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
