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9be6e1069ab2346133637f1cadcc143cf29cd7b9
Uni-Lab-OS/unilabos/registry/devices/liquid_handler.yaml
Xuwznln 9be6e1069a 修复部分识别error
2025-06-28 10:52:34 +08:00

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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:
name: String
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
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