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Uni-Lab-OS/unilabos_msgs/action/Separate.action
2025-07-10 16:48:09 +08:00

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# Goal - 分离操作的目标参数
string vessel # 分离容器名称XDL参数必需
string purpose # 分离目的 ('wash', 'extract', 'separate',可选)
string product_phase # 产物相 ('top', 'bottom',可选)
string from_vessel # 源容器(可选)
string separation_vessel # 分离容器与vessel同义可选
string to_vessel # 目标容器(可选)
string waste_phase_to_vessel # 废相目标容器(可选)
string product_vessel # 产物收集容器XDL参数可选
string waste_vessel # 废液收集容器XDL参数可选
string solvent # 溶剂名称(可选)
string solvent_volume # 溶剂体积(如 "200 mL",可选)
string volume # 体积规格XDL参数如 "?",可选)
string through # 通过材料(如 'celite',可选)
int32 repeats # 重复次数可选默认1
float64 stir_time # 搅拌时间可选默认30秒
float64 stir_speed # 搅拌速度可选默认300 RPM
float64 settling_time # 沉降时间可选默认300秒
---
# Result - 操作结果
bool success # 操作是否成功
string message # 结果消息
string return_info
---
# Feedback - 实时反馈
string status # 当前状态描述
float64 progress # 进度百分比 (0-100)