Uni-Lab-OS/unilabos/registry/devices/liquid_handler.yaml

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