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注册表单独上传、新增大量模拟节点与Protocol、新增container管理、修复pip install出现的文件缺失问题 * add biomek.py demo implementation * 更新LiquidHandlerBiomek类,添加资源创建功能,优化协议创建方法,修复部分代码格式问题,更新YAML配置以支持新功能。 * Test * fix biomek success type * Convert LH action to biomek. * Update biomek.py * 注册表上报handle和schema (param input) * 修复biomek缺少的字段 * delete 's' * Remove warnings * Update biomek.py * Biomek test * Update biomek.py * 新增transfer_biomek的msg * New transfer_biomek * Updated transfer_biomek * 更新transfer_biomek的msg * 更新transfer_biomek的msg * 支持Biomek创建 * new action * fix key name typo * New parameter for biomek to run. * Refine * Update * new actions * new actions * 1 * registry * fix biomek startup add action handles * fix handles not as default entry * biomek_test.py biomek_test.py是最新的版本,运行它会生成complete_biomek_protocol.json * Update biomek.py * biomek_test.py * fix liquid_handler.biomek handles * host node新增resource add时间统计 create_resource新增handle bump version to 0.9.2 * 修正物料上传时间 改用biomek_test 增加ResultInfoEncoder 支持返回结果上传 * 正确发送return_info结果 * 同步执行状态信息 * 取消raiseValueError提示 * Update biomek_test.py * 0608 DONE * 同步了Biomek.py 现在应可用 * biomek switch back to non-test * temp disable initialize resource * 37-biomek-i5i7 (#40) * add biomek.py demo implementation * 更新LiquidHandlerBiomek类,添加资源创建功能,优化协议创建方法,修复部分代码格式问题,更新YAML配置以支持新功能。 * Test * fix biomek success type * Convert LH action to biomek. * Update biomek.py * 注册表上报handle和schema (param input) * 修复biomek缺少的字段 * delete 's' * Remove warnings * Update biomek.py * Biomek test * Update biomek.py * 新增transfer_biomek的msg * New transfer_biomek * Updated transfer_biomek * 更新transfer_biomek的msg * 更新transfer_biomek的msg * 支持Biomek创建 * new action * fix key name typo * New parameter for biomek to run. * Refine * Update * new actions * new actions * 1 * registry * fix biomek startup add action handles * fix handles not as default entry * biomek_test.py biomek_test.py是最新的版本,运行它会生成complete_biomek_protocol.json * Update biomek.py * biomek_test.py * fix liquid_handler.biomek handles * host node新增resource add时间统计 create_resource新增handle bump version to 0.9.2 * 修正物料上传时间 改用biomek_test 增加ResultInfoEncoder 支持返回结果上传 * 正确发送return_info结果 * 同步执行状态信息 * 取消raiseValueError提示 * Update biomek_test.py * 0608 DONE * 同步了Biomek.py 现在应可用 * biomek switch back to non-test * temp disable initialize resource * Refine biomek * Refine copy issue * Refine --------- Co-authored-by: Junhan Chang <changjh@pku.edu.cn> Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com> Co-authored-by: qxw138 <qxw@stu.pku.edu.cn> * Device visualization (#39) * Update README and MQTTClient for installation instructions and code improvements * feat: 支持local_config启动 add: 增加对crt path的说明,为传入config.py的相对路径 move: web component * add: registry description * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化,并输出物料ID:mesh的对应关系resource_model 添加物料模型管理类,遍历物料与resource_model,完成TF数据收集 * 完成TF发布 * 修改模型方向,在yaml中添加变换属性 * 添加物料tf变化时,发送topic到前端 另外修改了物料初始化的方法,防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * feat: node_info_update srv fix: OTDeck cant create * close #12 feat: slave node registry * feat: show machine name fix: host node registry not uploaded * feat: add hplc registry * feat: add hplc registry * fix: hplc status typo * fix: devices/ * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化,并输出物料ID:mesh的对应关系resource_model 添加物料模型管理类,遍历物料与resource_model,完成TF数据收集 * 完成TF发布 * 修改模型方向,在yaml中添加变换属性 * 添加物料tf变化时,发送topic到前端 另外修改了物料初始化的方法,防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * fix: device.class possible null * fix: HPLC additions with online service * fix: slave mode spin not working * fix: slave mode spin not working * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * feat: 多ProtocolNode 允许子设备ID相同 feat: 上报发现的ActionClient feat: Host重启动,通过discover机制要求slaveNode重新注册,实现信息及时上报 * feat: 支持env设置config * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * Device visualization (#14) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化,并输出物料ID:mesh的对应关系resource_model 添加物料模型管理类,遍历物料与resource_model,完成TF数据收集 * 完成TF发布 * 修改模型方向,在yaml中添加变换属性 * 添加物料tf变化时,发送topic到前端 另外修改了物料初始化的方法,防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化,并输出物料ID:mesh的对应关系resource_model 添加物料模型管理类,遍历物料与resource_model,完成TF数据收集 * 完成TF发布 * 修改模型方向,在yaml中添加变换属性 * 添加物料tf变化时,发送topic到前端 另外修改了物料初始化的方法,防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: missing hostname in devices_names fix: upload_file for model file * fix: missing paho-mqtt package bump version to 0.9.0 * fix startup add ResourceCreateFromOuter.action * fix type hint * update actions * update actions * host node add_resource_from_outer fix cmake list * pass device config to device class * add: bind_parent_ids to resource create action fix: message convert string * fix: host node should not be re_discovered * feat: resource tracker support dict * feat: add more necessary params * feat: fix boolean null in registry action data * feat: add outer resource * 编写mesh添加action * feat: append resource * add action * feat: vis 2d for plr * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate * Device visualization (#22) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化,并输出物料ID:mesh的对应关系resource_model 添加物料模型管理类,遍历物料与resource_model,完成TF数据收集 * 完成TF发布 * 修改模型方向,在yaml中添加变换属性 * 添加物料tf变化时,发送topic到前端 另外修改了物料初始化的方法,防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化,并输出物料ID:mesh的对应关系resource_model 添加物料模型管理类,遍历物料与resource_model,完成TF数据收集 * 完成TF发布 * 修改模型方向,在yaml中添加变换属性 * 添加物料tf变化时,发送topic到前端 另外修改了物料初始化的方法,防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * 编写mesh添加action * add action * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: multi channel * fix: aspirate * fix: aspirate * fix: aspirate * fix: aspirate * 提交 * fix: jobadd * fix: jobadd * fix: msg converter * tijiao * add resource creat easy action * identify debug msg * mq client id * 提取lh的joint发布 * unify liquid_handler definition * 修改物料跟随与物料添加逻辑 修改物料跟随与物料添加逻辑 将joint_publisher类移出lh的backends,但仍需要对lh的backends进行一些改写 * Revert "修改物料跟随与物料添加逻辑" This reverts commit498c997ad7. * Reapply "修改物料跟随与物料添加逻辑" This reverts commit3a60d2ae81. * Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization" This reverts commitfa727220af, reversing changes made to498c997ad7. * 修改物料放下时的方法,如果选择 修改物料放下时的方法, 如果选择drop_trash,则删除物料显示 如果选择drop,则让其解除连接 * add biomek.py demo implementation * 更新LiquidHandlerBiomek类,添加资源创建功能,优化协议创建方法,修复部分代码格式问题,更新YAML配置以支持新功能。 * Test * fix biomek success type * Convert LH action to biomek. * Update biomek.py * 注册表上报handle和schema (param input) * 修复biomek缺少的字段 * delete 's' * Remove warnings * Update biomek.py * Biomek test * Update biomek.py * 新增transfer_biomek的msg * New transfer_biomek * Updated transfer_biomek * 更新transfer_biomek的msg * 更新transfer_biomek的msg * 支持Biomek创建 * new action * fix key name typo * New parameter for biomek to run. * Refine * Update * new actions * new actions * 1 * registry * fix biomek startup add action handles * fix handles not as default entry * unilab添加moveit启动 1,整合所有moveit节点到一个move_group中,并整合所有的controller依次激活 2,添加pymoveit2的节点,使用json可直接启动 3,修改机械臂规划方式,添加约束,让冗余关节不会进行过多移动 * biomek_test.py biomek_test.py是最新的版本,运行它会生成complete_biomek_protocol.json * Update biomek.py * biomek_test.py * fix liquid_handler.biomek handles * 修改物体attach时,多次赋值当前时间导致卡顿问题, * Revert "修改物体attach时,多次赋值当前时间导致卡顿问题," This reverts commit56d45b94f5. * Reapply "修改物体attach时,多次赋值当前时间导致卡顿问题," This reverts commit07d9db20c3. * 添加缺少物料:"plate_well_G12", * host node新增resource add时间统计 create_resource新增handle bump version to 0.9.2 * 修正物料上传时间 改用biomek_test 增加ResultInfoEncoder 支持返回结果上传 * 正确发送return_info结果 * 同步执行状态信息 * 取消raiseValueError提示 * Update biomek_test.py * 0608 DONE * 同步了Biomek.py 现在应可用 * biomek switch back to non-test * temp disable initialize resource * add * fix tip resource data * liquid states * change to debug level * Revert "change to debug level" This reverts commit5d9953c3e5. * Reapply "change to debug level" This reverts commit2487bb6ffc. * fix tip resource data * add full device * add moveit yaml * 修复moveit 增加post_init阶段,给予ros_node反向 * remove necessary node * fix moveit action client * remove necessary imports * Update moveit_interface.py * fix handler_key uppercase * json add liquids * fix setup * add * change to "sources" and "targets" for lh * bump version * remove parent's parent link --------- Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: Junhan Chang <changjh@pku.edu.cn> Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com> Co-authored-by: qxw138 <qxw@stu.pku.edu.cn> * Device visualization (#41) * Update README and MQTTClient for installation instructions and code improvements * feat: 支持local_config启动 add: 增加对crt path的说明,为传入config.py的相对路径 move: web component * add: registry description * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化,并输出物料ID:mesh的对应关系resource_model 添加物料模型管理类,遍历物料与resource_model,完成TF数据收集 * 完成TF发布 * 修改模型方向,在yaml中添加变换属性 * 添加物料tf变化时,发送topic到前端 另外修改了物料初始化的方法,防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * feat: node_info_update srv fix: OTDeck cant create * close #12 feat: slave node registry * feat: show machine name fix: host node registry not uploaded * feat: add hplc registry * feat: add hplc registry * fix: hplc status typo * fix: devices/ * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化,并输出物料ID:mesh的对应关系resource_model 添加物料模型管理类,遍历物料与resource_model,完成TF数据收集 * 完成TF发布 * 修改模型方向,在yaml中添加变换属性 * 添加物料tf变化时,发送topic到前端 另外修改了物料初始化的方法,防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * fix: device.class possible null * fix: HPLC additions with online service * fix: slave mode spin not working * fix: slave mode spin not working * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * feat: 多ProtocolNode 允许子设备ID相同 feat: 上报发现的ActionClient feat: Host重启动,通过discover机制要求slaveNode重新注册,实现信息及时上报 * feat: 支持env设置config * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * Device visualization (#14) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化,并输出物料ID:mesh的对应关系resource_model 添加物料模型管理类,遍历物料与resource_model,完成TF数据收集 * 完成TF发布 * 修改模型方向,在yaml中添加变换属性 * 添加物料tf变化时,发送topic到前端 另外修改了物料初始化的方法,防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化,并输出物料ID:mesh的对应关系resource_model 添加物料模型管理类,遍历物料与resource_model,完成TF数据收集 * 完成TF发布 * 修改模型方向,在yaml中添加变换属性 * 添加物料tf变化时,发送topic到前端 另外修改了物料初始化的方法,防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: missing hostname in devices_names fix: upload_file for model file * fix: missing paho-mqtt package bump version to 0.9.0 * fix startup add ResourceCreateFromOuter.action * fix type hint * update actions * update actions * host node add_resource_from_outer fix cmake list * pass device config to device class * add: bind_parent_ids to resource create action fix: message convert string * fix: host node should not be re_discovered * feat: resource tracker support dict * feat: add more necessary params * feat: fix boolean null in registry action data * feat: add outer resource * 编写mesh添加action * feat: append resource * add action * feat: vis 2d for plr * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate * Device visualization (#22) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化,并输出物料ID:mesh的对应关系resource_model 添加物料模型管理类,遍历物料与resource_model,完成TF数据收集 * 完成TF发布 * 修改模型方向,在yaml中添加变换属性 * 添加物料tf变化时,发送topic到前端 另外修改了物料初始化的方法,防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化,并输出物料ID:mesh的对应关系resource_model 添加物料模型管理类,遍历物料与resource_model,完成TF数据收集 * 完成TF发布 * 修改模型方向,在yaml中添加变换属性 * 添加物料tf变化时,发送topic到前端 另外修改了物料初始化的方法,防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * 编写mesh添加action * add action * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: multi channel * fix: aspirate * fix: aspirate * fix: aspirate * fix: aspirate * 提交 * fix: jobadd * fix: jobadd * fix: msg converter * tijiao * add resource creat easy action * identify debug msg * mq client id * 提取lh的joint发布 * unify liquid_handler definition * 修改物料跟随与物料添加逻辑 修改物料跟随与物料添加逻辑 将joint_publisher类移出lh的backends,但仍需要对lh的backends进行一些改写 * Revert "修改物料跟随与物料添加逻辑" This reverts commit498c997ad7. * Reapply "修改物料跟随与物料添加逻辑" This reverts commit3a60d2ae81. * Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization" This reverts commitfa727220af, reversing changes made to498c997ad7. * 修改物料放下时的方法,如果选择 修改物料放下时的方法, 如果选择drop_trash,则删除物料显示 如果选择drop,则让其解除连接 * add biomek.py demo implementation * 更新LiquidHandlerBiomek类,添加资源创建功能,优化协议创建方法,修复部分代码格式问题,更新YAML配置以支持新功能。 * Test * fix biomek success type * Convert LH action to biomek. * Update biomek.py * 注册表上报handle和schema (param input) * 修复biomek缺少的字段 * delete 's' * Remove warnings * Update biomek.py * Biomek test * Update biomek.py * 新增transfer_biomek的msg * New transfer_biomek * Updated transfer_biomek * 更新transfer_biomek的msg * 更新transfer_biomek的msg * 支持Biomek创建 * new action * fix key name typo * New parameter for biomek to run. * Refine * Update * new actions * new actions * 1 * registry * fix biomek startup add action handles * fix handles not as default entry * unilab添加moveit启动 1,整合所有moveit节点到一个move_group中,并整合所有的controller依次激活 2,添加pymoveit2的节点,使用json可直接启动 3,修改机械臂规划方式,添加约束,让冗余关节不会进行过多移动 * biomek_test.py biomek_test.py是最新的版本,运行它会生成complete_biomek_protocol.json * Update biomek.py * biomek_test.py * fix liquid_handler.biomek handles * 修改物体attach时,多次赋值当前时间导致卡顿问题, * Revert "修改物体attach时,多次赋值当前时间导致卡顿问题," This reverts commit56d45b94f5. * Reapply "修改物体attach时,多次赋值当前时间导致卡顿问题," This reverts commit07d9db20c3. * 添加缺少物料:"plate_well_G12", * host node新增resource add时间统计 create_resource新增handle bump version to 0.9.2 * 修正物料上传时间 改用biomek_test 增加ResultInfoEncoder 支持返回结果上传 * 正确发送return_info结果 * 同步执行状态信息 * 取消raiseValueError提示 * Update biomek_test.py * 0608 DONE * 同步了Biomek.py 现在应可用 * biomek switch back to non-test * temp disable initialize resource * add * fix tip resource data * liquid states * change to debug level * Revert "change to debug level" This reverts commit5d9953c3e5. * Reapply "change to debug level" This reverts commit2487bb6ffc. * fix tip resource data * add full device * add moveit yaml * 修复moveit 增加post_init阶段,给予ros_node反向 * remove necessary node * fix moveit action client * remove necessary imports * Update moveit_interface.py * fix handler_key uppercase * json add liquids * fix setup * add * change to "sources" and "targets" for lh * bump version * remove parent's parent link * change arm's name * change name --------- Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com> Co-authored-by: Junhan Chang <changjh@pku.edu.cn> Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com> Co-authored-by: qxw138 <qxw@stu.pku.edu.cn> * fix move it * fix move it * create_resource * bump ver modify slot type * 增加modbus支持 调整protocol node以更好支持多种类型的read和write * 调整protocol node以更好支持多种类型的read和write * 补充日志 * Device visualization (#42) * Update README and MQTTClient for installation instructions and code improvements * feat: 支持local_config启动 add: 增加对crt path的说明,为传入config.py的相对路径 move: web component * add: registry description * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化,并输出物料ID:mesh的对应关系resource_model 添加物料模型管理类,遍历物料与resource_model,完成TF数据收集 * 完成TF发布 * 修改模型方向,在yaml中添加变换属性 * 添加物料tf变化时,发送topic到前端 另外修改了物料初始化的方法,防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * feat: node_info_update srv fix: OTDeck cant create * close #12 feat: slave node registry * feat: show machine name fix: host node registry not uploaded * feat: add hplc registry * feat: add hplc registry * fix: hplc status typo * fix: devices/ * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化,并输出物料ID:mesh的对应关系resource_model 添加物料模型管理类,遍历物料与resource_model,完成TF数据收集 * 完成TF发布 * 修改模型方向,在yaml中添加变换属性 * 添加物料tf变化时,发送topic到前端 另外修改了物料初始化的方法,防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * fix: device.class possible null * fix: HPLC additions with online service * fix: slave mode spin not working * fix: slave mode spin not working * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * feat: 多ProtocolNode 允许子设备ID相同 feat: 上报发现的ActionClient feat: Host重启动,通过discover机制要求slaveNode重新注册,实现信息及时上报 * feat: 支持env设置config * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * Device visualization (#14) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化,并输出物料ID:mesh的对应关系resource_model 添加物料模型管理类,遍历物料与resource_model,完成TF数据收集 * 完成TF发布 * 修改模型方向,在yaml中添加变换属性 * 添加物料tf变化时,发送topic到前端 另外修改了物料初始化的方法,防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化,并输出物料ID:mesh的对应关系resource_model 添加物料模型管理类,遍历物料与resource_model,完成TF数据收集 * 完成TF发布 * 修改模型方向,在yaml中添加变换属性 * 添加物料tf变化时,发送topic到前端 另外修改了物料初始化的方法,防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: missing hostname in devices_names fix: upload_file for model file * fix: missing paho-mqtt package bump version to 0.9.0 * fix startup add ResourceCreateFromOuter.action * fix type hint * update actions * update actions * host node add_resource_from_outer fix cmake list * pass device config to device class * add: bind_parent_ids to resource create action fix: message convert string * fix: host node should not be re_discovered * feat: resource tracker support dict * feat: add more necessary params * feat: fix boolean null in registry action data * feat: add outer resource * 编写mesh添加action * feat: append resource * add action * feat: vis 2d for plr * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate * Device visualization (#22) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化,并输出物料ID:mesh的对应关系resource_model 添加物料模型管理类,遍历物料与resource_model,完成TF数据收集 * 完成TF发布 * 修改模型方向,在yaml中添加变换属性 * 添加物料tf变化时,发送topic到前端 另外修改了物料初始化的方法,防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化,并输出物料ID:mesh的对应关系resource_model 添加物料模型管理类,遍历物料与resource_model,完成TF数据收集 * 完成TF发布 * 修改模型方向,在yaml中添加变换属性 * 添加物料tf变化时,发送topic到前端 另外修改了物料初始化的方法,防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * 编写mesh添加action * add action * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: multi channel * fix: aspirate * fix: aspirate * fix: aspirate * fix: aspirate * 提交 * fix: jobadd * fix: jobadd * fix: msg converter * tijiao * add resource creat easy action * identify debug msg * mq client id * 提取lh的joint发布 * unify liquid_handler definition * 修改物料跟随与物料添加逻辑 修改物料跟随与物料添加逻辑 将joint_publisher类移出lh的backends,但仍需要对lh的backends进行一些改写 * Revert "修改物料跟随与物料添加逻辑" This reverts commit498c997ad7. * Reapply "修改物料跟随与物料添加逻辑" This reverts commit3a60d2ae81. * Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization" This reverts commitfa727220af, reversing changes made to498c997ad7. * 修改物料放下时的方法,如果选择 修改物料放下时的方法, 如果选择drop_trash,则删除物料显示 如果选择drop,则让其解除连接 * unilab添加moveit启动 1,整合所有moveit节点到一个move_group中,并整合所有的controller依次激活 2,添加pymoveit2的节点,使用json可直接启动 3,修改机械臂规划方式,添加约束,让冗余关节不会进行过多移动 * 修改物体attach时,多次赋值当前时间导致卡顿问题, * Revert "修改物体attach时,多次赋值当前时间导致卡顿问题," This reverts commit56d45b94f5. * Reapply "修改物体attach时,多次赋值当前时间导致卡顿问题," This reverts commit07d9db20c3. * 添加缺少物料:"plate_well_G12", * add * fix tip resource data * liquid states * change to debug level * Revert "change to debug level" This reverts commit5d9953c3e5. * Reapply "change to debug level" This reverts commit2487bb6ffc. * fix tip resource data * add full device * add moveit yaml * 修复moveit 增加post_init阶段,给予ros_node反向 * remove necessary node * fix moveit action client * remove necessary imports * Update moveit_interface.py * fix handler_key uppercase * json add liquids * fix setup * add * change to "sources" and "targets" for lh * bump version * remove parent's parent link * change arm's name * change name * fix ik error --------- Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com> Co-authored-by: Junhan Chang <changjh@pku.edu.cn> * Add Mock Device for Organic Synthesis\添加有机合成的虚拟仪器和Protocol (#43) * Add Device MockChiller Add device MockChiller * Add Device MockFilter * Add Device MockPump * Add Device MockRotavap * Add Device MockSeparator * Add Device MockStirrer * Add Device MockHeater * Add Device MockVacuum * Add Device MockSolenoidValve * Add Device Mock \_init_.py * 规范模拟设备代码与注册表信息 * 更改Mock大写文件夹名 * 删除大写目录 * Edited Mock device json * Match mock device with action * Edit mock device yaml * Add new action * Add Virtual Device, Action, YAML, Protocol for Organic Syn * 单独分类测试的protocol文件夹 * 更名Action --------- Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com> * bump version & protocol fix * hotfix: Add macos_sdk_config (#46) Co-authored-by: quehh <scienceol@outlook.com> * include device_mesh when pip install * 测试自动构建 * try build fix * try build * test artifacts * hotfix: Add .certs in .gitignore * create container * container 添加和更新完成 * Device registry port (#49) * Update README and MQTTClient for installation instructions and code improvements * feat: 支持local_config启动 add: 增加对crt path的说明,为传入config.py的相对路径 move: web component * add: registry description * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化,并输出物料ID:mesh的对应关系resource_model 添加物料模型管理类,遍历物料与resource_model,完成TF数据收集 * 完成TF发布 * 修改模型方向,在yaml中添加变换属性 * 添加物料tf变化时,发送topic到前端 另外修改了物料初始化的方法,防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * feat: node_info_update srv fix: OTDeck cant create * close #12 feat: slave node registry * feat: show machine name fix: host node registry not uploaded * feat: add hplc registry * feat: add hplc registry * fix: hplc status typo * fix: devices/ * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化,并输出物料ID:mesh的对应关系resource_model 添加物料模型管理类,遍历物料与resource_model,完成TF数据收集 * 完成TF发布 * 修改模型方向,在yaml中添加变换属性 * 添加物料tf变化时,发送topic到前端 另外修改了物料初始化的方法,防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * fix: device.class possible null * fix: HPLC additions with online service * fix: slave mode spin not working * fix: slave mode spin not working * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * feat: 多ProtocolNode 允许子设备ID相同 feat: 上报发现的ActionClient feat: Host重启动,通过discover机制要求slaveNode重新注册,实现信息及时上报 * feat: 支持env设置config * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * Device visualization (#14) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化,并输出物料ID:mesh的对应关系resource_model 添加物料模型管理类,遍历物料与resource_model,完成TF数据收集 * 完成TF发布 * 修改模型方向,在yaml中添加变换属性 * 添加物料tf变化时,发送topic到前端 另外修改了物料初始化的方法,防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化,并输出物料ID:mesh的对应关系resource_model 添加物料模型管理类,遍历物料与resource_model,完成TF数据收集 * 完成TF发布 * 修改模型方向,在yaml中添加变换属性 * 添加物料tf变化时,发送topic到前端 另外修改了物料初始化的方法,防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: missing hostname in devices_names fix: upload_file for model file * fix: missing paho-mqtt package bump version to 0.9.0 * fix startup add ResourceCreateFromOuter.action * fix type hint * update actions * update actions * host node add_resource_from_outer fix cmake list * pass device config to device class * add: bind_parent_ids to resource create action fix: message convert string * fix: host node should not be re_discovered * feat: resource tracker support dict * feat: add more necessary params * feat: fix boolean null in registry action data * feat: add outer resource * 编写mesh添加action * feat: append resource * add action * feat: vis 2d for plr * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate * Device visualization (#22) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化,并输出物料ID:mesh的对应关系resource_model 添加物料模型管理类,遍历物料与resource_model,完成TF数据收集 * 完成TF发布 * 修改模型方向,在yaml中添加变换属性 * 添加物料tf变化时,发送topic到前端 另外修改了物料初始化的方法,防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化,并输出物料ID:mesh的对应关系resource_model 添加物料模型管理类,遍历物料与resource_model,完成TF数据收集 * 完成TF发布 * 修改模型方向,在yaml中添加变换属性 * 添加物料tf变化时,发送topic到前端 另外修改了物料初始化的方法,防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * 编写mesh添加action * add action * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: multi channel * fix: aspirate * fix: aspirate * fix: aspirate * fix: aspirate * 提交 * fix: jobadd * fix: jobadd * fix: msg converter * tijiao * add resource creat easy action * identify debug msg * mq client id * unify liquid_handler definition * Update virtual_device.yaml * 更正了stir和heater的连接方式 * 区分了虚拟仪器中的八通阀和电磁阀,添加了两个阀门的驱动 * 修改了add protocol * 修复了阀门更新版的bug * 修复了添加protocol前缀导致的不能启动的bug * Fix handles * bump version to 0.9.6 * add resource edge upload * update container registry and handles * add virtual_separator virtual_rotavap fix transfer_pump * fix container value add parent_name to edge device id * 大图的问题都修复好了,添加了gassource和vacuum pump的驱动以及注册表 * default resource upload mode is false * 添加了icon的文件名在注册表里面 * 修改了json图中link的格式 * fix resource and edge upload * fix device ports * Fix edge id * 移除device的父节点关联 * separate registry sync and resource_add * 默认不进行注册表报送,通过命令unilabos-register或者增加启动参数 * 完善tip * protocol node不再嵌套显示 * bump version to 0.9.7 新增一个测试PumpTransferProtocol的teststation,亲测可以运行,将八通阀们和转移泵与pump_protocol适配 * protocol node 执行action不应携带自身device id * 添加了一套简易双八通阀工作站JSON,亲测能跑 * 修复了很多protocol,亲测能跑 * 添加了run column和filter through的protocol,亲测能跑 * fix mock_reactor * 修改了大图和小图的json,但是在前端上没看到改变 --------- Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com> Co-authored-by: Junhan Chang <changjh@pku.edu.cn> --------- Co-authored-by: Junhan Chang <changjh@pku.edu.cn> Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com> Co-authored-by: qxw138 <qxw@stu.pku.edu.cn> Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com> Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: Kongchang Feng <2100011801@stu.pku.edu.cn> Co-authored-by: hh. <103566763+Mile-Away@users.noreply.github.com> Co-authored-by: quehh <scienceol@outlook.com> Co-authored-by: Harvey Que <quehaohui@dp.tech>
557 lines
15 KiB
JSON
557 lines
15 KiB
JSON
{
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"nodes": [
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{
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"id": "EvacuateRefillTestStation",
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"name": "抽真空充气测试站",
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"children": [
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"transfer_pump_1",
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"transfer_pump_2",
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"multiway_valve_1",
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"multiway_valve_2",
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"flask_DMF",
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"flask_ethyl_acetate",
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"flask_methanol",
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"flask_air",
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"vacuum_pump_1",
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"gas_source_nitrogen",
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"gas_source_air",
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"solenoid_valve_vacuum",
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"solenoid_valve_gas",
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"main_reactor",
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"stirrer_1",
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"waste_workup",
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"collection_bottle_1"
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],
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"parent": null,
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"type": "device",
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"class": "workstation",
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"position": {
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"x": 500,
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"y": 200,
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"z": 0
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},
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"config": {
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"protocol_type": ["PumpTransferProtocol", "EvacuateAndRefillProtocol"]
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},
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"data": {}
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},
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{
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"id": "transfer_pump_1",
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"name": "转移泵1",
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"children": [],
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"parent": "EvacuateRefillTestStation",
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"type": "device",
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"class": "virtual_transfer_pump",
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"position": {
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"x": 300,
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"y": 300,
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"z": 0
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},
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"config": {
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"port": "VIRTUAL_PUMP1",
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"max_volume": 25.0,
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"transfer_rate": 5.0
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},
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"data": {
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"position": 0.0,
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"status": "Idle"
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}
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},
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{
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"id": "transfer_pump_2",
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"name": "转移泵2",
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"children": [],
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"parent": "EvacuateRefillTestStation",
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"type": "device",
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"class": "virtual_transfer_pump",
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"position": {
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"x": 700,
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"y": 300,
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"z": 0
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},
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"config": {
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"port": "VIRTUAL_PUMP2",
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"max_volume": 25.0,
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"transfer_rate": 5.0
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},
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"data": {
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"position": 0.0,
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"status": "Idle"
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}
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},
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{
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"id": "multiway_valve_1",
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"name": "第一个八通阀",
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"children": [],
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"parent": "EvacuateRefillTestStation",
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"type": "device",
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"class": "virtual_multiway_valve",
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"position": {
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"x": 300,
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"y": 400,
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"z": 0
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},
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"config": {
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"port": "VIRTUAL_VALVE1",
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"positions": 8
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},
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"data": {
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"current_position": 1
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}
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},
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{
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"id": "multiway_valve_2",
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"name": "第二个八通阀",
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"children": [],
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"parent": "EvacuateRefillTestStation",
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"type": "device",
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"class": "virtual_multiway_valve",
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"position": {
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"x": 700,
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"y": 400,
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"z": 0
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},
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"config": {
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"port": "VIRTUAL_VALVE2",
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"positions": 8
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},
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"data": {
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"current_position": 1
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}
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},
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{
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"id": "vacuum_pump_1",
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"name": "真空泵1",
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"children": [],
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"parent": "EvacuateRefillTestStation",
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"type": "device",
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"class": "virtual_vacuum_pump",
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"position": {
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"x": 150,
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"y": 200,
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"z": 0
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},
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"config": {
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"port": "VIRTUAL_VACUUM1",
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"max_pressure": -0.9
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},
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"data": {
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"status": "OFF",
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"pressure": 0.0
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}
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},
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{
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"id": "gas_source_nitrogen",
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"name": "氮气源",
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"children": [],
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"parent": "EvacuateRefillTestStation",
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"type": "device",
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"class": "virtual_gas_source",
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"position": {
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"x": 850,
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"y": 200,
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"z": 0
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},
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"config": {
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"port": "VIRTUAL_GAS_N2",
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"gas_type": "nitrogen",
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"max_pressure": 5.0
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},
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"data": {
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"status": "OFF",
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"flow_rate": 0.0
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}
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},
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{
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"id": "gas_source_air",
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"name": "空气源",
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"children": [],
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"parent": "EvacuateRefillTestStation",
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"type": "device",
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"class": "virtual_gas_source",
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"position": {
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"x": 950,
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"y": 200,
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"z": 0
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},
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"config": {
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"port": "VIRTUAL_GAS_AIR",
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"gas_type": "air",
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"max_pressure": 3.0
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},
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"data": {
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"status": "OFF",
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"flow_rate": 0.0
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}
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},
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{
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"id": "solenoid_valve_vacuum",
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"name": "真空电磁阀",
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"children": [],
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"parent": "EvacuateRefillTestStation",
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"type": "device",
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"class": "virtual_solenoid_valve",
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"position": {
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"x": 225,
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"y": 300,
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"z": 0
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},
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"config": {
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"port": "VIRTUAL_SOLENOID_VACUUM"
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},
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"data": {
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"valve_position": "CLOSED"
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}
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},
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{
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"id": "solenoid_valve_gas",
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"name": "气源电磁阀",
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"children": [],
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"parent": "EvacuateRefillTestStation",
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"type": "device",
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"class": "virtual_solenoid_valve",
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"position": {
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"x": 775,
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"y": 300,
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"z": 0
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},
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"config": {
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"port": "VIRTUAL_SOLENOID_GAS"
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},
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"data": {
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"valve_position": "CLOSED"
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}
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},
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{
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"id": "flask_DMF",
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"name": "DMF试剂瓶",
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"children": [],
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"parent": "EvacuateRefillTestStation",
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"type": "container",
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"class": null,
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"position": {
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"x": 100,
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"y": 500,
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"z": 0
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},
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"config": {
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"max_volume": 1000.0
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},
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"data": {
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"liquid": [
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{
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"liquid_type": "DMF",
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"liquid_volume": 800.0
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}
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]
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}
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},
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{
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"id": "flask_ethyl_acetate",
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"name": "乙酸乙酯试剂瓶",
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"children": [],
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"parent": "EvacuateRefillTestStation",
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"type": "container",
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"class": null,
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"position": {
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"x": 200,
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"y": 500,
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"z": 0
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},
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"config": {
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"max_volume": 1000.0
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},
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"data": {
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"liquid": [
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{
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"liquid_type": "ethyl_acetate",
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"liquid_volume": 800.0
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}
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]
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}
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},
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{
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"id": "flask_methanol",
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"name": "甲醇试剂瓶",
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"children": [],
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"parent": "EvacuateRefillTestStation",
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"type": "container",
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"class": null,
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"position": {
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"x": 300,
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"y": 500,
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"z": 0
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},
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"config": {
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"max_volume": 1000.0
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},
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"data": {
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"liquid": [
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{
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"liquid_type": "methanol",
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"liquid_volume": 800.0
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}
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]
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}
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},
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{
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"id": "flask_air",
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"name": "空气瓶",
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"children": [],
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"parent": "EvacuateRefillTestStation",
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"type": "container",
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"class": null,
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"position": {
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"x": 400,
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"y": 500,
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"z": 0
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},
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"config": {
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"max_volume": 1000.0
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},
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"data": {
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"liquid": []
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}
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},
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{
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"id": "main_reactor",
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"name": "主反应器",
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"children": [],
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"parent": "EvacuateRefillTestStation",
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"type": "container",
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"class": null,
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"position": {
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"x": 600,
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"y": 500,
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"z": 0
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},
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"config": {
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"max_volume": 2000.0
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},
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"data": {
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"liquid": []
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}
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},
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{
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"id": "stirrer_1",
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"name": "搅拌器1",
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"children": [],
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"parent": "EvacuateRefillTestStation",
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"type": "device",
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"class": "virtual_stirrer",
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"position": {
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"x": 600,
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"y": 450,
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"z": 0
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},
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"config": {
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"port": "VIRTUAL_STIRRER1",
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"max_speed": 1500.0
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},
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"data": {
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"speed": 0.0,
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"status": "OFF"
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}
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},
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{
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"id": "waste_workup",
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"name": "废液处理瓶",
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"children": [],
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"parent": "EvacuateRefillTestStation",
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"type": "container",
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"class": null,
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"position": {
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"x": 700,
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"y": 500,
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"z": 0
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},
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"config": {
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"max_volume": 2000.0
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},
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"data": {
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"liquid": []
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}
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},
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{
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"id": "collection_bottle_1",
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"name": "收集瓶1",
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"children": [],
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"parent": "EvacuateRefillTestStation",
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"type": "container",
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"class": null,
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"position": {
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"x": 800,
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"y": 500,
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"z": 0
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},
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"config": {
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"max_volume": 1000.0
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},
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"data": {
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"liquid": []
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}
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}
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],
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"links": [
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{
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"id": "link_pump1_valve1",
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"source": "transfer_pump_1",
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"target": "multiway_valve_1",
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"type": "fluid",
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"port": {
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"transfer_pump_1": "transferpump",
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"multiway_valve_1": "transferpump"
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}
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},
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{
|
|
"id": "link_pump2_valve2",
|
|
"source": "transfer_pump_2",
|
|
"target": "multiway_valve_2",
|
|
"type": "fluid",
|
|
"port": {
|
|
"transfer_pump_2": "transferpump",
|
|
"multiway_valve_2": "transferpump"
|
|
}
|
|
},
|
|
{
|
|
"id": "link_valve1_valve2",
|
|
"source": "multiway_valve_1",
|
|
"target": "multiway_valve_2",
|
|
"type": "fluid",
|
|
"port": {
|
|
"multiway_valve_1": "8",
|
|
"multiway_valve_2": "1"
|
|
}
|
|
},
|
|
{
|
|
"id": "link_vacuum_solenoid",
|
|
"source": "vacuum_pump_1",
|
|
"target": "solenoid_valve_vacuum",
|
|
"type": "fluid",
|
|
"port": {
|
|
"vacuum_pump_1": "outlet",
|
|
"solenoid_valve_vacuum": "inlet"
|
|
}
|
|
},
|
|
{
|
|
"id": "link_solenoid_vacuum_valve1",
|
|
"source": "solenoid_valve_vacuum",
|
|
"target": "multiway_valve_1",
|
|
"type": "fluid",
|
|
"port": {
|
|
"solenoid_valve_vacuum": "outlet",
|
|
"multiway_valve_1": "7"
|
|
}
|
|
},
|
|
{
|
|
"id": "link_gas_solenoid",
|
|
"source": "gas_source_nitrogen",
|
|
"target": "solenoid_valve_gas",
|
|
"type": "fluid",
|
|
"port": {
|
|
"gas_source_nitrogen": "outlet",
|
|
"solenoid_valve_gas": "inlet"
|
|
}
|
|
},
|
|
{
|
|
"id": "link_solenoid_gas_valve2",
|
|
"source": "solenoid_valve_gas",
|
|
"target": "multiway_valve_2",
|
|
"type": "fluid",
|
|
"port": {
|
|
"solenoid_valve_gas": "outlet",
|
|
"multiway_valve_2": "8"
|
|
}
|
|
},
|
|
{
|
|
"id": "link_air_source_valve2",
|
|
"source": "gas_source_air",
|
|
"target": "multiway_valve_2",
|
|
"type": "fluid",
|
|
"port": {
|
|
"gas_source_air": "outlet",
|
|
"multiway_valve_2": "2"
|
|
}
|
|
},
|
|
{
|
|
"id": "link_valve1_air",
|
|
"source": "multiway_valve_1",
|
|
"target": "flask_air",
|
|
"type": "fluid",
|
|
"port": {
|
|
"multiway_valve_1": "1",
|
|
"flask_air": "top"
|
|
}
|
|
},
|
|
{
|
|
"id": "link_valve1_DMF",
|
|
"source": "multiway_valve_1",
|
|
"target": "flask_DMF",
|
|
"type": "fluid",
|
|
"port": {
|
|
"multiway_valve_1": "2",
|
|
"flask_DMF": "outlet"
|
|
}
|
|
},
|
|
{
|
|
"id": "link_valve1_ethyl_acetate",
|
|
"source": "multiway_valve_1",
|
|
"target": "flask_ethyl_acetate",
|
|
"type": "fluid",
|
|
"port": {
|
|
"multiway_valve_1": "3",
|
|
"flask_ethyl_acetate": "outlet"
|
|
}
|
|
},
|
|
{
|
|
"id": "link_valve1_methanol",
|
|
"source": "multiway_valve_1",
|
|
"target": "flask_methanol",
|
|
"type": "fluid",
|
|
"port": {
|
|
"multiway_valve_1": "4",
|
|
"flask_methanol": "outlet"
|
|
}
|
|
},
|
|
{
|
|
"id": "link_valve2_reactor",
|
|
"source": "multiway_valve_2",
|
|
"target": "main_reactor",
|
|
"type": "fluid",
|
|
"port": {
|
|
"multiway_valve_2": "5",
|
|
"main_reactor": "inlet"
|
|
}
|
|
},
|
|
{
|
|
"id": "link_valve2_waste",
|
|
"source": "multiway_valve_2",
|
|
"target": "waste_workup",
|
|
"type": "fluid",
|
|
"port": {
|
|
"multiway_valve_2": "6",
|
|
"waste_workup": "inlet"
|
|
}
|
|
},
|
|
{
|
|
"id": "link_valve2_collection",
|
|
"source": "multiway_valve_2",
|
|
"target": "collection_bottle_1",
|
|
"type": "fluid",
|
|
"port": {
|
|
"multiway_valve_2": "7",
|
|
"collection_bottle_1": "inlet"
|
|
}
|
|
},
|
|
{
|
|
"id": "link_stirrer_reactor",
|
|
"source": "stirrer_1",
|
|
"target": "main_reactor",
|
|
"type": "mechanical",
|
|
"port": {
|
|
"stirrer_1": "stirrer",
|
|
"main_reactor": "stirrer"
|
|
}
|
|
}
|
|
]
|
|
} |