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Uni-Lab-OS/unilabos/registry/devices/laiyu_liquid.yaml
Xuwznln 31ebff8e37 Update devices
2025-11-15 03:10:05 +08:00

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laiyu_liquid:
category:
- liquid_handler
- workstation
- laiyu_liquid
class:
action_value_mappings:
add_liquid:
feedback: {}
goal:
asp_vols: asp_vols
dis_vols: dis_vols
flow_rates: flow_rates
offsets: offsets
reagent_sources: reagent_sources
targets: targets
use_channels: use_channels
goal_default:
asp_vols:
- 0.0
blow_out_air_volume:
- 0.0
dis_vols:
- 0.0
flow_rates:
- 0.0
is_96_well: false
liquid_height:
- 0.0
mix_liquid_height: 0.0
mix_rate: 0
mix_time: 0
mix_vol: 0
none_keys:
- ''
offsets:
- x: 0.0
y: 0.0
z: 0.0
reagent_sources:
- category: ''
children: []
config: ''
data: ''
id: ''
name: ''
parent: ''
pose:
orientation:
w: 1.0
x: 0.0
y: 0.0
z: 0.0
position:
x: 0.0
y: 0.0
z: 0.0
sample_id: ''
type: ''
spread: ''
targets:
- category: ''
children: []
config: ''
data: ''
id: ''
name: ''
parent: ''
pose:
orientation:
w: 1.0
x: 0.0
y: 0.0
z: 0.0
position:
x: 0.0
y: 0.0
z: 0.0
sample_id: ''
type: ''
use_channels:
- 0
handles: {}
placeholder_keys:
reagent_sources: unilabos_resources
targets: unilabos_resources
result: {}
schema:
description: ''
properties:
feedback:
properties: {}
required: []
title: LiquidHandlerAdd_Feedback
type: object
goal:
properties:
asp_vols:
items:
type: number
type: array
blow_out_air_volume:
items:
type: number
type: array
dis_vols:
items:
type: number
type: array
flow_rates:
items:
type: number
type: array
is_96_well:
type: boolean
liquid_height:
items:
type: number
type: array
mix_liquid_height:
type: number
mix_rate:
maximum: 2147483647
minimum: -2147483648
type: integer
mix_time:
maximum: 2147483647
minimum: -2147483648
type: integer
mix_vol:
maximum: 2147483647
minimum: -2147483648
type: integer
none_keys:
items:
type: string
type: array
offsets:
items:
properties:
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
title: offsets
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: orientation
type: object
position:
properties:
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
title: position
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: reagent_sources
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: orientation
type: object
position:
properties:
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
title: position
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: targets
type: object
type: array
use_channels:
items:
maximum: 2147483647
minimum: -2147483648
type: integer
type: array
required:
- asp_vols
- dis_vols
- reagent_sources
- targets
- use_channels
- flow_rates
- offsets
- liquid_height
- blow_out_air_volume
- spread
- is_96_well
- mix_time
- mix_vol
- mix_rate
- mix_liquid_height
- none_keys
title: LiquidHandlerAdd_Goal
type: object
result:
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: LiquidHandlerAdd_Result
type: object
required:
- goal
title: LiquidHandlerAdd
type: object
type: LiquidHandlerAdd
aspirate:
feedback: {}
goal:
flow_rates: flow_rates
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: {}
placeholder_keys:
resources: unilabos_resources
result:
success: success
schema:
description: ''
properties:
feedback:
properties: {}
required: []
title: LiquidHandlerAspirate_Feedback
type: object
goal:
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: offsets
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: orientation
type: object
position:
properties:
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
title: position
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: resources
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:
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_resource:
feedback: {}
goal: {}
goal_default:
name: null
position: null
resource_type: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
name:
type: string
position:
items:
type: number
type: array
resource_type:
type: string
required:
- name
- resource_type
- position
type: object
result: {}
required:
- goal
title: add_resource参数
type: object
type: UniLabJsonCommand
dispense:
feedback: {}
goal:
flow_rates: flow_rates
resources: resources
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: {}
placeholder_keys:
resources: unilabos_resources
result:
success: success
schema:
description: ''
properties:
feedback:
properties: {}
required: []
title: LiquidHandlerDispense_Feedback
type: object
goal:
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: offsets
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: orientation
type: object
position:
properties:
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
title: position
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: resources
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:
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_tip:
feedback: {}
goal:
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:
success: success
schema:
description: ''
properties:
feedback:
properties: {}
required: []
title: LiquidHandlerDropTips_Feedback
type: object
goal:
properties:
allow_nonzero_volume:
type: boolean
offsets:
items:
properties:
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
title: offsets
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: orientation
type: object
position:
properties:
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
title: position
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: tip_spots
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:
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
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: {}
placeholder_keys:
well: unilabos_resources
result:
success: success
schema:
description: ''
properties:
feedback:
properties: {}
required: []
title: LiquidHandlerMoveTo_Feedback
type: object
goal:
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: orientation
type: object
position:
properties:
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
title: position
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: well
type: object
required:
- well
- dis_to_top
- channel
title: LiquidHandlerMoveTo_Goal
type: object
result:
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_tip:
feedback: {}
goal:
tip_rack: tip_rack
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: {}
placeholder_keys:
tip_rack: unilabos_resources
result:
success: success
schema:
description: ''
properties:
feedback:
properties: {}
required: []
title: LiquidHandlerPickUpTips_Feedback
type: object
goal:
properties:
offsets:
items:
properties:
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
title: offsets
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: orientation
type: object
position:
properties:
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
title: position
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: tip_spots
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:
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
setup:
feedback: {}
goal:
string: string
goal_default:
string: ''
handles: {}
result:
success: success
schema:
description: ''
properties:
feedback:
properties: {}
required: []
title: StrSingleInput_Feedback
type: object
goal:
properties:
string:
type: string
required:
- string
title: StrSingleInput_Goal
type: object
result:
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: StrSingleInput_Result
type: object
required:
- goal
title: StrSingleInput
type: object
type: StrSingleInput
stop:
feedback: {}
goal:
string: string
goal_default:
string: ''
handles: {}
result:
success: success
schema:
description: ''
properties:
feedback:
properties: {}
required: []
title: StrSingleInput_Feedback
type: object
goal:
properties:
string:
type: string
required:
- string
title: StrSingleInput_Goal
type: object
result:
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: StrSingleInput_Result
type: object
required:
- goal
title: StrSingleInput
type: object
type: StrSingleInput
transfer:
feedback: {}
goal:
source: source
target: target
tip_position: tip_position
tip_rack: tip_rack
volume: volume
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: {}
placeholder_keys:
source: unilabos_resources
target: unilabos_resources
tip_rack: unilabos_resources
result:
success: success
schema:
description: ''
properties:
feedback:
properties: {}
required: []
title: LiquidHandlerTransfer_Feedback
type: object
goal:
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:
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: offsets
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: orientation
type: object
position:
properties:
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
title: position
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: sources
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: orientation
type: object
position:
properties:
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
title: position
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: targets
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: orientation
type: object
position:
properties:
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
title: position
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: tip_racks
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:
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.laiyu_liquid.core.laiyu_liquid_main:LaiYuLiquid
status_types:
current_position: String
current_volume: float
is_connected: bool
is_initialized: bool
status: dict
tip_attached: bool
type: python
config_info:
- default: /dev/cu.usbserial-3130
description: RS485转USB端口
name: port
type: string
- default: 1
description: 设备地址
name: address
type: integer
- default: 9600
description: 波特率
name: baudrate
type: integer
- default: 5.0
description: 通信超时时间 (秒)
name: timeout
type: number
- default: 340.0
description: 工作台宽度 (mm)
name: deck_width
type: number
- default: 250.0
description: 工作台高度 (mm)
name: deck_height
type: number
- default: 160.0
description: 工作台深度 (mm)
name: deck_depth
type: number
- default: 77000.0
description: 最大体积 (μL)
name: max_volume
type: number
- default: 0.1
description: 最小体积 (μL)
name: min_volume
type: number
- default: 100.0
description: 最大速度 (mm/s)
name: max_speed
type: number
- default: 50.0
description: 加速度 (mm/s²)
name: acceleration
type: number
- default: 50.0
description: 安全高度 (mm)
name: safe_height
type: number
- default: 10.0
description: 吸头拾取深度 (mm)
name: tip_pickup_depth
type: number
- default: true
description: 液面检测功能
name: liquid_detection
type: boolean
- default: 10.0
description: X轴最小安全边距 (mm)
name: safety_margin_x_min
type: number
- default: 10.0
description: X轴最大安全边距 (mm)
name: safety_margin_x_max
type: number
- default: 10.0
description: Y轴最小安全边距 (mm)
name: safety_margin_y_min
type: number
- default: 10.0
description: Y轴最大安全边距 (mm)
name: safety_margin_y_max
type: number
- default: 20.0
description: Z轴安全间隙 (mm)
name: safety_margin_z_clearance
type: number
description: LaiYu液体处理工作站，基于RS485通信协议的自动化液体处理设备。集成XYZ三轴运动平台和SOPA气动式移液器，支持精确的液体分配和转移操作。具备完整的硬件控制、资源管理和标准化接口，适用于实验室自动化液体处理、样品制备、试剂分配等应用场景。设备通过RS485总线控制步进电机和移液器，提供高精度的位置控制和液体处理能力。
handles: []
icon: ''
init_param_schema:
config:
properties:
config:
type: string
required: []
type: object
data:
properties:
current_position:
items:
type: number
type: array
current_volume:
type: number
is_connected:
type: boolean
is_initialized:
type: boolean
status:
type: object
tip_attached:
type: boolean
required:
- current_position
- current_volume
- is_connected
- is_initialized
- tip_attached
- status
type: object
model:
mesh: laiyu_liquid_handler
type: device
version: 1.0.0
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