liquid_handler: 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: [] result: {} schema: description: ROS Action LiquidHandlerAdd 的 JSON Schema properties: feedback: description: Action 反馈 - 执行过程中从服务器发送到客户端 properties: {} required: [] title: LiquidHandlerAdd_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 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: description: Action 结果 - 完成后从服务器发送到客户端 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: blow_out_air_volume: blow_out_air_volume end_delay: end_delay flow_rates: flow_rates liquid_height: liquid_height offsets: offsets resources: resources use_channels: use_channels vols: vols goal_default: blow_out_air_volume: - 0.0 flow_rates: - 0.0 liquid_height: - 0.0 offsets: - x: 0.0 y: 0.0 z: 0.0 resources: - 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: '' use_channels: - 0 vols: - 0.0 handles: [] result: name: name schema: description: ROS Action LiquidHandlerAspirate 的 JSON Schema properties: feedback: description: Action 反馈 - 执行过程中从服务器发送到客户端 properties: {} required: [] title: LiquidHandlerAspirate_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: blow_out_air_volume: items: type: number type: array flow_rates: items: type: number type: array liquid_height: items: type: number type: array offsets: items: properties: x: type: number y: type: number z: type: number required: - x - y - z title: Point type: object type: array resources: 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 use_channels: items: maximum: 2147483647 minimum: -2147483648 type: integer type: array vols: items: type: number type: array required: - resources - vols - use_channels - flow_rates - offsets - liquid_height - blow_out_air_volume - spread title: LiquidHandlerAspirate_Goal type: object result: description: Action 结果 - 完成后从服务器发送到客户端 properties: return_info: type: string success: type: boolean required: - return_info - success title: LiquidHandlerAspirate_Result type: object required: - goal 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: UniLabJsonCommand add_liquid 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand add_liquid 的参数schema properties: asp_vols: description: '参数: asp_vols' type: string blow_out_air_volume: description: '参数: blow_out_air_volume' type: string delays: description: '参数: delays' type: string dis_vols: description: '参数: dis_vols' type: string flow_rates: description: '参数: flow_rates' type: string is_96_well: default: false description: '参数: is_96_well' type: boolean liquid_height: description: '参数: liquid_height' type: string mix_liquid_height: description: '参数: mix_liquid_height' type: string mix_rate: description: '参数: mix_rate' type: string mix_time: description: '参数: mix_time' type: string mix_vol: description: '参数: mix_vol' type: string none_keys: default: [] description: '参数: none_keys' type: string offsets: description: '参数: offsets' type: string reagent_sources: description: '参数: reagent_sources' type: string spread: default: wide description: '参数: spread' type: string targets: description: '参数: targets' type: string use_channels: description: '参数: use_channels' type: string required: - asp_vols - dis_vols - reagent_sources - targets type: object result: {} required: - goal title: add_liquid 命令参数 type: object type: UniLabJsonCommandAsync auto-create_protocol: feedback: {} goal: {} goal_default: none_keys: [] protocol_author: null protocol_date: null protocol_description: null protocol_name: null protocol_type: null protocol_version: null handles: [] result: {} schema: description: UniLabJsonCommand create_protocol 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand create_protocol 的参数schema properties: none_keys: default: [] description: '参数: none_keys' type: string protocol_author: description: '参数: protocol_author' type: string protocol_date: description: '参数: protocol_date' type: string protocol_description: description: '参数: protocol_description' type: string protocol_name: description: '参数: protocol_name' type: string protocol_type: description: '参数: protocol_type' type: string protocol_version: description: '参数: protocol_version' type: string required: - protocol_name - protocol_description - protocol_version - protocol_author - protocol_date - protocol_type type: object result: {} required: - goal title: create_protocol 命令参数 type: object type: UniLabJsonCommandAsync auto-custom_delay: feedback: {} goal: {} goal_default: msg: null seconds: 0 handles: [] result: {} schema: description: UniLabJsonCommand custom_delay 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand custom_delay 的参数schema properties: msg: description: '参数: msg' type: string seconds: default: 0 description: '参数: seconds' type: string required: [] type: object result: {} required: - goal title: custom_delay 命令参数 type: object type: UniLabJsonCommandAsync auto-iter_tips: feedback: {} goal: {} goal_default: tip_racks: null handles: [] result: {} schema: description: UniLabJsonCommand iter_tips 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand iter_tips 的参数schema properties: tip_racks: description: '参数: tip_racks' type: string required: - tip_racks type: object result: {} required: - goal title: iter_tips 命令参数 type: object type: UniLabJsonCommand auto-mix: feedback: {} goal: {} goal_default: height_to_bottom: null mix_rate: null mix_time: null mix_vol: null none_keys: [] offsets: null targets: null handles: [] result: {} schema: description: UniLabJsonCommand mix 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand mix 的参数schema properties: height_to_bottom: description: '参数: height_to_bottom' type: string mix_rate: description: '参数: mix_rate' type: string mix_time: description: '参数: mix_time' type: integer mix_vol: description: '参数: mix_vol' type: string none_keys: default: [] description: '参数: none_keys' type: string offsets: description: '参数: offsets' type: string targets: description: '参数: targets' type: string required: - targets type: object result: {} required: - goal title: mix 命令参数 type: object type: UniLabJsonCommandAsync auto-move_to: feedback: {} goal: {} goal_default: channel: 0 dis_to_top: 0 well: null handles: [] result: {} schema: description: UniLabJsonCommand move_to 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand move_to 的参数schema properties: channel: default: 0 description: '参数: channel' type: integer dis_to_top: default: 0 description: '参数: dis_to_top' type: number well: description: '参数: well' type: string required: - well type: object result: {} required: - goal title: move_to 命令参数 type: object type: UniLabJsonCommandAsync auto-remove_liquid: feedback: {} goal: {} goal_default: blow_out_air_volume: null delays: null flow_rates: null is_96_well: false liquid_height: null none_keys: [] offsets: null sources: null spread: wide top: null use_channels: null vols: null waste_liquid: null handles: [] result: {} schema: description: UniLabJsonCommand remove_liquid 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand remove_liquid 的参数schema properties: blow_out_air_volume: description: '参数: blow_out_air_volume' type: string delays: description: '参数: delays' type: string flow_rates: description: '参数: flow_rates' type: string is_96_well: default: false description: '参数: is_96_well' type: string liquid_height: description: '参数: liquid_height' type: string none_keys: default: [] description: '参数: none_keys' type: string offsets: description: '参数: offsets' type: string sources: description: '参数: sources' type: string spread: default: wide description: '参数: spread' type: string top: description: '参数: top' type: string use_channels: description: '参数: use_channels' type: string vols: description: '参数: vols' type: string waste_liquid: description: '参数: waste_liquid' type: string required: - vols - sources type: object result: {} required: - goal title: remove_liquid 命令参数 type: object type: UniLabJsonCommandAsync auto-set_tiprack: feedback: {} goal: {} goal_default: tip_racks: null handles: [] result: {} schema: description: UniLabJsonCommand set_tiprack 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand set_tiprack 的参数schema properties: tip_racks: description: '参数: tip_racks' type: string required: - tip_racks type: object result: {} required: - goal title: set_tiprack 命令参数 type: object type: UniLabJsonCommand auto-touch_tip: feedback: {} goal: {} goal_default: targets: null handles: [] result: {} schema: description: UniLabJsonCommand touch_tip 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand touch_tip 的参数schema properties: targets: description: '参数: targets' type: string required: - targets type: object result: {} required: - goal title: touch_tip 命令参数 type: object type: UniLabJsonCommandAsync auto-transfer_liquid: feedback: {} goal: {} goal_default: asp_flow_rates: null asp_vols: null blow_out_air_volume: null delays: null dis_flow_rates: null dis_vols: null is_96_well: false liquid_height: null mix_liquid_height: null mix_rate: null mix_stage: none mix_times: null mix_vol: null none_keys: [] offsets: null sources: null spread: wide targets: null tip_racks: null touch_tip: false use_channels: null handles: [] result: {} schema: description: UniLabJsonCommand transfer_liquid 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand transfer_liquid 的参数schema properties: asp_flow_rates: description: '参数: asp_flow_rates' type: string asp_vols: description: '参数: asp_vols' type: string blow_out_air_volume: description: '参数: blow_out_air_volume' type: string delays: description: '参数: delays' type: string dis_flow_rates: description: '参数: dis_flow_rates' type: string dis_vols: description: '参数: dis_vols' type: string is_96_well: default: false description: '参数: is_96_well' type: boolean liquid_height: description: '参数: liquid_height' type: string mix_liquid_height: description: '参数: mix_liquid_height' type: string mix_rate: description: '参数: mix_rate' type: string mix_stage: default: none description: '参数: mix_stage' type: string mix_times: description: '参数: mix_times' type: string mix_vol: description: '参数: mix_vol' type: string none_keys: default: [] description: '参数: none_keys' type: string offsets: description: '参数: offsets' type: string sources: description: '参数: sources' type: string spread: default: wide description: '参数: spread' type: string targets: description: '参数: targets' type: string tip_racks: description: '参数: tip_racks' type: string touch_tip: default: false description: '参数: touch_tip' type: boolean use_channels: description: '参数: use_channels' type: string required: - sources - targets - tip_racks - asp_vols - dis_vols type: object result: {} required: - goal title: transfer_liquid 命令参数 type: object type: UniLabJsonCommandAsync discard_tips: feedback: {} goal: use_channels: use_channels goal_default: use_channels: - 0 handles: [] result: name: name schema: description: ROS Action LiquidHandlerDiscardTips 的 JSON Schema properties: feedback: description: Action 反馈 - 执行过程中从服务器发送到客户端 properties: {} required: [] title: LiquidHandlerDiscardTips_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: use_channels: items: maximum: 2147483647 minimum: -2147483648 type: integer type: array required: - use_channels title: LiquidHandlerDiscardTips_Goal type: object result: description: Action 结果 - 完成后从服务器发送到客户端 properties: return_info: type: string success: type: boolean required: - return_info - success title: LiquidHandlerDiscardTips_Result type: object required: - goal title: LiquidHandlerDiscardTips type: object type: LiquidHandlerDiscardTips dispense: feedback: {} goal: blow_out_air_volume: blow_out_air_volume flow_rates: flow_rates offsets: offsets resources: resources spread: spread use_channels: use_channels vols: vols goal_default: blow_out_air_volume: - 0 flow_rates: - 0.0 offsets: - x: 0.0 y: 0.0 z: 0.0 resources: - 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: '' use_channels: - 0 vols: - 0.0 handles: [] result: name: name schema: description: ROS Action LiquidHandlerDispense 的 JSON Schema properties: feedback: description: Action 反馈 - 执行过程中从服务器发送到客户端 properties: {} required: [] title: LiquidHandlerDispense_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: blow_out_air_volume: items: maximum: 2147483647 minimum: -2147483648 type: integer type: array flow_rates: items: type: number type: array offsets: items: properties: x: type: number y: type: number z: type: number required: - x - y - z title: Point type: object type: array resources: 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 use_channels: items: maximum: 2147483647 minimum: -2147483648 type: integer type: array vols: items: type: number type: array required: - resources - vols - use_channels - flow_rates - offsets - blow_out_air_volume - spread title: LiquidHandlerDispense_Goal type: object result: description: Action 结果 - 完成后从服务器发送到客户端 properties: return_info: type: string success: type: boolean required: - return_info - success title: LiquidHandlerDispense_Result type: object required: - goal title: LiquidHandlerDispense type: object type: LiquidHandlerDispense drop_tips: feedback: {} goal: allow_nonzero_volume: allow_nonzero_volume offsets: offsets tip_spots: tip_spots use_channels: use_channels goal_default: allow_nonzero_volume: false offsets: - x: 0.0 y: 0.0 z: 0.0 tip_spots: - 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: [] result: name: name schema: description: ROS Action LiquidHandlerDropTips 的 JSON Schema properties: feedback: description: Action 反馈 - 执行过程中从服务器发送到客户端 properties: {} required: [] title: LiquidHandlerDropTips_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: allow_nonzero_volume: type: boolean offsets: items: properties: x: type: number y: type: number z: type: number required: - x - y - z title: Point type: object type: array tip_spots: 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: - tip_spots - use_channels - offsets - allow_nonzero_volume title: LiquidHandlerDropTips_Goal type: object result: description: Action 结果 - 完成后从服务器发送到客户端 properties: return_info: type: string success: type: boolean required: - return_info - success title: LiquidHandlerDropTips_Result type: object required: - goal title: LiquidHandlerDropTips type: object type: LiquidHandlerDropTips drop_tips96: feedback: {} goal: allow_nonzero_volume: allow_nonzero_volume offset: offset tip_rack: tip_rack goal_default: allow_nonzero_volume: false offset: x: 0.0 y: 0.0 z: 0.0 tip_rack: 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: '' handles: [] result: name: name schema: description: ROS Action LiquidHandlerDropTips96 的 JSON Schema properties: feedback: description: Action 反馈 - 执行过程中从服务器发送到客户端 properties: {} required: [] title: LiquidHandlerDropTips96_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: allow_nonzero_volume: type: boolean offset: properties: x: type: number y: type: number z: type: number required: - x - y - z title: Point type: object tip_rack: 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 required: - tip_rack - offset - allow_nonzero_volume title: LiquidHandlerDropTips96_Goal type: object result: description: Action 结果 - 完成后从服务器发送到客户端 properties: return_info: type: string success: type: boolean required: - return_info - success title: LiquidHandlerDropTips96_Result type: object required: - goal title: LiquidHandlerDropTips96 type: object type: LiquidHandlerDropTips96 mix: feedback: {} goal: height_to_bottom: height_to_bottom mix_rate: mix_rate mix_time: mix_time mix_vol: mix_vol none_keys: none_keys offsets: offsets targets: targets goal_default: height_to_bottom: 0.0 mix_rate: 0.0 mix_time: 0 mix_vol: 0 none_keys: - '' offsets: - x: 0.0 y: 0.0 z: 0.0 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: '' handles: [] result: {} schema: description: ROS Action LiquidHandlerMix 的 JSON Schema properties: feedback: description: Action 反馈 - 执行过程中从服务器发送到客户端 properties: {} required: [] title: LiquidHandlerMix_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: height_to_bottom: type: number mix_rate: type: number 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 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 required: - targets - mix_time - mix_vol - height_to_bottom - offsets - mix_rate - none_keys title: LiquidHandlerMix_Goal type: object result: description: Action 结果 - 完成后从服务器发送到客户端 properties: return_info: type: string success: type: boolean required: - return_info - success title: LiquidHandlerMix_Result type: object required: - goal title: LiquidHandlerMix type: object type: LiquidHandlerMix move_lid: feedback: {} goal: destination_offset: destination_offset drop_direction: drop_direction get_direction: get_direction intermediate_locations: intermediate_locations lid: lid pickup_direction: pickup_direction pickup_distance_from_top: pickup_distance_from_top put_direction: put_direction resource_offset: resource_offset to: to goal_default: destination_offset: x: 0.0 y: 0.0 z: 0.0 drop_direction: '' get_direction: '' intermediate_locations: - x: 0.0 y: 0.0 z: 0.0 lid: 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: '' pickup_direction: '' pickup_distance_from_top: 0.0 put_direction: '' resource_offset: x: 0.0 y: 0.0 z: 0.0 to: 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: '' handles: [] result: name: name schema: description: ROS Action LiquidHandlerMoveLid 的 JSON Schema properties: feedback: description: Action 反馈 - 执行过程中从服务器发送到客户端 properties: {} required: [] title: LiquidHandlerMoveLid_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: destination_offset: properties: x: type: number y: type: number z: type: number required: - x - y - z title: Point type: object drop_direction: type: string get_direction: type: string intermediate_locations: items: properties: x: type: number y: type: number z: type: number required: - x - y - z title: Point type: object type: array lid: 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 pickup_direction: type: string pickup_distance_from_top: type: number put_direction: type: string resource_offset: properties: x: type: number y: type: number z: type: number required: - x - y - z title: Point type: object to: 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 required: - lid - to - intermediate_locations - resource_offset - destination_offset - pickup_direction - drop_direction - get_direction - put_direction - pickup_distance_from_top title: LiquidHandlerMoveLid_Goal type: object result: description: Action 结果 - 完成后从服务器发送到客户端 properties: return_info: type: string success: type: boolean required: - return_info - success title: LiquidHandlerMoveLid_Result type: object required: - goal title: LiquidHandlerMoveLid type: object type: LiquidHandlerMoveLid move_plate: feedback: {} goal: destination_offset: destination_offset drop_direction: drop_direction get_direction: get_direction intermediate_locations: intermediate_locations pickup_direction: pickup_direction pickup_offset: pickup_offset plate: plate put_direction: put_direction resource_offset: resource_offset to: to goal_default: destination_offset: x: 0.0 y: 0.0 z: 0.0 drop_direction: '' get_direction: '' intermediate_locations: - x: 0.0 y: 0.0 z: 0.0 pickup_direction: '' pickup_distance_from_top: 0.0 pickup_offset: x: 0.0 y: 0.0 z: 0.0 plate: 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: '' put_direction: '' resource_offset: x: 0.0 y: 0.0 z: 0.0 to: 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: '' handles: [] result: name: name schema: description: ROS Action LiquidHandlerMovePlate 的 JSON Schema properties: feedback: description: Action 反馈 - 执行过程中从服务器发送到客户端 properties: {} required: [] title: LiquidHandlerMovePlate_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: destination_offset: properties: x: type: number y: type: number z: type: number required: - x - y - z title: Point type: object drop_direction: type: string get_direction: type: string intermediate_locations: items: properties: x: type: number y: type: number z: type: number required: - x - y - z title: Point type: object type: array pickup_direction: type: string pickup_distance_from_top: type: number pickup_offset: properties: x: type: number y: type: number z: type: number required: - x - y - z title: Point type: object plate: 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 put_direction: type: string resource_offset: properties: x: type: number y: type: number z: type: number required: - x - y - z title: Point type: object to: 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 required: - plate - to - intermediate_locations - resource_offset - pickup_offset - destination_offset - pickup_direction - drop_direction - get_direction - put_direction - pickup_distance_from_top title: LiquidHandlerMovePlate_Goal type: object result: description: Action 结果 - 完成后从服务器发送到客户端 properties: return_info: type: string success: type: boolean required: - return_info - success title: LiquidHandlerMovePlate_Result type: object required: - goal title: LiquidHandlerMovePlate type: object type: LiquidHandlerMovePlate move_resource: feedback: {} goal: destination_offset: destination_offset drop_direction: drop_direction get_direction: get_direction intermediate_locations: intermediate_locations pickup_direction: pickup_direction pickup_distance_from_top: pickup_distance_from_top put_direction: put_direction resource: resource resource_offset: resource_offset to: to goal_default: destination_offset: x: 0.0 y: 0.0 z: 0.0 drop_direction: '' get_direction: '' intermediate_locations: - x: 0.0 y: 0.0 z: 0.0 pickup_direction: '' pickup_distance_from_top: 0.0 put_direction: '' resource: 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: '' resource_offset: x: 0.0 y: 0.0 z: 0.0 to: x: 0.0 y: 0.0 z: 0.0 handles: [] result: name: name schema: description: ROS Action LiquidHandlerMoveResource 的 JSON Schema properties: feedback: description: Action 反馈 - 执行过程中从服务器发送到客户端 properties: {} required: [] title: LiquidHandlerMoveResource_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: destination_offset: properties: x: type: number y: type: number z: type: number required: - x - y - z title: Point type: object drop_direction: type: string get_direction: type: string intermediate_locations: items: properties: x: type: number y: type: number z: type: number required: - x - y - z title: Point type: object type: array pickup_direction: type: string pickup_distance_from_top: type: number put_direction: type: string resource: 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 resource_offset: properties: x: type: number y: type: number z: type: number required: - x - y - z title: Point type: object to: properties: x: type: number y: type: number z: type: number required: - x - y - z title: Point type: object required: - resource - to - intermediate_locations - resource_offset - destination_offset - pickup_distance_from_top - pickup_direction - drop_direction - get_direction - put_direction title: LiquidHandlerMoveResource_Goal type: object result: description: Action 结果 - 完成后从服务器发送到客户端 properties: return_info: type: string success: type: boolean required: - return_info - success title: LiquidHandlerMoveResource_Result type: object required: - goal title: LiquidHandlerMoveResource type: object type: LiquidHandlerMoveResource move_to: feedback: {} goal: channel: channel dis_to_top: dis_to_top well: well goal_default: channel: 0 dis_to_top: 0.0 well: 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: '' handles: [] result: {} schema: description: ROS Action LiquidHandlerMoveTo 的 JSON Schema properties: feedback: description: Action 反馈 - 执行过程中从服务器发送到客户端 properties: {} required: [] title: LiquidHandlerMoveTo_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: channel: maximum: 2147483647 minimum: -2147483648 type: integer dis_to_top: type: number well: 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 required: - well - dis_to_top - channel title: LiquidHandlerMoveTo_Goal type: object result: description: Action 结果 - 完成后从服务器发送到客户端 properties: return_info: type: string success: type: boolean required: - return_info - success title: LiquidHandlerMoveTo_Result type: object required: - goal title: LiquidHandlerMoveTo type: object type: LiquidHandlerMoveTo pick_up_tips: feedback: {} goal: offsets: offsets tip_spots: tip_spots use_channels: use_channels goal_default: offsets: - x: 0.0 y: 0.0 z: 0.0 tip_spots: - 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: [] result: name: name schema: description: ROS Action LiquidHandlerPickUpTips 的 JSON Schema properties: feedback: description: Action 反馈 - 执行过程中从服务器发送到客户端 properties: {} required: [] title: LiquidHandlerPickUpTips_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: offsets: items: properties: x: type: number y: type: number z: type: number required: - x - y - z title: Point type: object type: array tip_spots: 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: - tip_spots - use_channels - offsets title: LiquidHandlerPickUpTips_Goal type: object result: description: Action 结果 - 完成后从服务器发送到客户端 properties: return_info: type: string success: type: boolean required: - return_info - success title: LiquidHandlerPickUpTips_Result type: object required: - goal title: LiquidHandlerPickUpTips type: object type: LiquidHandlerPickUpTips pick_up_tips96: feedback: {} goal: offset: offset tip_rack: tip_rack goal_default: offset: x: 0.0 y: 0.0 z: 0.0 tip_rack: 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: '' handles: [] result: name: name schema: description: ROS Action LiquidHandlerPickUpTips96 的 JSON Schema properties: feedback: description: Action 反馈 - 执行过程中从服务器发送到客户端 properties: {} required: [] title: LiquidHandlerPickUpTips96_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: offset: properties: x: type: number y: type: number z: type: number required: - x - y - z title: Point type: object tip_rack: 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 required: - tip_rack - offset title: LiquidHandlerPickUpTips96_Goal type: object result: description: Action 结果 - 完成后从服务器发送到客户端 properties: return_info: type: string success: type: boolean required: - return_info - success title: LiquidHandlerPickUpTips96_Result type: object required: - goal title: LiquidHandlerPickUpTips96 type: object type: LiquidHandlerPickUpTips96 remove: feedback: {} goal: blow_out_air_volume: blow_out_air_volume delays: delays flow_rates: flow_rates is_96_well: is_96_well liquid_height: liquid_height none_keys: none_keys offsets: offsets sources: sources spread: spread top: top use_channels: use_channels vols: vols waste_liquid: waste_liquid goal_default: blow_out_air_volume: - 0.0 delays: - 0 flow_rates: - 0.0 is_96_well: false liquid_height: - 0.0 none_keys: - '' offsets: - x: 0.0 y: 0.0 z: 0.0 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: '' top: - 0.0 use_channels: - 0 vols: - 0.0 waste_liquid: 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: '' handles: [] result: {} schema: description: ROS Action LiquidHandlerRemove 的 JSON Schema properties: feedback: description: Action 反馈 - 执行过程中从服务器发送到客户端 properties: {} required: [] title: LiquidHandlerRemove_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: blow_out_air_volume: items: type: number type: array delays: items: maximum: 2147483647 minimum: -2147483648 type: integer type: array flow_rates: items: type: number type: array is_96_well: type: boolean liquid_height: items: type: number type: array 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 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 top: items: type: number type: array use_channels: items: maximum: 2147483647 minimum: -2147483648 type: integer type: array vols: items: type: number type: array waste_liquid: 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 required: - vols - sources - waste_liquid - use_channels - flow_rates - offsets - liquid_height - blow_out_air_volume - spread - delays - is_96_well - top - none_keys title: LiquidHandlerRemove_Goal type: object result: description: Action 结果 - 完成后从服务器发送到客户端 properties: return_info: type: string success: type: boolean required: - return_info - success title: LiquidHandlerRemove_Result type: object required: - goal title: LiquidHandlerRemove type: object type: LiquidHandlerRemove return_tips: feedback: {} goal: allow_nonzero_volume: allow_nonzero_volume use_channels: use_channels goal_default: allow_nonzero_volume: false use_channels: - 0 handles: [] result: name: name schema: description: ROS Action LiquidHandlerReturnTips 的 JSON Schema properties: feedback: description: Action 反馈 - 执行过程中从服务器发送到客户端 properties: {} required: [] title: LiquidHandlerReturnTips_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: allow_nonzero_volume: type: boolean use_channels: items: maximum: 2147483647 minimum: -2147483648 type: integer type: array required: - use_channels - allow_nonzero_volume title: LiquidHandlerReturnTips_Goal type: object result: description: Action 结果 - 完成后从服务器发送到客户端 properties: return_info: type: string success: type: boolean required: - return_info - success title: LiquidHandlerReturnTips_Result type: object required: - goal title: LiquidHandlerReturnTips type: object type: LiquidHandlerReturnTips return_tips96: feedback: {} goal: allow_nonzero_volume: allow_nonzero_volume goal_default: allow_nonzero_volume: false handles: [] result: name: name schema: description: ROS Action LiquidHandlerReturnTips96 的 JSON Schema properties: feedback: description: Action 反馈 - 执行过程中从服务器发送到客户端 properties: {} required: [] title: LiquidHandlerReturnTips96_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: allow_nonzero_volume: type: boolean required: - allow_nonzero_volume title: LiquidHandlerReturnTips96_Goal type: object result: description: Action 结果 - 完成后从服务器发送到客户端 properties: return_info: type: string success: type: boolean required: - return_info - success title: LiquidHandlerReturnTips96_Result type: object required: - goal title: LiquidHandlerReturnTips96 type: object type: LiquidHandlerReturnTips96 stamp: feedback: {} goal: aspiration_flow_rate: aspiration_flow_rate dispense_flow_rate: dispense_flow_rate source: source target: target volume: volume goal_default: aspiration_flow_rate: 0.0 dispense_flow_rate: 0.0 source: 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: '' target: 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: '' volume: 0.0 handles: [] result: name: name schema: description: ROS Action LiquidHandlerStamp 的 JSON Schema properties: feedback: description: Action 反馈 - 执行过程中从服务器发送到客户端 properties: {} required: [] title: LiquidHandlerStamp_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: aspiration_flow_rate: type: number dispense_flow_rate: type: number source: 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 target: 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 volume: type: number required: - source - target - volume - aspiration_flow_rate - dispense_flow_rate title: LiquidHandlerStamp_Goal type: object result: description: Action 结果 - 完成后从服务器发送到客户端 properties: return_info: type: string success: type: boolean required: - return_info - success title: LiquidHandlerStamp_Result type: object required: - goal title: LiquidHandlerStamp type: object type: LiquidHandlerStamp transfer: goal: aspiration_flow_rate: aspiration_flow_rate dispense_flow_rates: dispense_flow_rates ratios: ratios source: source source_vol: source_vol target_vols: target_vols targets: targets goal_default: asp_flow_rates: - 0.0 asp_vols: - 0.0 blow_out_air_volume: - 0.0 delays: - 0 dis_flow_rates: - 0.0 dis_vols: - 0.0 is_96_well: false liquid_height: - 0.0 mix_liquid_height: 0.0 mix_rate: 0 mix_stage: '' mix_times: - 0 mix_vol: 0 none_keys: - '' offsets: - x: 0.0 y: 0.0 z: 0.0 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: '' tip_racks: - 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: '' touch_tip: false use_channels: - 0 handles: [] schema: description: ROS Action LiquidHandlerTransfer 的 JSON Schema properties: feedback: description: Action 反馈 - 执行过程中从服务器发送到客户端 properties: {} required: [] title: LiquidHandlerTransfer_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: asp_flow_rates: items: type: number type: array asp_vols: items: type: number type: array blow_out_air_volume: items: type: number type: array delays: items: maximum: 2147483647 minimum: -2147483648 type: integer type: array dis_flow_rates: items: type: number type: array dis_vols: 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_stage: type: string mix_times: items: maximum: 2147483647 minimum: -2147483648 type: integer type: array 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 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 tip_racks: 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 touch_tip: type: boolean use_channels: items: maximum: 2147483647 minimum: -2147483648 type: integer type: array required: - asp_vols - dis_vols - sources - targets - tip_racks - use_channels - asp_flow_rates - dis_flow_rates - offsets - touch_tip - liquid_height - blow_out_air_volume - spread - is_96_well - mix_stage - mix_times - mix_vol - mix_rate - mix_liquid_height - delays - none_keys title: LiquidHandlerTransfer_Goal type: object result: description: Action 结果 - 完成后从服务器发送到客户端 properties: return_info: type: string success: type: boolean required: - return_info - success title: LiquidHandlerTransfer_Result type: object required: - goal title: LiquidHandlerTransfer type: object type: LiquidHandlerTransfer transfer_liquid: feedback: {} goal: asp_flow_rates: asp_flow_rates asp_vols: asp_vols blow_out_air_volume: blow_out_air_volume delays: delays dis_flow_rates: dis_flow_rates dis_vols: dis_vols is_96_well: is_96_well liquid_height: liquid_height mix_liquid_height: mix_liquid_height mix_rate: mix_rate mix_stage: mix_stage mix_times: mix_times mix_vol: mix_vol none_keys: none_keys offsets: offsets sources: sources spread: spread targets: targets tip_racks: tip_racks touch_tip: touch_tip use_channels: use_channels goal_default: asp_flow_rates: - 0.0 asp_vols: - 0.0 blow_out_air_volume: - 0.0 delays: - 0 dis_flow_rates: - 0.0 dis_vols: - 0.0 is_96_well: false liquid_height: - 0.0 mix_liquid_height: 0.0 mix_rate: 0 mix_stage: '' mix_times: - 0 mix_vol: 0 none_keys: - '' offsets: - x: 0.0 y: 0.0 z: 0.0 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: '' tip_racks: - 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: '' touch_tip: false use_channels: - 0 handles: [] result: {} schema: description: ROS Action LiquidHandlerTransfer 的 JSON Schema properties: feedback: description: Action 反馈 - 执行过程中从服务器发送到客户端 properties: {} required: [] title: LiquidHandlerTransfer_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: asp_flow_rates: items: type: number type: array asp_vols: items: type: number type: array blow_out_air_volume: items: type: number type: array delays: items: maximum: 2147483647 minimum: -2147483648 type: integer type: array dis_flow_rates: items: type: number type: array dis_vols: 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_stage: type: string mix_times: items: maximum: 2147483647 minimum: -2147483648 type: integer type: array 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 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 tip_racks: 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 touch_tip: type: boolean use_channels: items: maximum: 2147483647 minimum: -2147483648 type: integer type: array required: - asp_vols - dis_vols - sources - targets - tip_racks - use_channels - asp_flow_rates - dis_flow_rates - offsets - touch_tip - liquid_height - blow_out_air_volume - spread - is_96_well - mix_stage - mix_times - mix_vol - mix_rate - mix_liquid_height - delays - none_keys title: LiquidHandlerTransfer_Goal type: object result: description: Action 结果 - 完成后从服务器发送到客户端 properties: return_info: type: string success: type: boolean required: - return_info - success title: LiquidHandlerTransfer_Result type: object required: - goal title: LiquidHandlerTransfer type: object type: LiquidHandlerTransfer module: unilabos.devices.liquid_handling.liquid_handler_abstract:LiquidHandlerAbstract status_types: {} type: python description: Liquid handler device controlled by pylabrobot handles: input: - data_key: liquid data_source: handle data_type: resource handler_key: liquid-input io_type: target label: Liquid Input output: - data_key: liquid data_source: executor data_type: resource handler_key: liquid-output io_type: source label: Liquid Output icon: icon_yiyezhan.webp init_param_schema: description: UniLabJsonCommand __init__ 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand __init__ 的参数schema properties: backend: description: '参数: backend' type: string deck: description: '参数: deck' type: string required: - backend - deck type: object result: {} required: - goal title: __init__ 命令参数 type: object liquid_handler.biomek: class: action_value_mappings: auto-create_protocol: feedback: {} goal: {} goal_default: none_keys: [] protocol_author: null protocol_date: null protocol_description: null protocol_name: null protocol_type: null protocol_version: null handles: [] result: {} schema: description: UniLabJsonCommand create_protocol 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand create_protocol 的参数schema properties: none_keys: default: [] description: '参数: none_keys' type: array protocol_author: description: '参数: protocol_author' type: string protocol_date: description: '参数: protocol_date' type: string protocol_description: description: '参数: protocol_description' type: string protocol_name: description: '参数: protocol_name' type: string protocol_type: description: '参数: protocol_type' type: string protocol_version: description: '参数: protocol_version' type: string required: - protocol_name - protocol_description - protocol_version - protocol_author - protocol_date - protocol_type type: object result: {} required: - goal title: create_protocol 命令参数 type: object type: UniLabJsonCommand auto-create_resource: feedback: {} goal: {} goal_default: bind_location: null bind_parent_id: null liquid_input_slot: null liquid_type: null liquid_volume: null resource_tracker: null resources: null slot_on_deck: null handles: [] result: {} schema: description: UniLabJsonCommand create_resource 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand create_resource 的参数schema properties: bind_location: description: '参数: bind_location' type: object bind_parent_id: description: '参数: bind_parent_id' type: string liquid_input_slot: description: '参数: liquid_input_slot' type: array liquid_type: description: '参数: liquid_type' type: array liquid_volume: description: '参数: liquid_volume' type: array resource_tracker: description: '参数: resource_tracker' type: string resources: description: '参数: resources' type: array slot_on_deck: description: '参数: slot_on_deck' type: integer required: - resource_tracker - resources - bind_parent_id - bind_location - liquid_input_slot - liquid_type - liquid_volume - slot_on_deck type: object result: {} required: - goal title: create_resource 命令参数 type: object type: UniLabJsonCommand auto-incubation_biomek: feedback: {} goal: {} goal_default: time: null handles: [] result: {} schema: description: UniLabJsonCommand incubation_biomek 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand incubation_biomek 的参数schema properties: time: description: '参数: time' type: integer required: - time type: object result: {} required: - goal title: incubation_biomek 命令参数 type: object type: UniLabJsonCommand auto-instrument_setup_biomek: feedback: {} goal: {} goal_default: class_name: null id: null liquid_input_wells: null liquid_type: null liquid_volume: null parent: null slot_on_deck: null handles: [] result: {} schema: description: UniLabJsonCommand instrument_setup_biomek 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand instrument_setup_biomek 的参数schema properties: class_name: description: '参数: class_name' type: string id: description: '参数: id' type: string liquid_input_wells: description: '参数: liquid_input_wells' type: array liquid_type: description: '参数: liquid_type' type: array liquid_volume: description: '参数: liquid_volume' type: array parent: description: '参数: parent' type: string slot_on_deck: description: '参数: slot_on_deck' type: string required: - id - parent - slot_on_deck - class_name - liquid_type - liquid_volume - liquid_input_wells type: object result: {} required: - goal title: instrument_setup_biomek 命令参数 type: object type: UniLabJsonCommand auto-move_biomek: feedback: {} goal: {} goal_default: source: null target: null handles: [] result: {} schema: description: UniLabJsonCommand move_biomek 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand move_biomek 的参数schema properties: source: description: '参数: source' type: string target: description: '参数: target' type: string required: - source - target type: object result: {} required: - goal title: move_biomek 命令参数 type: object type: UniLabJsonCommand auto-oscillation_biomek: feedback: {} goal: {} goal_default: rpm: null time: null handles: [] result: {} schema: description: UniLabJsonCommand oscillation_biomek 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand oscillation_biomek 的参数schema properties: rpm: description: '参数: rpm' type: integer time: description: '参数: time' type: integer required: - rpm - time type: object result: {} required: - goal title: oscillation_biomek 命令参数 type: object type: UniLabJsonCommand auto-run_protocol: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: UniLabJsonCommand run_protocol 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand run_protocol 的参数schema properties: {} required: [] type: object result: {} required: - goal title: run_protocol 命令参数 type: object type: UniLabJsonCommand auto-transfer_biomek: feedback: {} goal: {} goal_default: aspirate_techniques: null dispense_techniques: null source: null target: null tip_rack: null volume: null handles: [] result: {} schema: description: UniLabJsonCommand transfer_biomek 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand transfer_biomek 的参数schema properties: aspirate_techniques: description: '参数: aspirate_techniques' type: string dispense_techniques: description: '参数: dispense_techniques' type: string source: description: '参数: source' type: string target: description: '参数: target' type: string tip_rack: description: '参数: tip_rack' type: string volume: description: '参数: volume' type: number required: - source - target - tip_rack - volume - aspirate_techniques - dispense_techniques type: object result: {} required: - goal title: transfer_biomek 命令参数 type: object type: UniLabJsonCommand auto-transfer_liquid: feedback: {} goal: {} goal_default: asp_flow_rates: null asp_vols: null blow_out_air_volume: null delays: null dis_flow_rates: null dis_vols: null is_96_well: false liquid_height: null mix_liquid_height: null mix_rate: null mix_stage: none mix_times: null mix_vol: null none_keys: [] offsets: null sources: null spread: wide targets: null tip_racks: null touch_tip: false use_channels: null handles: [] result: {} schema: description: UniLabJsonCommand transfer_liquid 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand transfer_liquid 的参数schema properties: asp_flow_rates: description: '参数: asp_flow_rates' type: string asp_vols: description: '参数: asp_vols' type: string blow_out_air_volume: description: '参数: blow_out_air_volume' type: string delays: description: '参数: delays' type: string dis_flow_rates: description: '参数: dis_flow_rates' type: string dis_vols: description: '参数: dis_vols' type: string is_96_well: default: false description: '参数: is_96_well' type: boolean liquid_height: description: '参数: liquid_height' type: string mix_liquid_height: description: '参数: mix_liquid_height' type: string mix_rate: description: '参数: mix_rate' type: string mix_stage: default: none description: '参数: mix_stage' type: string mix_times: description: '参数: mix_times' type: string mix_vol: description: '参数: mix_vol' type: string none_keys: default: [] description: '参数: none_keys' type: array offsets: description: '参数: offsets' type: string sources: description: '参数: sources' type: string spread: default: wide description: '参数: spread' type: string targets: description: '参数: targets' type: string tip_racks: description: '参数: tip_racks' type: string touch_tip: default: false description: '参数: touch_tip' type: boolean use_channels: description: '参数: use_channels' type: string required: - sources - targets - tip_racks - asp_vols - dis_vols type: object result: {} required: - goal title: transfer_liquid 命令参数 type: object type: UniLabJsonCommand create_protocol: feedback: {} goal: none_keys: none_keys protocol_author: protocol_author protocol_date: protocol_date protocol_description: protocol_description protocol_name: protocol_name protocol_type: protocol_type protocol_version: protocol_version goal_default: none_keys: - '' protocol_author: '' protocol_date: '' protocol_description: '' protocol_name: '' protocol_type: '' protocol_version: '' handles: [] result: {} schema: description: ROS Action LiquidHandlerProtocolCreation 的 JSON Schema properties: feedback: description: Action 反馈 - 执行过程中从服务器发送到客户端 properties: {} required: [] title: LiquidHandlerProtocolCreation_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: none_keys: items: type: string type: array protocol_author: type: string protocol_date: type: string protocol_description: type: string protocol_name: type: string protocol_type: type: string protocol_version: type: string required: - protocol_name - protocol_description - protocol_version - protocol_author - protocol_date - protocol_type - none_keys title: LiquidHandlerProtocolCreation_Goal type: object result: description: Action 结果 - 完成后从服务器发送到客户端 properties: return_info: type: string required: - return_info title: LiquidHandlerProtocolCreation_Result type: object required: - goal title: LiquidHandlerProtocolCreation type: object type: LiquidHandlerProtocolCreation incubation_biomek: feedback: {} goal: time: time goal_default: time: 0 handles: input: - data_key: liquid data_source: handle data_type: resource handler_key: plate label: plate output: - data_key: liquid data_source: handle data_type: resource handler_key: plate_out label: plate result: {} schema: description: ROS Action LiquidHandlerIncubateBiomek 的 JSON Schema properties: feedback: description: Action 反馈 - 执行过程中从服务器发送到客户端 properties: {} required: [] title: LiquidHandlerIncubateBiomek_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: time: maximum: 2147483647 minimum: -2147483648 type: integer required: - time title: LiquidHandlerIncubateBiomek_Goal type: object result: description: Action 结果 - 完成后从服务器发送到客户端 properties: return_info: type: string success: type: boolean required: - return_info - success title: LiquidHandlerIncubateBiomek_Result type: object required: - goal title: LiquidHandlerIncubateBiomek type: object type: LiquidHandlerIncubateBiomek move_biomek: feedback: {} goal: source: sources target: targets goal_default: sources: '' targets: '' handles: input: - data_key: liquid data_source: handle data_type: resource handler_key: sources label: sources output: - data_key: liquid data_source: handle data_type: resource handler_key: targets label: targets result: name: name schema: description: ROS Action LiquidHandlerMoveBiomek 的 JSON Schema properties: feedback: description: Action 反馈 - 执行过程中从服务器发送到客户端 properties: {} required: [] title: LiquidHandlerMoveBiomek_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: sources: type: string targets: type: string required: - sources - targets title: LiquidHandlerMoveBiomek_Goal type: object result: description: Action 结果 - 完成后从服务器发送到客户端 properties: return_info: type: string success: type: boolean required: - return_info - success title: LiquidHandlerMoveBiomek_Result type: object required: - goal title: LiquidHandlerMoveBiomek type: object type: LiquidHandlerMoveBiomek oscillation_biomek: feedback: {} goal: rpm: rpm time: time goal_default: rpm: 0 time: 0 handles: input: - data_key: liquid data_source: handle data_type: resource handler_key: plate label: plate output: - data_key: liquid data_source: handle data_type: resource handler_key: plate_out label: plate result: {} schema: description: ROS Action LiquidHandlerOscillateBiomek 的 JSON Schema properties: feedback: description: Action 反馈 - 执行过程中从服务器发送到客户端 properties: {} required: [] title: LiquidHandlerOscillateBiomek_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: rpm: maximum: 2147483647 minimum: -2147483648 type: integer time: maximum: 2147483647 minimum: -2147483648 type: integer required: - rpm - time title: LiquidHandlerOscillateBiomek_Goal type: object result: description: Action 结果 - 完成后从服务器发送到客户端 properties: return_info: type: string success: type: boolean required: - return_info - success title: LiquidHandlerOscillateBiomek_Result type: object required: - goal title: LiquidHandlerOscillateBiomek type: object type: LiquidHandlerOscillateBiomek run_protocol: feedback: {} goal: {} goal_default: {} handles: [] result: {} schema: description: ROS Action EmptyIn 的 JSON Schema properties: feedback: description: Action 反馈 - 执行过程中从服务器发送到客户端 properties: {} required: [] title: EmptyIn_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: {} required: [] title: EmptyIn_Goal type: object result: description: Action 结果 - 完成后从服务器发送到客户端 properties: return_info: type: string required: - return_info title: EmptyIn_Result type: object required: - goal title: EmptyIn type: object type: EmptyIn transfer_biomek: feedback: {} goal: aspirate_techniques: aspirate_techniques dispense_techniques: dispense_techniques sources: sources targets: targets tip_rack: tip_rack volume: volume goal_default: aspirate_technique: '' dispense_technique: '' sources: '' targets: '' tip_rack: '' volume: 0.0 handles: input: - data_key: liquid data_source: handle data_type: resource handler_key: sources label: sources - data_key: liquid data_source: executor data_type: resource handler_key: targets label: targets - data_key: liquid data_source: executor data_type: resource handler_key: tip_rack label: tip_rack output: - data_key: liquid data_source: handle data_type: resource handler_key: sources_out label: sources - data_key: liquid data_source: executor data_type: resource handler_key: targets_out label: targets result: {} schema: description: ROS Action LiquidHandlerTransferBiomek 的 JSON Schema properties: feedback: description: Action 反馈 - 执行过程中从服务器发送到客户端 properties: {} required: [] title: LiquidHandlerTransferBiomek_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: aspirate_technique: type: string dispense_technique: type: string sources: type: string targets: type: string tip_rack: type: string volume: type: number required: - sources - targets - tip_rack - volume - aspirate_technique - dispense_technique title: LiquidHandlerTransferBiomek_Goal type: object result: description: Action 结果 - 完成后从服务器发送到客户端 properties: return_info: type: string success: type: boolean required: - return_info - success title: LiquidHandlerTransferBiomek_Result type: object required: - goal title: LiquidHandlerTransferBiomek type: object type: LiquidHandlerTransferBiomek transfer_liquid: feedback: {} goal: asp_flow_rates: asp_flow_rates asp_vols: asp_vols blow_out_air_volume: blow_out_air_volume delays: delays dis_flow_rates: dis_flow_rates dis_vols: dis_vols is_96_well: is_96_well liquid_height: liquid_height mix_liquid_height: mix_liquid_height mix_rate: mix_rate mix_stage: mix_stage mix_times: mix_times mix_vol: mix_vol none_keys: none_keys offsets: offsets sources: sources spread: spread targets: targets tip_racks: tip_racks touch_tip: touch_tip use_channels: use_channels goal_default: asp_flow_rates: - 0.0 asp_vols: - 0.0 blow_out_air_volume: - 0.0 delays: - 0 dis_flow_rates: - 0.0 dis_vols: - 0.0 is_96_well: false liquid_height: - 0.0 mix_liquid_height: 0.0 mix_rate: 0 mix_stage: '' mix_times: - 0 mix_vol: 0 none_keys: - '' offsets: - x: 0.0 y: 0.0 z: 0.0 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: '' tip_racks: - 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: '' touch_tip: false use_channels: - 0 handles: input: - data_key: liquid data_source: handle data_type: resource handler_key: liquid-input io_type: target label: Liquid Input output: - data_key: liquid data_source: executor data_type: resource handler_key: liquid-output io_type: source label: Liquid Output result: {} schema: description: ROS Action LiquidHandlerTransfer 的 JSON Schema properties: feedback: description: Action 反馈 - 执行过程中从服务器发送到客户端 properties: {} required: [] title: LiquidHandlerTransfer_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: asp_flow_rates: items: type: number type: array asp_vols: items: type: number type: array blow_out_air_volume: items: type: number type: array delays: items: maximum: 2147483647 minimum: -2147483648 type: integer type: array dis_flow_rates: items: type: number type: array dis_vols: 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_stage: type: string mix_times: items: maximum: 2147483647 minimum: -2147483648 type: integer type: array 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 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 tip_racks: 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 touch_tip: type: boolean use_channels: items: maximum: 2147483647 minimum: -2147483648 type: integer type: array required: - asp_vols - dis_vols - sources - targets - tip_racks - use_channels - asp_flow_rates - dis_flow_rates - offsets - touch_tip - liquid_height - blow_out_air_volume - spread - is_96_well - mix_stage - mix_times - mix_vol - mix_rate - mix_liquid_height - delays - none_keys title: LiquidHandlerTransfer_Goal type: object result: description: Action 结果 - 完成后从服务器发送到客户端 properties: return_info: type: string success: type: boolean required: - return_info - success title: LiquidHandlerTransfer_Result type: object required: - goal title: LiquidHandlerTransfer type: object type: LiquidHandlerTransfer module: unilabos.devices.liquid_handling.biomek:LiquidHandlerBiomek status_types: success: String type: python description: Biomek液体处理器设备，基于pylabrobot控制 handles: [] icon: icon_yiyezhan.webp init_param_schema: description: UniLabJsonCommand __init__ 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand __init__ 的参数schema properties: args: description: '参数: args' type: string kwargs: description: '参数: kwargs' type: string required: - args - kwargs type: object result: {} required: - goal title: __init__ 命令参数 type: object liquid_handler.revvity: class: action_value_mappings: auto-run: feedback: {} goal: {} goal_default: file_path: null params: null resource: AichemecoHiwo: id: AichemecoHiwo handles: [] result: {} schema: description: UniLabJsonCommand run 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand run 的参数schema properties: file_path: description: '参数: file_path' type: string params: description: '参数: params' type: string resource: default: AichemecoHiwo: id: AichemecoHiwo description: '参数: resource' type: object required: - file_path - params type: object result: {} required: - goal title: run 命令参数 type: object type: UniLabJsonCommand run: feedback: status: status goal: params: params resource: resource wf_name: file_path goal_default: params: '' resource: 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: '' wf_name: '' handles: [] result: success: success schema: description: ROS Action WorkStationRun 的 JSON Schema properties: feedback: description: Action 反馈 - 执行过程中从服务器发送到客户端 properties: gantt: type: string status: type: string required: - status - gantt title: WorkStationRun_Feedback type: object goal: description: Action 目标 - 从客户端发送到服务器 properties: params: type: string resource: 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 wf_name: type: string required: - wf_name - params - resource title: WorkStationRun_Goal type: object result: description: Action 结果 - 完成后从服务器发送到客户端 properties: return_info: type: string success: type: boolean required: - return_info - success title: WorkStationRun_Result type: object required: - goal title: WorkStationRun type: object type: WorkStationRun module: unilabos.devices.liquid_handling.revvity:Revvity status_types: status: str success: bool type: python description: '' handles: [] icon: '' init_param_schema: description: UniLabJsonCommand __init__ 的参数schema properties: feedback: {} goal: description: UniLabJsonCommand __init__ 的参数schema properties: {} required: [] type: object result: {} required: - goal title: __init__ 命令参数 type: object