registry fix

.gitignore

@@ -239,4 +239,6 @@ unilabos/device_mesh/view_robot.rviz
 
 
 # Certs
-**/.certs
+**/.certs
+local_test2.py
+ros-humble-unilabos-msgs-0.9.12-h6403a04_5.tar.bz2

unilabos/devices/liquid_handling/prcxi/deck.json

@@ -5,9 +5,18 @@
         "sample_id": null,
         "children": [
             "HPLCPlateT1",
+            "container_for_nothing1",
+            "container_for_nothing2",
             "trash",
+            "container_for_nothing3",
+            "container_for_nothing",
+            "container_for_nothing4",
             "RackT8",
-            "PlateT11"
+            "container_for_nothing5",
+            "container_for_nothing6",
+            "PlateT11",
+            "container_for_nothing7",
+            "container_for_nothing8"
         ],
         "parent": "lh_PRCXI_Deck",
         "type": "deck",
@@ -4007,6 +4016,68 @@
             "liquid_history": []
         }
     },
+    {
+        "id": "container_for_nothing1",
+        "name": "container_for_nothing1",
+        "sample_id": null,
+        "children": [],
+        "parent": "PRCXI_Deck",
+        "type": "plate",
+        "class": "",
+        "position": {
+            "x": 0,
+            "y": 0,
+            "z": 0
+        },
+        "config": {
+            "type": "PRCXI9300Container",
+            "size_x": 50,
+            "size_y": 50,
+            "size_z": 10,
+            "rotation": {
+                "x": 0,
+                "y": 0,
+                "z": 0,
+                "type": "Rotation"
+            },
+            "category": "plate",
+            "model": null,
+            "barcode": null,
+            "ordering": {}
+        },
+        "data": {}
+    },
+    {
+        "id": "container_for_nothing2",
+        "name": "container_for_nothing2",
+        "sample_id": null,
+        "children": [],
+        "parent": "PRCXI_Deck",
+        "type": "plate",
+        "class": "",
+        "position": {
+            "x": 0,
+            "y": 0,
+            "z": 0
+        },
+        "config": {
+            "type": "PRCXI9300Container",
+            "size_x": 50,
+            "size_y": 50,
+            "size_z": 10,
+            "rotation": {
+                "x": 0,
+                "y": 0,
+                "z": 0,
+                "type": "Rotation"
+            },
+            "category": "plate",
+            "model": null,
+            "barcode": null,
+            "ordering": {}
+        },
+        "data": {}
+    },
     {
         "id": "trash",
         "name": "trash",
@@ -4048,6 +4119,99 @@
             }
         }
     },
+    {
+        "id": "container_for_nothing3",
+        "name": "container_for_nothing3",
+        "sample_id": null,
+        "children": [],
+        "parent": "PRCXI_Deck",
+        "type": "plate",
+        "class": "",
+        "position": {
+            "x": 0,
+            "y": 0,
+            "z": 0
+        },
+        "config": {
+            "type": "PRCXI9300Container",
+            "size_x": 50,
+            "size_y": 50,
+            "size_z": 10,
+            "rotation": {
+                "x": 0,
+                "y": 0,
+                "z": 0,
+                "type": "Rotation"
+            },
+            "category": "plate",
+            "model": null,
+            "barcode": null,
+            "ordering": {}
+        },
+        "data": {}
+    },
+    {
+        "id": "container_for_nothing",
+        "name": "container_for_nothing",
+        "sample_id": null,
+        "children": [],
+        "parent": "PRCXI_Deck",
+        "type": "plate",
+        "class": "",
+        "position": {
+            "x": 0,
+            "y": 0,
+            "z": 0
+        },
+        "config": {
+            "type": "PRCXI9300Container",
+            "size_x": 50,
+            "size_y": 50,
+            "size_z": 10,
+            "rotation": {
+                "x": 0,
+                "y": 0,
+                "z": 0,
+                "type": "Rotation"
+            },
+            "category": "plate",
+            "model": null,
+            "barcode": null,
+            "ordering": {}
+        },
+        "data": {}
+    },
+    {
+        "id": "container_for_nothing4",
+        "name": "container_for_nothing4",
+        "sample_id": null,
+        "children": [],
+        "parent": "PRCXI_Deck",
+        "type": "plate",
+        "class": "",
+        "position": {
+            "x": 0,
+            "y": 0,
+            "z": 0
+        },
+        "config": {
+            "type": "PRCXI9300Container",
+            "size_x": 50,
+            "size_y": 50,
+            "size_z": 10,
+            "rotation": {
+                "x": 0,
+                "y": 0,
+                "z": 0,
+                "type": "Rotation"
+            },
+            "category": "plate",
+            "model": null,
+            "barcode": null,
+            "ordering": {}
+        },
+        "data": {}
+    },
     {
         "id": "RackT8",
         "name": "RackT8",
@@ -8118,6 +8282,68 @@
             "pending_tip": null
         }
     },
+    {
+        "id": "container_for_nothing5",
+        "name": "container_for_nothing5",
+        "sample_id": null,
+        "children": [],
+        "parent": "PRCXI_Deck",
+        "type": "plate",
+        "class": "",
+        "position": {
+            "x": 0,
+            "y": 0,
+            "z": 0
+        },
+        "config": {
+            "type": "PRCXI9300Container",
+            "size_x": 50,
+            "size_y": 50,
+            "size_z": 10,
+            "rotation": {
+                "x": 0,
+                "y": 0,
+                "z": 0,
+                "type": "Rotation"
+            },
+            "category": "plate",
+            "model": null,
+            "barcode": null,
+            "ordering": {}
+        },
+        "data": {}
+    },
+    {
+        "id": "container_for_nothing6",
+        "name": "container_for_nothing6",
+        "sample_id": null,
+        "children": [],
+        "parent": "PRCXI_Deck",
+        "type": "plate",
+        "class": "",
+        "position": {
+            "x": 0,
+            "y": 0,
+            "z": 0
+        },
+        "config": {
+            "type": "PRCXI9300Container",
+            "size_x": 50,
+            "size_y": 50,
+            "size_z": 10,
+            "rotation": {
+                "x": 0,
+                "y": 0,
+                "z": 0,
+                "type": "Rotation"
+            },
+            "category": "plate",
+            "model": null,
+            "barcode": null,
+            "ordering": {}
+        },
+        "data": {}
+    },
     {
         "id": "PlateT11",
         "name": "PlateT11",
@@ -13241,5 +13467,67 @@
                 null
             ]
         }
+    },
+    {
+        "id": "container_for_nothing7",
+        "name": "container_for_nothing7",
+        "sample_id": null,
+        "children": [],
+        "parent": "PRCXI_Deck",
+        "type": "plate",
+        "class": "",
+        "position": {
+            "x": 0,
+            "y": 0,
+            "z": 0
+        },
+        "config": {
+            "type": "PRCXI9300Container",
+            "size_x": 50,
+            "size_y": 50,
+            "size_z": 10,
+            "rotation": {
+                "x": 0,
+                "y": 0,
+                "z": 0,
+                "type": "Rotation"
+            },
+            "category": "plate",
+            "model": null,
+            "barcode": null,
+            "ordering": {}
+        },
+        "data": {}
+    },
+    {
+        "id": "container_for_nothing8",
+        "name": "container_for_nothing8",
+        "sample_id": null,
+        "children": [],
+        "parent": "PRCXI_Deck",
+        "type": "plate",
+        "class": "",
+        "position": {
+            "x": 0,
+            "y": 0,
+            "z": 0
+        },
+        "config": {
+            "type": "PRCXI9300Container",
+            "size_x": 50,
+            "size_y": 50,
+            "size_z": 10,
+            "rotation": {
+                "x": 0,
+                "y": 0,
+                "z": 0,
+                "type": "Rotation"
+            },
+            "category": "plate",
+            "model": null,
+            "barcode": null,
+            "ordering": {}
+        },
+        "data": {}
     }
 ]

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -462,6 +462,27 @@ class PRCXI9300Backend(LiquidHandlerBackend):
     async def drop_tips(self, ops: List[Drop], use_channels: List[int] = None):
         """Pick up tips from the specified resource."""
 
+        # 检查trash # 
+        if ops[0].resource.name == "trash":
+
+            PlateNo = ops[0].resource.parent.children.index(ops[0].resource) + 1
+
+            step = self.api_client.UnLoad(
+                dosage=0,
+                plate_no=PlateNo,
+                is_whole_plate=False,
+                hole_row=3,
+                hole_col=3,
+                blending_times=0,
+                balance_height=0,
+                plate_or_hole=f"H{1}-8,T{PlateNo}",
+                hole_numbers="1,2,3,4,5,6,7,8",
+        )
+            self.steps_todo_list.append(step)
+            return
+        #print(ops[0].resource.parent.children.index(ops[0].resource))
+
+        
         plate_indexes = []
         for op in ops:
             plate = op.resource.parent.parent
@@ -482,21 +503,6 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         PlateNo = plate_indexes[0] + 1
         hole_col = tip_columns[0] + 1
 
-        if deck.children[plate_index].name == "trash":
-            step = self.api_client.UnLoad(
-                dosage=0,
-                plate_no=PlateNo,
-                is_whole_plate=False,
-                hole_row=3,
-                hole_col=3,
-                blending_times=0,
-                balance_height=0,
-                plate_or_hole=f"H{hole_col}-8,T{PlateNo}",
-                hole_numbers="1,2,3,4,5,6,7,8",
-        )
-            self.steps_todo_list.append(step)
-            return
-
         if self.channel_num == 1:
             hole_row = tipspot_index % 8 + 1
 
@@ -526,8 +532,6 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         
         """Mix liquid in the specified resources."""
    
-        if len(targets) != 8:
-            raise ValueError(f"PRCXI9300Backend aspirate: Expected 8 aspirate, got {len(targets)}")
 
         plate_indexes = []
         for op in targets:
@@ -549,12 +553,16 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         
         PlateNo = plate_indexes[0] + 1
         hole_col = tip_columns[0] + 1
+        hole_row = 1
+        if self.num_channels == 1:
+            hole_row = tipspot_index % 8 + 1 
+
         assert mix_time > 0
         step = self.api_client.Blending(
             dosage=mix_vol,
             plate_no=PlateNo,
             is_whole_plate=False,
-            hole_row=1,
+            hole_row=hole_row,
             hole_col=hole_col,
             blending_times=mix_time,
             balance_height=0,
@@ -592,7 +600,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         
         PlateNo = plate_indexes[0] + 1
         hole_col = tip_columns[0] + 1
-
+        hole_row = 1
         if self.num_channels == 1:
             hole_row = tipspot_index % 8 + 1 
 
@@ -633,6 +641,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
         PlateNo = plate_indexes[0] + 1
         hole_col = tip_columns[0] + 1
 
+        hole_row = 1
         if self.num_channels == 1:
             hole_row = tipspot_index % 8 + 1
 
@@ -1132,7 +1141,7 @@ if __name__ == "__main__":
         tip_racks.update({k: v for k, v in tip_rack_serialized.items() if k not in ["children"]})
         new_tip_rack: PRCXI9300Container = PRCXI9300Container.deserialize(tip_racks)
         return new_tip_rack
-
+    
     plate1 = get_well_container("HPLCPlateT1")
     plate1.load_state({
         "Material": {
@@ -1215,24 +1224,28 @@ if __name__ == "__main__":
             "uuid": "04211a2dc93547fe9bf6121eac533650"
         }
     })
+
+    # container_for_nothing = PRCXI9300Container(name="container_for_nothing", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
+
     deck.assign_child_resource(plate1, location=Coordinate(0, 0, 0))
-    # deck.assign_child_resource(plate2, location=Coordinate(0, 0, 0))
-    # deck.assign_child_resource(plate3, location=Coordinate(0, 0, 0))
+    deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing1", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
+    deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing2", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
     deck.assign_child_resource(trash, location=Coordinate(0, 0, 0))
-    # deck.assign_child_resource(plate5, location=Coordinate(0, 0, 0))
-    # deck.assign_child_resource(plate6, location=Coordinate(0, 0, 0))
-    # deck.assign_child_resource(plate7, location=Coordinate(0, 0, 0))
+    deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing3", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
+    deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
+    deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing4", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
     deck.assign_child_resource(plate8, location=Coordinate(0, 0, 0))
-    # deck.assign_child_resource(plate9, location=Coordinate(0, 0, 0))
-    # deck.assign_child_resource(plate10, location=Coordinate(0, 0, 0))
+    deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing5", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
+    deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing6", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
     deck.assign_child_resource(plate11, location=Coordinate(0, 0, 0))
-    # deck.assign_child_resource(plate12, location=Coordinate(0, 0, 0))
-    # deck.assign_child_resource(plate13, location=Coordinate(0, 0, 0))
+    deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing7", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
+    deck.assign_child_resource(PRCXI9300Container(name="container_for_nothing8", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()), location=Coordinate(0, 0, 0))
 
     handler = PRCXI9300Handler(deck=deck, host="10.181.102.13", port=9999, 
-                               timeout=10.0, setup=False, debug=True, 
+                               timeout=10.0, setup=False, debug=False, 
                                matrix_id="fd383e6d-2d0e-40b5-9c01-1b2870b1f1b1",
                                channel_num=1)
+    
     handler.set_tiprack([plate8])  # Set the tip rack for the handler
     asyncio.run(handler.setup())  # Initialize the handler and setup the connection
     from pylabrobot.resources import set_volume_tracking
@@ -1249,8 +1262,9 @@ if __name__ == "__main__":
 
     print(plate11.get_well(0).tracker.get_used_volume())
     asyncio.run(handler.create_protocol(protocol_name="Test Protocol"))  # Initialize the backend and setup the connection
+    print(plate8.children[3])
     asyncio.run(handler.pick_up_tips([plate8.children[3]],[0]))
-    asyncio.run(handler.aspirate([plate11.children[0]],[9], [0]))
+    asyncio.run(handler.aspirate([plate11.children[0]],[10], [0]))
     asyncio.run(handler.dispense([plate1.children[3]],[10],[0]))
     asyncio.run(handler.mix([plate1.children[3]], mix_time=3, mix_vol=5, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
     asyncio.run(handler.discard_tips())

unilabos/registry/devices/liquid_handler.yaml

@@ -5466,6 +5466,354 @@ liquid_handler.biomek:
 liquid_handler.prcxi:
   class:
     action_value_mappings:
+      add_liquid:
+        feedback: {}
+        goal:
+          asp_vols: asp_vols
+          blow_out_air_volume: blow_out_air_volume
+          dis_vols: dis_vols
+          flow_rates: flow_rates
+          is_96_well: is_96_well
+          liquid_height: liquid_height
+          mix_liquid_height: mix_liquid_height
+          mix_rate: mix_rate
+          mix_time: mix_time
+          mix_vol: mix_vol
+          none_keys: none_keys
+          offsets: offsets
+          reagent_sources: reagent_sources
+          spread: spread
+          targets: targets
+          use_channels: use_channels
+        goal_default:
+          asp_vols:
+          - 0.0
+          blow_out_air_volume:
+          - 0.0
+          dis_vols:
+          - 0.0
+          flow_rates:
+          - 0.0
+          is_96_well: false
+          liquid_height:
+          - 0.0
+          mix_liquid_height: 0.0
+          mix_rate: 0
+          mix_time: 0
+          mix_vol: 0
+          none_keys:
+          - ''
+          offsets:
+          - x: 0.0
+            y: 0.0
+            z: 0.0
+          reagent_sources:
+          - category: ''
+            children: []
+            config: ''
+            data: ''
+            id: ''
+            name: ''
+            parent: ''
+            pose:
+              orientation:
+                w: 1.0
+                x: 0.0
+                y: 0.0
+                z: 0.0
+              position:
+                x: 0.0
+                y: 0.0
+                z: 0.0
+            sample_id: ''
+            type: ''
+          spread: ''
+          targets:
+          - category: ''
+            children: []
+            config: ''
+            data: ''
+            id: ''
+            name: ''
+            parent: ''
+            pose:
+              orientation:
+                w: 1.0
+                x: 0.0
+                y: 0.0
+                z: 0.0
+              position:
+                x: 0.0
+                y: 0.0
+                z: 0.0
+            sample_id: ''
+            type: ''
+          use_channels:
+          - 0
+        handles: []
+        placeholder_keys:
+          reagent_sources: unilabos_resources
+          targets: unilabos_resources
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties: {}
+              required: []
+              title: LiquidHandlerAdd_Feedback
+              type: object
+            goal:
+              properties:
+                asp_vols:
+                  items:
+                    type: number
+                  type: array
+                blow_out_air_volume:
+                  items:
+                    type: number
+                  type: array
+                dis_vols:
+                  items:
+                    type: number
+                  type: array
+                flow_rates:
+                  items:
+                    type: number
+                  type: array
+                is_96_well:
+                  type: boolean
+                liquid_height:
+                  items:
+                    type: number
+                  type: array
+                mix_liquid_height:
+                  type: number
+                mix_rate:
+                  maximum: 2147483647
+                  minimum: -2147483648
+                  type: integer
+                mix_time:
+                  maximum: 2147483647
+                  minimum: -2147483648
+                  type: integer
+                mix_vol:
+                  maximum: 2147483647
+                  minimum: -2147483648
+                  type: integer
+                none_keys:
+                  items:
+                    type: string
+                  type: array
+                offsets:
+                  items:
+                    properties:
+                      x:
+                        type: number
+                      y:
+                        type: number
+                      z:
+                        type: number
+                    required:
+                    - x
+                    - y
+                    - z
+                    title: Point
+                    type: object
+                  type: array
+                reagent_sources:
+                  items:
+                    properties:
+                      category:
+                        type: string
+                      children:
+                        items:
+                          type: string
+                        type: array
+                      config:
+                        type: string
+                      data:
+                        type: string
+                      id:
+                        type: string
+                      name:
+                        type: string
+                      parent:
+                        type: string
+                      pose:
+                        properties:
+                          orientation:
+                            properties:
+                              w:
+                                type: number
+                              x:
+                                type: number
+                              y:
+                                type: number
+                              z:
+                                type: number
+                            required:
+                            - x
+                            - y
+                            - z
+                            - w
+                            title: Quaternion
+                            type: object
+                          position:
+                            properties:
+                              x:
+                                type: number
+                              y:
+                                type: number
+                              z:
+                                type: number
+                            required:
+                            - x
+                            - y
+                            - z
+                            title: Point
+                            type: object
+                        required:
+                        - position
+                        - orientation
+                        title: Pose
+                        type: object
+                      sample_id:
+                        type: string
+                      type:
+                        type: string
+                    required:
+                    - id
+                    - name
+                    - sample_id
+                    - children
+                    - parent
+                    - type
+                    - category
+                    - pose
+                    - config
+                    - data
+                    title: Resource
+                    type: object
+                  type: array
+                spread:
+                  type: string
+                targets:
+                  items:
+                    properties:
+                      category:
+                        type: string
+                      children:
+                        items:
+                          type: string
+                        type: array
+                      config:
+                        type: string
+                      data:
+                        type: string
+                      id:
+                        type: string
+                      name:
+                        type: string
+                      parent:
+                        type: string
+                      pose:
+                        properties:
+                          orientation:
+                            properties:
+                              w:
+                                type: number
+                              x:
+                                type: number
+                              y:
+                                type: number
+                              z:
+                                type: number
+                            required:
+                            - x
+                            - y
+                            - z
+                            - w
+                            title: Quaternion
+                            type: object
+                          position:
+                            properties:
+                              x:
+                                type: number
+                              y:
+                                type: number
+                              z:
+                                type: number
+                            required:
+                            - x
+                            - y
+                            - z
+                            title: Point
+                            type: object
+                        required:
+                        - position
+                        - orientation
+                        title: Pose
+                        type: object
+                      sample_id:
+                        type: string
+                      type:
+                        type: string
+                    required:
+                    - id
+                    - name
+                    - sample_id
+                    - children
+                    - parent
+                    - type
+                    - category
+                    - pose
+                    - config
+                    - data
+                    title: Resource
+                    type: object
+                  type: array
+                use_channels:
+                  items:
+                    maximum: 2147483647
+                    minimum: -2147483648
+                    type: integer
+                  type: array
+              required:
+              - asp_vols
+              - dis_vols
+              - reagent_sources
+              - targets
+              - use_channels
+              - flow_rates
+              - offsets
+              - liquid_height
+              - blow_out_air_volume
+              - spread
+              - is_96_well
+              - mix_time
+              - mix_vol
+              - mix_rate
+              - mix_liquid_height
+              - none_keys
+              title: LiquidHandlerAdd_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: LiquidHandlerAdd_Result
+              type: object
+          required:
+          - goal
+          title: LiquidHandlerAdd
+          type: object
+        type: LiquidHandlerAdd
       aspirate:
         feedback: {}
         goal:
@@ -5669,84 +6017,6 @@ liquid_handler.prcxi:
           title: LiquidHandlerAspirate
           type: object
         type: LiquidHandlerAspirate
-      auto-add_liquid:
-        feedback: {}
-        goal: {}
-        goal_default:
-          asp_vols: null
-          blow_out_air_volume: null
-          delays: null
-          dis_vols: null
-          flow_rates: null
-          is_96_well: false
-          liquid_height: null
-          mix_liquid_height: null
-          mix_rate: null
-          mix_time: null
-          mix_vol: null
-          none_keys: []
-          offsets: null
-          reagent_sources: null
-          spread: wide
-          targets: null
-          use_channels: null
-        handles: []
-        result: {}
-        schema:
-          description: add_liquid的参数schema
-          properties:
-            feedback: {}
-            goal:
-              properties:
-                asp_vols:
-                  type: string
-                blow_out_air_volume:
-                  type: string
-                delays:
-                  type: string
-                dis_vols:
-                  type: string
-                flow_rates:
-                  type: string
-                is_96_well:
-                  default: false
-                  type: boolean
-                liquid_height:
-                  type: string
-                mix_liquid_height:
-                  type: string
-                mix_rate:
-                  type: string
-                mix_time:
-                  type: string
-                mix_vol:
-                  type: string
-                none_keys:
-                  default: []
-                  type: array
-                offsets:
-                  type: string
-                reagent_sources:
-                  type: string
-                spread:
-                  default: wide
-                  type: string
-                targets:
-                  type: string
-                use_channels:
-                  type: string
-              required:
-              - asp_vols
-              - dis_vols
-              - reagent_sources
-              - targets
-              type: object
-            result: {}
-          required:
-          - goal
-          title: add_liquid参数
-          type: object
-        type: UniLabJsonCommandAsync
       auto-create_protocol:
         feedback: {}
         goal: {}
@@ -6178,6 +6448,8 @@ liquid_handler.prcxi:
           vols:
           - 0.0
         handles: []
+        placeholder_keys:
+          resources: unilabos_resources
         result: {}
         schema:
           description: ''
@@ -6535,6 +6807,8 @@ liquid_handler.prcxi:
             sample_id: ''
             type: ''
         handles: []
+        placeholder_keys:
+          targets: unilabos_resources
         result: {}
         schema:
           description: ''
@@ -6847,7 +7121,10 @@ liquid_handler.prcxi:
         type: LiquidHandlerPickUpTips
       set_liquid:
         feedback: {}
-        goal: {}
+        goal:
+          liquid_names: liquid_names
+          volumes: volumes
+          wells: wells
         goal_default:
           liquid_names:
           - ''

unilabos/registry/devices/work_station.yaml

@@ -305,6 +305,8 @@ workstation:
             data_type: resource
             handler_key: VesselOut
             label: Vessel
+        placeholder_keys:
+          vessel: unilabos_resources
         result: {}
         schema:
           description: ''

unilabos/resources/graphio.py

@@ -461,7 +461,6 @@ def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None):
             "data": all_states[d["name"]],
         }
         return r
-
     d = resource_plr.serialize()
     all_states = resource_plr.serialize_all_state()
     r = resource_plr_to_ulab_inner(d, all_states)

unilabos/ros/nodes/resource_tracker.py

@@ -10,6 +10,15 @@ class DeviceNodeResourceTracker(object):
         self.resource2parent_resource = {}
         pass
 
+    def prefix_path(self, resource):
+        resource_prefix_path = "/"
+        resource_parent = getattr(resource, "parent", None)
+        while resource_parent is not None:
+            resource_prefix_path = f"/{resource_parent.name}" + resource_prefix_path
+            resource_parent = resource_parent.parent
+
+        return resource_prefix_path
+
     def parent_resource(self, resource):
         if id(resource) in self.resource2parent_resource:
             return self.resource2parent_resource[id(resource)]