @@ xyz_stepper_controller:
   - laiyu_liquid_test
   class:
     action_value_mappings:
-      auto-define_current_as_zero:
+      auto-degrees_to_steps:
         feedback: {}
         goal: {}
         goal_default:
-          save_path: work_origin.json
+          degrees: null
         handles: {}
         placeholder_keys: {}
         result: {}
@@ -17,23 +17,22 @@ xyz_stepper_controller:
             feedback: {}
             goal:
               properties:
-                save_path:
+                degrees:
-                  default: work_origin.json
+                  type: number
-                  type: string
+              required:
-              required: []
+              - degrees
               type: object
             result: {}
           required:
           - goal
-          title: define_current_as_zero参数
+          title: degrees_to_steps参数
           type: object
         type: UniLabJsonCommand
-      auto-enable:
+      auto-emergency_stop:
         feedback: {}
         goal: {}
         goal_default:
           axis: null
-          state: null
         handles: {}
         placeholder_keys: {}
         result: {}
@@ -44,27 +43,415 @@ xyz_stepper_controller:
             goal:
               properties:
                 axis:
-                  type: string
+                  type: object
-                state:
-                  type: boolean
               required:
               - axis
-              - state
               type: object
             result: {}
           required:
           - goal
-          title: enable参数
+          title: emergency_stop参数
           type: object
         type: UniLabJsonCommand
-      auto-move_to:
+      auto-enable_all_axes:
+        feedback: {}
+        goal: {}
+        goal_default:
+          enable: true
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                enable:
+                  default: true
+                  type: boolean
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: enable_all_axes参数
+          type: object
+        type: UniLabJsonCommand
+      auto-enable_motor:
         feedback: {}
         goal: {}
         goal_default:
-          acc: 500
           axis: null
-          precision: 50
+          enable: true
-          speed: 2000
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                axis:
+                  type: object
+                enable:
+                  default: true
+                  type: boolean
+              required:
+              - axis
+              type: object
+            result: {}
+          required:
+          - goal
+          title: enable_motor参数
+          type: object
+        type: UniLabJsonCommand
+      auto-home_all_axes:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: home_all_axes参数
+          type: object
+        type: UniLabJsonCommand
+      auto-home_axis:
+        feedback: {}
+        goal: {}
+        goal_default:
+          axis: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                axis:
+                  type: object
+              required:
+              - axis
+              type: object
+            result: {}
+          required:
+          - goal
+          title: home_axis参数
+          type: object
+        type: UniLabJsonCommand
+      auto-move_to_position:
+        feedback: {}
+        goal: {}
+        goal_default:
+          acceleration: 1000
+          axis: null
+          position: null
+          precision: 100
+          speed: 5000
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                acceleration:
+                  default: 1000
+                  type: integer
+                axis:
+                  type: object
+                position:
+                  type: integer
+                precision:
+                  default: 100
+                  type: integer
+                speed:
+                  default: 5000
+                  type: integer
+              required:
+              - axis
+              - position
+              type: object
+            result: {}
+          required:
+          - goal
+          title: move_to_position参数
+          type: object
+        type: UniLabJsonCommand
+      auto-move_to_position_degrees:
+        feedback: {}
+        goal: {}
+        goal_default:
+          acceleration: 1000
+          axis: null
+          degrees: null
+          precision: 100
+          speed: 5000
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                acceleration:
+                  default: 1000
+                  type: integer
+                axis:
+                  type: object
+                degrees:
+                  type: number
+                precision:
+                  default: 100
+                  type: integer
+                speed:
+                  default: 5000
+                  type: integer
+              required:
+              - axis
+              - degrees
+              type: object
+            result: {}
+          required:
+          - goal
+          title: move_to_position_degrees参数
+          type: object
+        type: UniLabJsonCommand
+      auto-move_to_position_revolutions:
+        feedback: {}
+        goal: {}
+        goal_default:
+          acceleration: 1000
+          axis: null
+          precision: 100
+          revolutions: null
+          speed: 5000
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                acceleration:
+                  default: 1000
+                  type: integer
+                axis:
+                  type: object
+                precision:
+                  default: 100
+                  type: integer
+                revolutions:
+                  type: number
+                speed:
+                  default: 5000
+                  type: integer
+              required:
+              - axis
+              - revolutions
+              type: object
+            result: {}
+          required:
+          - goal
+          title: move_to_position_revolutions参数
+          type: object
+        type: UniLabJsonCommand
+      auto-move_xyz:
+        feedback: {}
+        goal: {}
+        goal_default:
+          acceleration: 1000
+          speed: 5000
+          x: null
+          y: null
+          z: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                acceleration:
+                  default: 1000
+                  type: integer
+                speed:
+                  default: 5000
+                  type: integer
+                x:
+                  type: string
+                y:
+                  type: string
+                z:
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: move_xyz参数
+          type: object
+        type: UniLabJsonCommand
+      auto-move_xyz_degrees:
+        feedback: {}
+        goal: {}
+        goal_default:
+          acceleration: 1000
+          speed: 5000
+          x_deg: null
+          y_deg: null
+          z_deg: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                acceleration:
+                  default: 1000
+                  type: integer
+                speed:
+                  default: 5000
+                  type: integer
+                x_deg:
+                  type: string
+                y_deg:
+                  type: string
+                z_deg:
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: move_xyz_degrees参数
+          type: object
+        type: UniLabJsonCommand
+      auto-move_xyz_revolutions:
+        feedback: {}
+        goal: {}
+        goal_default:
+          acceleration: 1000
+          speed: 5000
+          x_rev: null
+          y_rev: null
+          z_rev: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                acceleration:
+                  default: 1000
+                  type: integer
+                speed:
+                  default: 5000
+                  type: integer
+                x_rev:
+                  type: string
+                y_rev:
+                  type: string
+                z_rev:
+                  type: string
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: move_xyz_revolutions参数
+          type: object
+        type: UniLabJsonCommand
+      auto-revolutions_to_steps:
+        feedback: {}
+        goal: {}
+        goal_default:
+          revolutions: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                revolutions:
+                  type: number
+              required:
+              - revolutions
+              type: object
+            result: {}
+          required:
+          - goal
+          title: revolutions_to_steps参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_speed_mode:
+        feedback: {}
+        goal: {}
+        goal_default:
+          acceleration: 1000
+          axis: null
+          speed: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                acceleration:
+                  default: 1000
+                  type: integer
+                axis:
+                  type: object
+                speed:
+                  type: integer
+              required:
+              - axis
+              - speed
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_speed_mode参数
+          type: object
+        type: UniLabJsonCommand
+      auto-steps_to_degrees:
+        feedback: {}
+        goal: {}
+        goal_default:
           steps: null
         handles: {}
         placeholder_keys: {}
@@ -75,38 +462,22 @@ xyz_stepper_controller:
             feedback: {}
             goal:
               properties:
-                acc:
-                  default: 500
-                  type: integer
-                axis:
-                  type: string
-                precision:
-                  default: 50
-                  type: integer
-                speed:
-                  default: 2000
-                  type: integer
                 steps:
                   type: integer
               required:
-              - axis
               - steps
               type: object
             result: {}
           required:
           - goal
-          title: move_to参数
+          title: steps_to_degrees参数
           type: object
         type: UniLabJsonCommand
-      auto-move_xyz_work:
+      auto-steps_to_revolutions:
         feedback: {}
         goal: {}
         goal_default:
-          acc: 1500
+          steps: null
-          speed: 100
-          x: 0.0
-          y: 0.0
-          z: 0.0
         handles: {}
         placeholder_keys: {}
         result: {}
@@ -116,35 +487,21 @@ xyz_stepper_controller:
             feedback: {}
             goal:
               properties:
-                acc:
+                steps:
-                  default: 1500
                   type: integer
-                speed:
+              required:
-                  default: 100
+              - steps
-                  type: integer
-                x:
-                  default: 0.0
-                  type: number
-                y:
-                  default: 0.0
-                  type: number
-                z:
-                  default: 0.0
-                  type: number
-              required: []
               type: object
             result: {}
           required:
           - goal
-          title: move_xyz_work参数
+          title: steps_to_revolutions参数
           type: object
         type: UniLabJsonCommand
-      auto-return_to_work_origin:
+      auto-stop_all_axes:
         feedback: {}
         goal: {}
-        goal_default:
+        goal_default: {}
-          acc: 800
-          speed: 200
         handles: {}
         placeholder_keys: {}
         result: {}
@@ -153,22 +510,16 @@ xyz_stepper_controller:
           properties:
             feedback: {}
             goal:
-              properties:
+              properties: {}
-                acc:
-                  default: 800
-                  type: integer
-                speed:
-                  default: 200
-                  type: integer
               required: []
               type: object
             result: {}
           required:
           - goal
-          title: return_to_work_origin参数
+          title: stop_all_axes参数
           type: object
         type: UniLabJsonCommand
-      auto-wait_complete:
+      auto-wait_for_completion:
         feedback: {}
         goal: {}
         goal_default:
@@ -184,22 +535,23 @@ xyz_stepper_controller:
             goal:
               properties:
                 axis:
-                  type: string
+                  type: object
                 timeout:
                   default: 30.0
-                  type: string
+                  type: number
               required:
               - axis
               type: object
             result: {}
           required:
           - goal
-          title: wait_complete参数
+          title: wait_for_completion参数
           type: object
         type: UniLabJsonCommand
-    module: unilabos.devices.laiyu_liquid_test.xyz_stepper_driver:XYZStepperController
+    module: unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver:XYZStepperController
     status_types:
-      status: list
+      all_positions: dict
+      motor_status: unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver:MotorPosition
     type: python
   config_info: []
   description: 新XYZ控制器
@@ -210,23 +562,24 @@ xyz_stepper_controller:
       properties:
         baudrate:
           default: 115200
-          type: string
+          type: integer
-        client:
-          type: string
-        origin_path:
-          default: unilabos/devices/laiyu_liquid_test/work_origin.json
-          type: string
         port:
-          default: /dev/ttyUSB0
           type: string
-      required: []
+        timeout:
+          default: 1.0
+          type: number
+      required:
+      - port
       type: object
     data:
       properties:
-        status:
+        all_positions:
-          type: array
+          type: object
+        motor_status:
+          type: object
       required:
-      - status
+      - motor_status
+      - all_positions
       type: object
   registry_type: device
   version: 1.0.0

unilabos/registry/devices/liquid_handler.yaml

@@ -4019,8 +4019,7 @@ liquid_handler:
           mix_liquid_height: 0.0
           mix_rate: 0
           mix_stage: ''
-          mix_times:
+          mix_times: 0
-          - 0
           mix_vol: 0
           none_keys:
           - ''
@@ -4176,11 +4175,9 @@ liquid_handler:
                 mix_stage:
                   type: string
                 mix_times:
-                  items:
                   maximum: 2147483647
                   minimum: -2147483648
                   type: integer
-                  type: array
                 mix_vol:
                   maximum: 2147483647
                   minimum: -2147483648
@@ -5043,8 +5040,7 @@ liquid_handler.biomek:
           mix_liquid_height: 0.0
           mix_rate: 0
           mix_stage: ''
-          mix_times:
+          mix_times: 0
-          - 0
           mix_vol: 0
           none_keys:
           - ''
@@ -5187,11 +5183,9 @@ liquid_handler.biomek:
                 mix_stage:
                   type: string
                 mix_times:
-                  items:
                   maximum: 2147483647
                   minimum: -2147483648
                   type: integer
-                  type: array
                 mix_vol:
                   maximum: 2147483647
                   minimum: -2147483648
@@ -9671,8 +9665,7 @@ liquid_handler.prcxi:
           mix_liquid_height: 0.0
           mix_rate: 0
           mix_stage: ''
-          mix_times:
+          mix_times: 0
-          - 0
           mix_vol: 0
           none_keys:
           - ''
@@ -9828,11 +9821,9 @@ liquid_handler.prcxi:
                 mix_stage:
                   type: string
                 mix_times:
-                  items:
                   maximum: 2147483647
                   minimum: -2147483648
                   type: integer
-                  type: array
                 mix_vol:
                   maximum: 2147483647
                   minimum: -2147483648

unilabos/registry/devices/neware_battery_test_system.yaml

@@ -5,6 +5,73 @@ neware_battery_test_system:
   - battery_test
   class:
     action_value_mappings:
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                ros_node:
+                  type: string
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init参数
+          type: object
+        type: UniLabJsonCommand
+      auto-print_status_summary:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: print_status_summary参数
+          type: object
+        type: UniLabJsonCommand
+      auto-test_connection:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: test_connection参数
+          type: object
+        type: UniLabJsonCommand
       debug_resource_names:
         feedback: {}
         goal: {}
@@ -407,6 +474,8 @@ neware_battery_test_system:
     status_types:
       channel_status: dict
       connection_info: dict
+      device_summary: dict
+      plate_status: dict
       status: str
       total_channels: int
     type: python
@@ -418,36 +487,30 @@ neware_battery_test_system:
     config:
       properties:
         devtype:
-          default: '27'
           type: string
         ip:
-          default: 127.0.0.1
           type: string
         machine_id:
           default: 1
           type: integer
         oss_prefix:
           default: neware_backup
-          description: OSS对象路径前缀
           type: string
         oss_upload_enabled:
           default: false
-          description: 是否启用OSS上传功能
           type: boolean
         port:
-          default: 502
           type: integer
         size_x:
-          default: 500.0
+          default: 50
           type: number
         size_y:
-          default: 500.0
+          default: 50
           type: number
         size_z:
-          default: 2000.0
+          default: 20
           type: number
         timeout:
-          default: 20
           type: integer
       required: []
       type: object
@@ -459,6 +522,8 @@ neware_battery_test_system:
           type: object
         device_summary:
           type: object
+        plate_status:
+          type: object
         status:
           type: string
         total_channels:
@@ -468,6 +533,7 @@ neware_battery_test_system:
       - channel_status
       - connection_info
       - total_channels
+      - plate_status
       - device_summary
       type: object
   version: 1.0.0

unilabos/registry/devices/opcua_example.yaml

@@ -49,7 +49,32 @@ opcua_example:
           title: load_config参数
           type: object
         type: UniLabJsonCommand
-      auto-refresh_node_values:
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                ros_node:
+                  type: string
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init参数
+          type: object
+        type: UniLabJsonCommand
+      auto-print_cache_stats:
         feedback: {}
         goal: {}
         goal_default: {}
@@ -67,7 +92,32 @@ opcua_example:
             result: {}
           required:
           - goal
-          title: refresh_node_values参数
+          title: print_cache_stats参数
+          type: object
+        type: UniLabJsonCommand
+      auto-read_node:
+        feedback: {}
+        goal: {}
+        goal_default:
+          node_name: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                node_name:
+                  type: string
+              required:
+              - node_name
+              type: object
+            result: {}
+          required:
+          - goal
+          title: read_node参数
           type: object
         type: UniLabJsonCommand
       auto-set_node_value:
@@ -99,50 +149,9 @@ opcua_example:
           title: set_node_value参数
           type: object
         type: UniLabJsonCommand
-      auto-start_node_refresh:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: start_node_refresh参数
-          type: object
-        type: UniLabJsonCommand
-      auto-stop_node_refresh:
-        feedback: {}
-        goal: {}
-        goal_default: {}
-        handles: {}
-        placeholder_keys: {}
-        result: {}
-        schema:
-          description: ''
-          properties:
-            feedback: {}
-            goal:
-              properties: {}
-              required: []
-              type: object
-            result: {}
-          required:
-          - goal
-          title: stop_node_refresh参数
-          type: object
-        type: UniLabJsonCommand
     module: unilabos.device_comms.opcua_client.client:OpcUaClient
     status_types:
+      cache_stats: dict
       node_value: String
     type: python
   config_info: []
@@ -152,15 +161,23 @@ opcua_example:
   init_param_schema:
     config:
       properties:
+        cache_timeout:
+          default: 5.0
+          type: number
         config_path:
           type: string
+        deck:
+          type: string
         password:
           type: string
-        refresh_interval:
+        subscription_interval:
-          default: 1.0
+          default: 500
-          type: number
+          type: integer
         url:
           type: string
+        use_subscription:
+          default: true
+          type: boolean
         username:
           type: string
       required:
@@ -168,9 +185,12 @@ opcua_example:
       type: object
     data:
       properties:
+        cache_stats:
+          type: object
         node_value:
           type: string
       required:
       - node_value
+      - cache_stats
       type: object
   version: 1.0.0

unilabos/registry/devices/post_process_station.yaml

@@ -3,6 +3,106 @@ post_process_station:
   - post_process_station
   class:
     action_value_mappings:
+      auto-load_config:
+        feedback: {}
+        goal: {}
+        goal_default:
+          config_path: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                config_path:
+                  type: string
+              required:
+              - config_path
+              type: object
+            result: {}
+          required:
+          - goal
+          title: load_config参数
+          type: object
+        type: UniLabJsonCommand
+      auto-post_init:
+        feedback: {}
+        goal: {}
+        goal_default:
+          ros_node: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                ros_node:
+                  type: string
+              required:
+              - ros_node
+              type: object
+            result: {}
+          required:
+          - goal
+          title: post_init参数
+          type: object
+        type: UniLabJsonCommand
+      auto-print_cache_stats:
+        feedback: {}
+        goal: {}
+        goal_default: {}
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties: {}
+              required: []
+              type: object
+            result: {}
+          required:
+          - goal
+          title: print_cache_stats参数
+          type: object
+        type: UniLabJsonCommand
+      auto-set_node_value:
+        feedback: {}
+        goal: {}
+        goal_default:
+          name: null
+          value: null
+        handles: {}
+        placeholder_keys: {}
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback: {}
+            goal:
+              properties:
+                name:
+                  type: string
+                value:
+                  type: string
+              required:
+              - name
+              - value
+              type: object
+            result: {}
+          required:
+          - goal
+          title: set_node_value参数
+          type: object
+        type: UniLabJsonCommand
       disconnect:
         feedback: {}
         goal:
@@ -602,29 +702,46 @@ post_process_station:
         type: SendCmd
     module: unilabos.devices.workstation.post_process.post_process:OpcUaClient
     status_types:
-      acetone_tank_empty_alarm: Bool
+      cache_stats: dict
-      atomization_fast_speed: Float64
+      node_value: String
-      atomization_pressure_kpa: Int32
-      cleaning_complete: Bool
-      device_ready: Bool
-      door_open_alarm: Bool
-      grab_complete: Bool
-      grab_trigger: Bool
-      injection_pump_push_speed: Int32
-      injection_pump_suction_speed: Int32
-      nmp_tank_empty_alarm: Bool
-      post_process_complete: Bool
-      post_process_trigger: Bool
-      raw_tank_number: Int32
-      reaction_tank_number: Int32
-      remote_mode: Bool
-      wash_slow_speed: Float64
-      waste_tank_full_alarm: Bool
-      water_tank_empty_alarm: Bool
     type: python
   config_info: []
   description: 后处理站
   handles: []
   icon: post_process_station.webp
-  init_param_schema: {}
+  init_param_schema:
+    config:
+      properties:
+        cache_timeout:
+          default: 5.0
+          type: number
+        config_path:
+          type: string
+        deck:
+          type: string
+        password:
+          type: string
+        subscription_interval:
+          default: 500
+          type: integer
+        url:
+          type: string
+        use_subscription:
+          default: true
+          type: boolean
+        username:
+          type: string
+      required:
+      - url
+      type: object
+    data:
+      properties:
+        cache_stats:
+          type: object
+        node_value:
+          type: string
+      required:
+      - node_value
+      - cache_stats
+      type: object
   version: 1.0.0

unilabos/registry/resources/post_process/bottle_carriers.yaml

@@ -10,7 +10,6 @@ POST_PROCESS_Raw_1BottleCarrier:
   init_param_schema: {}
   registry_type: resource
   version: 1.0.0
-
 POST_PROCESS_Reaction_1BottleCarrier:
   category:
   - bottle_carriers

unilabos/registry/resources/post_process/bottles.yaml

@@ -8,4 +8,3 @@ POST_PROCESS_PolymerStation_Reagent_Bottle:
   icon: ''
   init_param_schema: {}
   version: 1.0.0
-

unilabos/registry/resources/post_process/deck.yaml

@@ -1,6 +1,7 @@
 post_process_deck:
   category:
   - post_process_deck
+  - deck
   class:
     module: unilabos.devices.workstation.post_process.decks:post_process_deck
     type: pylabrobot

unilabos/registry/resources/prcxi/plate_adapters.yaml

@@ -1,6 +1,7 @@
 PRCXI_30mm_Adapter:
   category:
   - prcxi
+  - plate_adapters
   class:
     module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_30mm_Adapter
     type: pylabrobot
@@ -13,6 +14,7 @@ PRCXI_30mm_Adapter:
 PRCXI_Adapter:
   category:
   - prcxi
+  - plate_adapters
   class:
     module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Adapter
     type: pylabrobot
@@ -25,6 +27,7 @@ PRCXI_Adapter:
 PRCXI_Deep10_Adapter:
   category:
   - prcxi
+  - plate_adapters
   class:
     module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Deep10_Adapter
     type: pylabrobot
@@ -37,6 +40,7 @@ PRCXI_Deep10_Adapter:
 PRCXI_Deep300_Adapter:
   category:
   - prcxi
+  - plate_adapters
   class:
     module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Deep300_Adapter
     type: pylabrobot
@@ -49,6 +53,7 @@ PRCXI_Deep300_Adapter:
 PRCXI_PCR_Adapter:
   category:
   - prcxi
+  - plate_adapters
   class:
     module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_PCR_Adapter
     type: pylabrobot
@@ -61,6 +66,7 @@ PRCXI_PCR_Adapter:
 PRCXI_Reservoir_Adapter:
   category:
   - prcxi
+  - plate_adapters
   class:
     module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Reservoir_Adapter
     type: pylabrobot
@@ -73,6 +79,7 @@ PRCXI_Reservoir_Adapter:
 PRCXI_Tip10_Adapter:
   category:
   - prcxi
+  - plate_adapters
   class:
     module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Tip10_Adapter
     type: pylabrobot
@@ -85,6 +92,7 @@ PRCXI_Tip10_Adapter:
 PRCXI_Tip1250_Adapter:
   category:
   - prcxi
+  - plate_adapters
   class:
     module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Tip1250_Adapter
     type: pylabrobot
@@ -97,6 +105,7 @@ PRCXI_Tip1250_Adapter:
 PRCXI_Tip300_Adapter:
   category:
   - prcxi
+  - plate_adapters
   class:
     module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Tip300_Adapter
     type: pylabrobot

unilabos/registry/resources/prcxi/plates.yaml

@@ -1,6 +1,7 @@
 PRCXI_48_DeepWell:
   category:
   - prcxi
+  - plates
   class:
     module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_48_DeepWell
     type: pylabrobot
@@ -13,6 +14,7 @@ PRCXI_48_DeepWell:
 PRCXI_96_DeepWell:
   category:
   - prcxi
+  - plates
   class:
     module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_96_DeepWell
     type: pylabrobot
@@ -25,6 +27,7 @@ PRCXI_96_DeepWell:
 PRCXI_AGenBio_4_troughplate:
   category:
   - prcxi
+  - plates
   class:
     module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_AGenBio_4_troughplate
     type: pylabrobot
@@ -37,6 +40,7 @@ PRCXI_AGenBio_4_troughplate:
 PRCXI_BioER_96_wellplate:
   category:
   - prcxi
+  - plates
   class:
     module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_BioER_96_wellplate
     type: pylabrobot
@@ -49,6 +53,7 @@ PRCXI_BioER_96_wellplate:
 PRCXI_BioRad_384_wellplate:
   category:
   - prcxi
+  - plates
   class:
     module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_BioRad_384_wellplate
     type: pylabrobot
@@ -61,6 +66,7 @@ PRCXI_BioRad_384_wellplate:
 PRCXI_CellTreat_96_wellplate:
   category:
   - prcxi
+  - plates
   class:
     module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_CellTreat_96_wellplate
     type: pylabrobot
@@ -73,6 +79,7 @@ PRCXI_CellTreat_96_wellplate:
 PRCXI_PCR_Plate_200uL_nonskirted:
   category:
   - prcxi
+  - plates
   class:
     module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_PCR_Plate_200uL_nonskirted
     type: pylabrobot
@@ -85,6 +92,7 @@ PRCXI_PCR_Plate_200uL_nonskirted:
 PRCXI_PCR_Plate_200uL_semiskirted:
   category:
   - prcxi
+  - plates
   class:
     module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_PCR_Plate_200uL_semiskirted
     type: pylabrobot
@@ -97,6 +105,7 @@ PRCXI_PCR_Plate_200uL_semiskirted:
 PRCXI_PCR_Plate_200uL_skirted:
   category:
   - prcxi
+  - plates
   class:
     module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_PCR_Plate_200uL_skirted
     type: pylabrobot
@@ -109,6 +118,7 @@ PRCXI_PCR_Plate_200uL_skirted:
 PRCXI_nest_12_troughplate:
   category:
   - prcxi
+  - plates
   class:
     module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_nest_12_troughplate
     type: pylabrobot
@@ -121,6 +131,7 @@ PRCXI_nest_12_troughplate:
 PRCXI_nest_1_troughplate:
   category:
   - prcxi
+  - plates
   class:
     module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_nest_1_troughplate
     type: pylabrobot

unilabos/registry/resources/prcxi/tip_racks.yaml

@@ -1,6 +1,7 @@
 PRCXI_1000uL_Tips:
   category:
   - prcxi
+  - tip_racks
   class:
     module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_1000uL_Tips
     type: pylabrobot
@@ -13,6 +14,7 @@ PRCXI_1000uL_Tips:
 PRCXI_10uL_Tips:
   category:
   - prcxi
+  - tip_racks
   class:
     module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_10uL_Tips
     type: pylabrobot
@@ -25,6 +27,7 @@ PRCXI_10uL_Tips:
 PRCXI_10ul_eTips:
   category:
   - prcxi
+  - tip_racks
   class:
     module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_10ul_eTips
     type: pylabrobot
@@ -37,6 +40,7 @@ PRCXI_10ul_eTips:
 PRCXI_1250uL_Tips:
   category:
   - prcxi
+  - tip_racks
   class:
     module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_1250uL_Tips
     type: pylabrobot
@@ -49,6 +53,7 @@ PRCXI_1250uL_Tips:
 PRCXI_200uL_Tips:
   category:
   - prcxi
+  - tip_racks
   class:
     module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_200uL_Tips
     type: pylabrobot
@@ -61,6 +66,7 @@ PRCXI_200uL_Tips:
 PRCXI_300ul_Tips:
   category:
   - prcxi
+  - tip_racks
   class:
     module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_300ul_Tips
     type: pylabrobot

unilabos/registry/resources/prcxi/trash.yaml

@@ -1,6 +1,7 @@
 PRCXI_trash:
   category:
   - prcxi
+  - trash
   class:
     module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_trash
     type: pylabrobot

unilabos/registry/resources/prcxi/tube_racks.yaml

@@ -1,6 +1,7 @@
 PRCXI_EP_Adapter:
   category:
   - prcxi
+  - tube_racks
   class:
     module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_EP_Adapter
     type: pylabrobot

unilabos/ros/nodes/resource_tracker.py

@@ -448,7 +448,7 @@ class ResourceTreeSet(object):
         from pylabrobot.utils.object_parsing import find_subclass
 
         # 类型映射
-        TYPE_MAP = {"plate": "Plate", "well": "Well", "deck": "Deck", "container": "RegularContainer"}
+        TYPE_MAP = {"plate": "Plate", "well": "Well", "deck": "Deck", "container": "RegularContainer", "tip_spot": "TipSpot"}
 
         def collect_node_data(node: ResourceDictInstance, name_to_uuid: dict, all_states: dict, name_to_extra: dict):
             """一次遍历收集 name_to_uuid, all_states 和 name_to_extra"""

unilabos/test/experiments/prcxi_9320_with_res_test.json

@@ -1,8 +1,6 @@
 {
   "nodes": [
     {
-
-            
       "id": "PRCXI",
       "name": "PRCXI",
       "type": "device",
@@ -47,8 +45,7 @@
       "id": "PRCXI_Deck",
       "name": "PRCXI_Deck",
 
-            "children": [
+      "children": [],
-            ],
       "parent": "PRCXI",
       "type": "deck",
       "class": "",
@@ -72,9 +69,7 @@
         "barcode": null
       },
       "data": {}
-        }
+    },
-        ,
-        
     {
       "id": "T1",
       "name": "T1",
@@ -84,7 +79,7 @@
       "class": "",
       "position": {
         "x": 0,
-                "y": 0,
+        "y": 288,
         "z": 0
       },
       "config": {
@@ -108,7 +103,13 @@
             "visible": true,
             "position": { "x": 0, "y": 0, "z": 0 },
             "size": { "width": 128.0, "height": 86, "depth": 0 },
-                        "content_type": ["plate", "tip_rack", "plates", "tip_racks", "tube_rack"]
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
           }
         ]
       },
@@ -123,7 +124,7 @@
       "class": "",
       "position": {
         "x": 138,
-                "y": 0,
+        "y": 288,
         "z": 0
       },
       "config": {
@@ -147,7 +148,13 @@
             "visible": true,
             "position": { "x": 0, "y": 0, "z": 0 },
             "size": { "width": 128.0, "height": 86, "depth": 0 },
-                        "content_type": ["plate", "tip_rack", "plates", "tip_racks", "tube_rack"]
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
           }
         ]
       },
@@ -162,7 +169,7 @@
       "class": "",
       "position": {
         "x": 276,
-                "y": 0,
+        "y": 288,
         "z": 0
       },
       "config": {
@@ -186,7 +193,13 @@
             "visible": true,
             "position": { "x": 0, "y": 0, "z": 0 },
             "size": { "width": 128.0, "height": 86, "depth": 0 },
-                        "content_type": ["plate", "tip_rack", "plates", "tip_racks", "tube_rack"]
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
           }
         ]
       },
@@ -201,7 +214,7 @@
       "class": "",
       "position": {
         "x": 414,
-                "y": 0,
+        "y": 288,
         "z": 0
       },
       "config": {
@@ -225,7 +238,13 @@
             "visible": true,
             "position": { "x": 0, "y": 0, "z": 0 },
             "size": { "width": 128.0, "height": 86, "depth": 0 },
-                        "content_type": ["plate", "tip_rack", "plates", "tip_racks", "tube_rack"]
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
           }
         ]
       },
@@ -240,7 +259,7 @@
       "class": "",
       "position": {
         "x": 0,
-                "y": 96,
+        "y": 192,
         "z": 0
       },
       "config": {
@@ -264,7 +283,13 @@
             "visible": true,
             "position": { "x": 0, "y": 0, "z": 0 },
             "size": { "width": 128.0, "height": 86, "depth": 0 },
-                        "content_type": ["plate", "tip_rack", "plates", "tip_racks", "tube_rack"]
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
           }
         ]
       },
@@ -279,7 +304,7 @@
       "class": "",
       "position": {
         "x": 138,
-                "y": 96,
+        "y": 192,
         "z": 0
       },
       "config": {
@@ -303,7 +328,13 @@
             "visible": true,
             "position": { "x": 0, "y": 0, "z": 0 },
             "size": { "width": 128.0, "height": 86, "depth": 0 },
-                        "content_type": ["plate", "tip_rack", "plates", "tip_racks", "tube_rack"]
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
           }
         ]
       },
@@ -318,7 +349,7 @@
       "class": "",
       "position": {
         "x": 276,
-                "y": 96,
+        "y": 192,
         "z": 0
       },
       "config": {
@@ -342,7 +373,13 @@
             "visible": true,
             "position": { "x": 0, "y": 0, "z": 0 },
             "size": { "width": 128.0, "height": 86, "depth": 0 },
-                        "content_type": ["plate", "tip_rack", "plates", "tip_racks", "tube_rack"]
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
           }
         ]
       },
@@ -355,167 +392,191 @@
       "parent": "PRCXI_Deck",
       "type": "plate",
       "class": "",
+      "position": {
+        "x": 414,
+        "y": 192,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300Container",
+        "size_x": 127,
+        "size_y": 85.5,
+        "size_z": 10,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        "ordering": {},
+        "sites": [
+          {
+            "label": "T8",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T9",
+      "name": "T9",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 0,
+        "y": 96,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300Container",
+        "size_x": 127,
+        "size_y": 85.5,
+        "size_z": 10,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        "ordering": {},
+        "sites": [
+          {
+            "label": "T9",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T10",
+      "name": "T10",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 138,
+        "y": 96,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300Container",
+        "size_x": 127,
+        "size_y": 85.5,
+        "size_z": 10,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        "ordering": {},
+        "sites": [
+          {
+            "label": "T10",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T11",
+      "name": "T11",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
+      "position": {
+        "x": 276,
+        "y": 96,
+        "z": 0
+      },
+      "config": {
+        "type": "PRCXI9300Container",
+        "size_x": 127,
+        "size_y": 85.5,
+        "size_z": 10,
+        "rotation": {
+          "x": 0,
+          "y": 0,
+          "z": 0,
+          "type": "Rotation"
+        },
+        "category": "plate",
+        "model": null,
+        "barcode": null,
+        "ordering": {},
+        "sites": [
+          {
+            "label": "T11",
+            "visible": true,
+            "position": { "x": 0, "y": 0, "z": 0 },
+            "size": { "width": 128.0, "height": 86, "depth": 0 },
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
+          }
+        ]
+      },
+      "data": {}
+    },
+    {
+      "id": "T12",
+      "name": "T12",
+      "children": [],
+      "parent": "PRCXI_Deck",
+      "type": "plate",
+      "class": "",
       "position": {
         "x": 414,
         "y": 96,
         "z": 0
       },
-            "config": {
-                "type": "PRCXI9300Container",
-                "size_x": 127,
-                "size_y": 85.5,
-                "size_z": 10,
-                "rotation": {
-                    "x": 0,
-                    "y": 0,
-                    "z": 0,
-                    "type": "Rotation"
-                },
-                "category": "plate",
-                "model": null,
-                "barcode": null,
-                "ordering": {},
-                "sites": [
-                    {
-                        "label": "T8",
-                        "visible": true,
-                        "position": {"x": 0, "y": 0, "z": 0},
-                        "size": {"width": 128.0, "height": 86, "depth":0},
-                        "content_type": ["plate", "tip_rack", "plates", "tip_racks", "tube_rack"]
-                    }
-                ]
-            },
-            "data": {}
-        },
-        {
-            "id": "T9",
-            "name": "T9",
-            "children": [],
-            "parent": "PRCXI_Deck",
-            "type": "plate",
-            "class": "",
-            "position": {
-                "x": 0,
-                "y": 192,
-                "z": 0
-            },
-            "config": {
-                "type": "PRCXI9300Container",
-                "size_x": 127,
-                "size_y": 85.5,
-                "size_z": 10,
-                "rotation": {
-                    "x": 0,
-                    "y": 0,
-                    "z": 0,
-                    "type": "Rotation"
-                },
-                "category": "plate",
-                "model": null,
-                "barcode": null,
-                "ordering": {},
-                "sites": [
-                    {
-                        "label": "T9",
-                        "visible": true,
-                        "position": {"x": 0, "y": 0, "z": 0},
-                        "size": {"width": 128.0, "height": 86, "depth":0},
-                        "content_type": ["plate", "tip_rack", "plates", "tip_racks", "tube_rack"]
-                    }
-                ]
-            },
-            "data": {}
-        },
-        {
-            "id": "T10",
-            "name": "T10",
-            "children": [],
-            "parent": "PRCXI_Deck",
-            "type": "plate",
-            "class": "",
-            "position": {
-                "x": 138,
-                "y": 192,
-                "z": 0
-            },
-            "config": {
-                "type": "PRCXI9300Container",
-                "size_x": 127,
-                "size_y": 85.5,
-                "size_z": 10,
-                "rotation": {
-                    "x": 0,
-                    "y": 0,
-                    "z": 0,
-                    "type": "Rotation"
-                },
-                "category": "plate",
-                "model": null,
-                "barcode": null,
-                "ordering": {},
-                "sites": [
-                    {
-                        "label": "T10",
-                        "visible": true,
-                        "position": {"x": 0, "y": 0, "z": 0},
-                        "size": {"width": 128.0, "height": 86, "depth":0},
-                        "content_type": ["plate", "tip_rack", "plates", "tip_racks", "tube_rack"]
-                    }
-                ]
-            },
-            "data": {}
-        },
-        {
-            "id": "T11",
-            "name": "T11",
-            "children": [],
-            "parent": "PRCXI_Deck",
-            "type": "plate",
-            "class": "",
-            "position": {
-                "x": 276,
-                "y": 192,
-                "z": 0
-            },
-            "config": {
-                "type": "PRCXI9300Container",
-                "size_x": 127,
-                "size_y": 85.5,
-                "size_z": 10,
-                "rotation": {
-                    "x": 0,
-                    "y": 0,
-                    "z": 0,
-                    "type": "Rotation"
-                },
-                "category": "plate",
-                "model": null,
-                "barcode": null,
-                "ordering": {},
-                "sites": [
-                    {
-                        "label": "T11",
-                        "visible": true,
-                        "position": {"x": 0, "y": 0, "z": 0},
-                        "size": {"width": 128.0, "height": 86, "depth":0},
-                        "content_type": ["plate", "tip_rack", "plates", "tip_racks", "tube_rack"]
-                    }
-                ]
-            },
-            "data": {}
-        },
-        {
-            "id": "T12",
-            "name": "T12",
-            "children": [],
-            "parent": "PRCXI_Deck",
-            "type": "plate",
-            "class": "",
-            "position": {
-                "x": 414,
-                "y": 192,
-                "z": 0
-            },
       "config": {
         "type": "PRCXI9300Container",
         "size_x": 127,
@@ -537,7 +598,13 @@
             "visible": true,
             "position": { "x": 0, "y": 0, "z": 0 },
             "size": { "width": 128.0, "height": 86, "depth": 0 },
-                        "content_type": ["plate", "tip_rack", "plates", "tip_racks", "tube_rack"]
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
           }
         ]
       },
@@ -552,7 +619,7 @@
       "class": "",
       "position": {
         "x": 0,
-                "y": 288,
+        "y": 0,
         "z": 0
       },
       "config": {
@@ -576,7 +643,13 @@
             "visible": true,
             "position": { "x": 0, "y": 0, "z": 0 },
             "size": { "width": 128.0, "height": 86, "depth": 0 },
-                        "content_type": ["plate", "tip_rack", "plates", "tip_racks", "tube_rack"]
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
           }
         ]
       },
@@ -591,7 +664,7 @@
       "class": "",
       "position": {
         "x": 138,
-                "y": 288,
+        "y": 0,
         "z": 0
       },
       "config": {
@@ -615,7 +688,13 @@
             "visible": true,
             "position": { "x": 0, "y": 0, "z": 0 },
             "size": { "width": 128.0, "height": 86, "depth": 0 },
-                        "content_type": ["plate", "tip_rack", "plates", "tip_racks", "tube_rack"]
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
           }
         ]
       },
@@ -630,7 +709,7 @@
       "class": "",
       "position": {
         "x": 276,
-                "y": 288,
+        "y": 0,
         "z": 0
       },
       "config": {
@@ -654,7 +733,13 @@
             "visible": true,
             "position": { "x": 0, "y": 0, "z": 0 },
             "size": { "width": 128.0, "height": 86, "depth": 0 },
-                        "content_type": ["plate", "tip_rack", "plates", "tip_racks", "tube_rack"]
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
           }
         ]
       },
@@ -669,7 +754,7 @@
       "class": "",
       "position": {
         "x": 414,
-                "y": 288,
+        "y": 0,
         "z": 0
       },
       "config": {
@@ -693,14 +778,19 @@
             "visible": true,
             "position": { "x": 0, "y": 0, "z": 0 },
             "size": { "width": 128.0, "height": 86, "depth": 0 },
-                        "content_type": ["plate", "tip_rack", "plates", "tip_racks", "tube_rack"]
+            "content_type": [
+              "plate",
+              "tip_rack",
+              "plates",
+              "tip_racks",
+              "tube_rack"
+            ]
           }
         ]
       },
       "data": {}
     },
 
-
     {
       "id": "RackT1",
       "name": "RackT1",

unilabos_msgs/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>unilabos_msgs</name>
-  <version>0.10.12</version>
+  <version>0.10.13</version>
   <description>ROS2 Messages package for unilabos devices</description>
   <maintainer email="changjh@pku.edu.cn">Junhan Chang</maintainer>
   <maintainer email="18435084+Xuwznln@users.noreply.github.com">Xuwznln</maintainer>