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

liquid_handler:
  category:
  - liquid_handler
  class:
    action_value_mappings:
      add_liquid:
        feedback: {}
        goal:
          asp_vols: asp_vols
          blow_out_air_volume: blow_out_air_volume
          delays: delays
          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: []
          blow_out_air_volume: []
          dis_vols: []
          flow_rates: []
          is_96_well: false
          liquid_height: []
          mix_liquid_height: 0.0
          mix_rate: 0
          mix_time: 0
          mix_vol: 0
          none_keys: []
          offsets: []
          reagent_sources: []
          spread: ''
          targets: []
          use_channels: []
        handles: {}
        placeholder_keys:
          reagent_sources: unilabos_resources
          targets: unilabos_resources
        result:
          return_info: return_info
          success: success
        schema:
          description: ''
          properties:
            feedback:
              additionalProperties: true
              title: LiquidHandlerAdd_Feedback
              type: object
            goal:
              additionalProperties: false
              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:
                  maximum: 1.7976931348623157e+308
                  minimum: -1.7976931348623157e+308
                  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
                    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
                    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
                    type: object
                  type: array
                use_channels:
                  items:
                    type: integer
                  type: array
              title: LiquidHandlerAdd_Goal
              type: object
            result:
              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              title: LiquidHandlerAdd_Result
              type: object
          required:
          - goal
          title: LiquidHandlerAdd
          type: object
        type: LiquidHandlerAdd
      aspirate:
        feedback: {}
        goal:
          blow_out_air_volume: blow_out_air_volume
          flow_rates: flow_rates
          liquid_height: liquid_height
          offsets: offsets
          resources: resources
          use_channels: use_channels
          vols: vols
        goal_default:
          blow_out_air_volume: []
          flow_rates: []
          liquid_height: []
          offsets: []
          resources: []
          spread: ''
          use_channels: []
          vols: []
        handles: {}
        result:
          name: name
        schema:
          description: ''
          properties:
            feedback:
              additionalProperties: true
              title: LiquidHandlerAspirate_Feedback
              type: object
            goal:
              additionalProperties: false
              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
                    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
                    type: object
                  type: array
                spread:
                  type: string
                use_channels:
                  items:
                    type: integer
                  type: array
                vols:
                  items:
                    type: number
                  type: array
              title: LiquidHandlerAspirate_Goal
              type: object
            result:
              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              title: LiquidHandlerAspirate_Result
              type: object
          required:
          - goal
          title: LiquidHandlerAspirate
          type: object
        type: LiquidHandlerAspirate
      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: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: 创建实验协议函数。用于建立新的液体处理实验协议，定义协议名称、描述、版本、作者、日期等基本信息。该函数支持协议模板化管理，便于实验流程的标准化和重复性。适用于实验设计、方法开发、标准操作程序建立等需要协议管理的应用场景。
          properties:
            feedback: {}
            goal:
              properties:
                none_keys:
                  default: []
                  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
              type: object
            result: {}
          required:
          - goal
          title: create_protocol参数
          type: object
        type: UniLabJsonCommandAsync
      auto-custom_delay:
        feedback: {}
        goal: {}
        goal_default:
          msg: null
          seconds: 0
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: 自定义延时函数。在实验流程中插入可配置的等待时间，用于满足特定的反应时间、孵育时间或设备稳定时间要求。支持自定义延时消息和秒数设置，提供流程控制和时间管理功能。适用于酶反应等待、温度平衡、样品孵育等需要时间控制的实验步骤。
          properties:
            feedback: {}
            goal:
              properties:
                msg:
                  type: string
                seconds:
                  default: 0
                  type: string
              required: []
              type: object
            result: {}
          required:
          - goal
          title: custom_delay参数
          type: object
        type: UniLabJsonCommandAsync
      auto-iter_tips:
        feedback: {}
        goal: {}
        goal_default:
          tip_racks: null
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: 吸头迭代函数。用于自动管理和切换枪头盒中的吸头，实现批量实验中的吸头自动分配和追踪。该函数监控吸头使用状态，自动切换到下一个可用吸头位置，确保实验流程的连续性。适用于高通量实验、批量处理、自动化流水线等需要大量吸头管理的应用场景。
          properties:
            feedback: {}
            goal:
              properties:
                tip_racks:
                  items:
                    type: object
                  type: array
              required:
              - tip_racks
              type: object
            result:
              type: string
          required:
          - goal
          title: iter_tips参数
          type: object
        type: UniLabJsonCommand
      auto-set_group:
        feedback: {}
        goal: {}
        goal_default:
          group_name: null
          volumes: null
          wells: null
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: ''
          properties:
            feedback: {}
            goal:
              properties:
                group_name:
                  type: string
                volumes:
                  items:
                    type: number
                  type: array
                wells:
                  items:
                    type: object
                  type: array
              required:
              - group_name
              - wells
              - volumes
              type: object
            result: {}
          required:
          - goal
          title: set_group参数
          type: object
        type: UniLabJsonCommand
      auto-set_liquid:
        feedback: {}
        goal: {}
        goal_default:
          liquid_names: null
          volumes: null
          wells: null
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: set_liquid的参数schema
          properties:
            feedback: {}
            goal:
              properties:
                liquid_names:
                  items:
                    type: string
                  type: array
                volumes:
                  items:
                    type: number
                  type: array
                wells:
                  items:
                    type: object
                  type: array
              required:
              - wells
              - liquid_names
              - volumes
              type: object
            result:
              $defs:
                ResourceDict:
                  properties:
                    class:
                      description: Resource class name
                      title: Class
                      type: string
                    config:
                      additionalProperties: true
                      description: Resource configuration
                      title: Config
                      type: object
                    data:
                      additionalProperties: true
                      description: 'Resource data, eg: container liquid data'
                      title: Data
                      type: object
                    description:
                      default: ''
                      description: Resource description
                      title: Description
                      type: string
                    extra:
                      additionalProperties: true
                      description: 'Extra data, eg: slot index'
                      title: Extra
                      type: object
                    icon:
                      default: ''
                      description: Resource icon
                      title: Icon
                      type: string
                    id:
                      description: Resource ID
                      title: Id
                      type: string
                    machine_name:
                      default: ''
                      description: Machine this resource belongs to
                      title: Machine Name
                      type: string
                    model:
                      additionalProperties: true
                      description: Resource model
                      title: Model
                      type: object
                    name:
                      description: Resource name
                      title: Name
                      type: string
                    parent:
                      anyOf:
                      - $ref: '#/$defs/ResourceDict'
                      - type: 'null'
                      default: null
                      description: Parent resource object
                    parent_uuid:
                      anyOf:
                      - type: string
                      - type: 'null'
                      default: null
                      description: Parent resource uuid
                      title: Parent Uuid
                    pose:
                      $ref: '#/$defs/ResourceDictPosition'
                      description: Resource position
                    schema:
                      additionalProperties: true
                      description: Resource schema
                      title: Schema
                      type: object
                    type:
                      anyOf:
                      - const: device
                        type: string
                      - type: string
                      description: Resource type
                      title: Type
                    uuid:
                      description: Resource UUID
                      title: Uuid
                      type: string
                  required:
                  - id
                  - uuid
                  - name
                  - type
                  - class
                  - config
                  - data
                  - extra
                  title: ResourceDict
                  type: object
                ResourceDictPosition:
                  properties:
                    cross_section_type:
                      default: rectangle
                      description: Cross section type
                      enum:
                      - rectangle
                      - circle
                      - rounded_rectangle
                      title: Cross Section Type
                      type: string
                    extra:
                      anyOf:
                      - additionalProperties: true
                        type: object
                      - type: 'null'
                      default: null
                      description: Extra data
                      title: Extra
                    layout:
                      default: x-y
                      description: Resource layout
                      enum:
                      - 2d
                      - x-y
                      - z-y
                      - x-z
                      title: Layout
                      type: string
                    position:
                      $ref: '#/$defs/ResourceDictPositionObject'
                      description: Resource position
                    position3d:
                      $ref: '#/$defs/ResourceDictPositionObject'
                      description: Resource position in 3D space
                    rotation:
                      $ref: '#/$defs/ResourceDictPositionObject'
                      description: Resource rotation
                    scale:
                      $ref: '#/$defs/ResourceDictPositionScale'
                      description: Resource scale
                    size:
                      $ref: '#/$defs/ResourceDictPositionSize'
                      description: Resource size
                  title: ResourceDictPosition
                  type: object
                ResourceDictPositionObject:
                  properties:
                    x:
                      default: 0.0
                      description: X coordinate
                      title: X
                      type: number
                    y:
                      default: 0.0
                      description: Y coordinate
                      title: Y
                      type: number
                    z:
                      default: 0.0
                      description: Z coordinate
                      title: Z
                      type: number
                  title: ResourceDictPositionObject
                  type: object
                ResourceDictPositionScale:
                  properties:
                    x:
                      default: 0.0
                      description: x scale
                      title: X
                      type: number
                    y:
                      default: 0.0
                      description: y scale
                      title: Y
                      type: number
                    z:
                      default: 0.0
                      description: z scale
                      title: Z
                      type: number
                  title: ResourceDictPositionScale
                  type: object
                ResourceDictPositionSize:
                  properties:
                    depth:
                      default: 0.0
                      description: Depth
                      title: Depth
                      type: number
                    height:
                      default: 0.0
                      description: Height
                      title: Height
                      type: number
                    width:
                      default: 0.0
                      description: Width
                      title: Width
                      type: number
                  title: ResourceDictPositionSize
                  type: object
              properties:
                volumes:
                  items:
                    type: number
                  title: Volumes
                  type: array
                wells:
                  items:
                    items:
                      $ref: '#/$defs/ResourceDict'
                    type: array
                  title: Wells
                  type: array
              required:
              - wells
              - volumes
              title: SetLiquidReturn
              type: object
          required:
          - goal
          title: set_liquid参数
          type: object
        type: UniLabJsonCommand
      auto-set_liquid_from_plate:
        feedback: {}
        goal: {}
        goal_default:
          liquid_names: null
          plate: null
          volumes: null
          well_names: null
        handles: {}
        placeholder_keys:
          plate: unilabos_resources
        result: {}
        schema:
          description: ''
          properties:
            feedback: {}
            goal:
              properties:
                liquid_names:
                  items:
                    type: string
                  type: array
                plate:
                  additionalProperties: false
                  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:
                      additionalProperties: false
                      properties:
                        orientation:
                          additionalProperties: false
                          properties:
                            w:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            x:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            y:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            z:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                          required:
                          - x
                          - y
                          - z
                          - w
                          title: orientation
                          type: object
                        position:
                          additionalProperties: false
                          properties:
                            x:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            y:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            z:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                          required:
                          - x
                          - y
                          - z
                          title: position
                          type: object
                      required:
                      - position
                      - orientation
                      title: pose
                      type: object
                    sample_id:
                      type: string
                    type:
                      type: string
                  title: plate
                  type: object
                volumes:
                  items:
                    type: number
                  type: array
                well_names:
                  items:
                    type: string
                  type: array
              required:
              - plate
              - well_names
              - liquid_names
              - volumes
              type: object
            result:
              $defs:
                ResourceDict:
                  properties:
                    class:
                      description: Resource class name
                      title: Class
                      type: string
                    config:
                      additionalProperties: true
                      description: Resource configuration
                      title: Config
                      type: object
                    data:
                      additionalProperties: true
                      description: 'Resource data, eg: container liquid data'
                      title: Data
                      type: object
                    description:
                      default: ''
                      description: Resource description
                      title: Description
                      type: string
                    extra:
                      additionalProperties: true
                      description: 'Extra data, eg: slot index'
                      title: Extra
                      type: object
                    icon:
                      default: ''
                      description: Resource icon
                      title: Icon
                      type: string
                    id:
                      description: Resource ID
                      title: Id
                      type: string
                    machine_name:
                      default: ''
                      description: Machine this resource belongs to
                      title: Machine Name
                      type: string
                    model:
                      additionalProperties: true
                      description: Resource model
                      title: Model
                      type: object
                    name:
                      description: Resource name
                      title: Name
                      type: string
                    parent:
                      anyOf:
                      - $ref: '#/$defs/ResourceDict'
                      - type: 'null'
                      default: null
                      description: Parent resource object
                    parent_uuid:
                      anyOf:
                      - type: string
                      - type: 'null'
                      default: null
                      description: Parent resource uuid
                      title: Parent Uuid
                    pose:
                      $ref: '#/$defs/ResourceDictPosition'
                      description: Resource position
                    schema:
                      additionalProperties: true
                      description: Resource schema
                      title: Schema
                      type: object
                    type:
                      anyOf:
                      - const: device
                        type: string
                      - type: string
                      description: Resource type
                      title: Type
                    uuid:
                      description: Resource UUID
                      title: Uuid
                      type: string
                  required:
                  - id
                  - uuid
                  - name
                  - type
                  - class
                  - config
                  - data
                  - extra
                  title: ResourceDict
                  type: object
                ResourceDictPosition:
                  properties:
                    cross_section_type:
                      default: rectangle
                      description: Cross section type
                      enum:
                      - rectangle
                      - circle
                      - rounded_rectangle
                      title: Cross Section Type
                      type: string
                    extra:
                      anyOf:
                      - additionalProperties: true
                        type: object
                      - type: 'null'
                      default: null
                      description: Extra data
                      title: Extra
                    layout:
                      default: x-y
                      description: Resource layout
                      enum:
                      - 2d
                      - x-y
                      - z-y
                      - x-z
                      title: Layout
                      type: string
                    position:
                      $ref: '#/$defs/ResourceDictPositionObject'
                      description: Resource position
                    position3d:
                      $ref: '#/$defs/ResourceDictPositionObject'
                      description: Resource position in 3D space
                    rotation:
                      $ref: '#/$defs/ResourceDictPositionObject'
                      description: Resource rotation
                    scale:
                      $ref: '#/$defs/ResourceDictPositionScale'
                      description: Resource scale
                    size:
                      $ref: '#/$defs/ResourceDictPositionSize'
                      description: Resource size
                  title: ResourceDictPosition
                  type: object
                ResourceDictPositionObject:
                  properties:
                    x:
                      default: 0.0
                      description: X coordinate
                      title: X
                      type: number
                    y:
                      default: 0.0
                      description: Y coordinate
                      title: Y
                      type: number
                    z:
                      default: 0.0
                      description: Z coordinate
                      title: Z
                      type: number
                  title: ResourceDictPositionObject
                  type: object
                ResourceDictPositionScale:
                  properties:
                    x:
                      default: 0.0
                      description: x scale
                      title: X
                      type: number
                    y:
                      default: 0.0
                      description: y scale
                      title: Y
                      type: number
                    z:
                      default: 0.0
                      description: z scale
                      title: Z
                      type: number
                  title: ResourceDictPositionScale
                  type: object
                ResourceDictPositionSize:
                  properties:
                    depth:
                      default: 0.0
                      description: Depth
                      title: Depth
                      type: number
                    height:
                      default: 0.0
                      description: Height
                      title: Height
                      type: number
                    width:
                      default: 0.0
                      description: Width
                      title: Width
                      type: number
                  title: ResourceDictPositionSize
                  type: object
              properties:
                plate:
                  items:
                    items:
                      $ref: '#/$defs/ResourceDict'
                    type: array
                  title: Plate
                  type: array
                volumes:
                  items:
                    type: number
                  title: Volumes
                  type: array
                wells:
                  items:
                    items:
                      $ref: '#/$defs/ResourceDict'
                    type: array
                  title: Wells
                  type: array
              required:
              - plate
              - wells
              - volumes
              title: SetLiquidFromPlateReturn
              type: object
          required:
          - goal
          title: set_liquid_from_plate参数
          type: object
        type: UniLabJsonCommand
      auto-set_tiprack:
        feedback: {}
        goal: {}
        goal_default:
          tip_racks: null
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: 枪头盒设置函数。用于配置和初始化液体处理系统的枪头盒信息，包括枪头盒位置、类型、容量等参数。该函数建立吸头资源管理系统，为后续的吸头选择和使用提供基础配置。适用于系统初始化、枪头盒更换、实验配置等需要吸头资源管理的操作场景。
          properties:
            feedback: {}
            goal:
              properties:
                tip_racks:
                  items:
                    type: object
                  type: array
              required:
              - tip_racks
              type: object
            result: {}
          required:
          - goal
          title: set_tiprack参数
          type: object
        type: UniLabJsonCommand
      auto-touch_tip:
        feedback: {}
        goal: {}
        goal_default:
          targets: null
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: 吸头碰触函数。控制移液器吸头轻触容器边缘或底部，用于去除吸头外壁附着的液滴，提高移液精度和减少污染。该函数支持多目标位置操作，可配置碰触参数和位置偏移。适用于精密移液、减少液体残留、防止交叉污染等需要提高移液质量的实验操作。
          properties:
            feedback: {}
            goal:
              properties:
                targets:
                  items:
                    type: object
                  type: array
              required:
              - targets
              type: object
            result: {}
          required:
          - goal
          title: touch_tip参数
          type: object
        type: UniLabJsonCommandAsync
      auto-transfer_group:
        feedback: {}
        goal: {}
        goal_default:
          source_group_name: null
          target_group_name: null
          unit_volume: null
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: ''
          properties:
            feedback: {}
            goal:
              properties:
                source_group_name:
                  type: string
                target_group_name:
                  type: string
                unit_volume:
                  type: number
              required:
              - source_group_name
              - target_group_name
              - unit_volume
              type: object
            result: {}
          required:
          - goal
          title: transfer_group参数
          type: object
        type: UniLabJsonCommandAsync
      discard_tips:
        feedback: {}
        goal:
          use_channels: use_channels
        goal_default:
          use_channels: []
        handles: {}
        result:
          name: name
        schema:
          description: ''
          properties:
            feedback:
              additionalProperties: true
              title: LiquidHandlerDiscardTips_Feedback
              type: object
            goal:
              additionalProperties: false
              properties:
                use_channels:
                  items:
                    type: integer
                  type: array
              title: LiquidHandlerDiscardTips_Goal
              type: object
            result:
              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              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: []
          flow_rates: []
          offsets: []
          resources: []
          spread: ''
          use_channels: []
          vols: []
        handles: {}
        result:
          name: name
        schema:
          description: ''
          properties:
            feedback:
              additionalProperties: true
              title: LiquidHandlerDispense_Feedback
              type: object
            goal:
              additionalProperties: false
              properties:
                blow_out_air_volume:
                  items:
                    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
                    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
                    type: object
                  type: array
                spread:
                  type: string
                use_channels:
                  items:
                    type: integer
                  type: array
                vols:
                  items:
                    type: number
                  type: array
              title: LiquidHandlerDispense_Goal
              type: object
            result:
              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              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: []
          tip_spots: []
          use_channels: []
        handles: {}
        placeholder_keys:
          tip_spots: unilabos_resources
        result:
          name: name
        schema:
          description: ''
          properties:
            feedback:
              additionalProperties: true
              title: LiquidHandlerDropTips_Feedback
              type: object
            goal:
              additionalProperties: false
              properties:
                allow_nonzero_volume:
                  type: boolean
                offsets:
                  items:
                    properties:
                      x:
                        type: number
                      y:
                        type: number
                      z:
                        type: number
                    required:
                    - x
                    - y
                    - z
                    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
                    type: object
                  type: array
                use_channels:
                  items:
                    type: integer
                  type: array
              title: LiquidHandlerDropTips_Goal
              type: object
            result:
              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              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: ''
          properties:
            feedback:
              additionalProperties: true
              title: LiquidHandlerDropTips96_Feedback
              type: object
            goal:
              additionalProperties: false
              properties:
                allow_nonzero_volume:
                  type: boolean
                offset:
                  additionalProperties: false
                  properties:
                    x:
                      maximum: 1.7976931348623157e+308
                      minimum: -1.7976931348623157e+308
                      type: number
                    y:
                      maximum: 1.7976931348623157e+308
                      minimum: -1.7976931348623157e+308
                      type: number
                    z:
                      maximum: 1.7976931348623157e+308
                      minimum: -1.7976931348623157e+308
                      type: number
                  required:
                  - x
                  - y
                  - z
                  title: offset
                  type: object
                tip_rack:
                  additionalProperties: false
                  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:
                      additionalProperties: false
                      properties:
                        orientation:
                          additionalProperties: false
                          properties:
                            w:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            x:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            y:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            z:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                          required:
                          - x
                          - y
                          - z
                          - w
                          title: orientation
                          type: object
                        position:
                          additionalProperties: false
                          properties:
                            x:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            y:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            z:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              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_rack
                  type: object
              title: LiquidHandlerDropTips96_Goal
              type: object
            result:
              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              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: []
          targets: []
        handles: {}
        placeholder_keys: {}
        result:
          return_info: return_info
          success: success
        schema:
          description: ''
          properties:
            feedback:
              additionalProperties: true
              title: LiquidHandlerMix_Feedback
              type: object
            goal:
              additionalProperties: false
              properties:
                height_to_bottom:
                  maximum: 1.7976931348623157e+308
                  minimum: -1.7976931348623157e+308
                  type: number
                mix_rate:
                  maximum: 1.7976931348623157e+308
                  minimum: -1.7976931348623157e+308
                  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
                    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: 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
                    type: object
                  type: array
              title: LiquidHandlerMix_Goal
              type: object
            result:
              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              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: []
          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: ''
          properties:
            feedback:
              additionalProperties: true
              title: LiquidHandlerMoveLid_Feedback
              type: object
            goal:
              additionalProperties: false
              properties:
                destination_offset:
                  additionalProperties: false
                  properties:
                    x:
                      maximum: 1.7976931348623157e+308
                      minimum: -1.7976931348623157e+308
                      type: number
                    y:
                      maximum: 1.7976931348623157e+308
                      minimum: -1.7976931348623157e+308
                      type: number
                    z:
                      maximum: 1.7976931348623157e+308
                      minimum: -1.7976931348623157e+308
                      type: number
                  required:
                  - x
                  - y
                  - z
                  title: destination_offset
                  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
                    type: object
                  type: array
                lid:
                  additionalProperties: false
                  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:
                      additionalProperties: false
                      properties:
                        orientation:
                          additionalProperties: false
                          properties:
                            w:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            x:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            y:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            z:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                          required:
                          - x
                          - y
                          - z
                          - w
                          title: orientation
                          type: object
                        position:
                          additionalProperties: false
                          properties:
                            x:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            y:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            z:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              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: lid
                  type: object
                pickup_direction:
                  type: string
                pickup_distance_from_top:
                  maximum: 1.7976931348623157e+308
                  minimum: -1.7976931348623157e+308
                  type: number
                put_direction:
                  type: string
                resource_offset:
                  additionalProperties: false
                  properties:
                    x:
                      maximum: 1.7976931348623157e+308
                      minimum: -1.7976931348623157e+308
                      type: number
                    y:
                      maximum: 1.7976931348623157e+308
                      minimum: -1.7976931348623157e+308
                      type: number
                    z:
                      maximum: 1.7976931348623157e+308
                      minimum: -1.7976931348623157e+308
                      type: number
                  required:
                  - x
                  - y
                  - z
                  title: resource_offset
                  type: object
                to:
                  additionalProperties: false
                  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:
                      additionalProperties: false
                      properties:
                        orientation:
                          additionalProperties: false
                          properties:
                            w:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            x:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            y:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            z:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                          required:
                          - x
                          - y
                          - z
                          - w
                          title: orientation
                          type: object
                        position:
                          additionalProperties: false
                          properties:
                            x:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            y:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            z:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              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: to
                  type: object
              title: LiquidHandlerMoveLid_Goal
              type: object
            result:
              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              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: []
          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: ''
          properties:
            feedback:
              additionalProperties: true
              title: LiquidHandlerMovePlate_Feedback
              type: object
            goal:
              additionalProperties: false
              properties:
                destination_offset:
                  additionalProperties: false
                  properties:
                    x:
                      maximum: 1.7976931348623157e+308
                      minimum: -1.7976931348623157e+308
                      type: number
                    y:
                      maximum: 1.7976931348623157e+308
                      minimum: -1.7976931348623157e+308
                      type: number
                    z:
                      maximum: 1.7976931348623157e+308
                      minimum: -1.7976931348623157e+308
                      type: number
                  required:
                  - x
                  - y
                  - z
                  title: destination_offset
                  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
                    type: object
                  type: array
                pickup_direction:
                  type: string
                pickup_distance_from_top:
                  maximum: 1.7976931348623157e+308
                  minimum: -1.7976931348623157e+308
                  type: number
                pickup_offset:
                  additionalProperties: false
                  properties:
                    x:
                      maximum: 1.7976931348623157e+308
                      minimum: -1.7976931348623157e+308
                      type: number
                    y:
                      maximum: 1.7976931348623157e+308
                      minimum: -1.7976931348623157e+308
                      type: number
                    z:
                      maximum: 1.7976931348623157e+308
                      minimum: -1.7976931348623157e+308
                      type: number
                  required:
                  - x
                  - y
                  - z
                  title: pickup_offset
                  type: object
                plate:
                  additionalProperties: false
                  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:
                      additionalProperties: false
                      properties:
                        orientation:
                          additionalProperties: false
                          properties:
                            w:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            x:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            y:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            z:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                          required:
                          - x
                          - y
                          - z
                          - w
                          title: orientation
                          type: object
                        position:
                          additionalProperties: false
                          properties:
                            x:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            y:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            z:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              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: plate
                  type: object
                put_direction:
                  type: string
                resource_offset:
                  additionalProperties: false
                  properties:
                    x:
                      maximum: 1.7976931348623157e+308
                      minimum: -1.7976931348623157e+308
                      type: number
                    y:
                      maximum: 1.7976931348623157e+308
                      minimum: -1.7976931348623157e+308
                      type: number
                    z:
                      maximum: 1.7976931348623157e+308
                      minimum: -1.7976931348623157e+308
                      type: number
                  required:
                  - x
                  - y
                  - z
                  title: resource_offset
                  type: object
                to:
                  additionalProperties: false
                  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:
                      additionalProperties: false
                      properties:
                        orientation:
                          additionalProperties: false
                          properties:
                            w:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            x:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            y:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            z:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                          required:
                          - x
                          - y
                          - z
                          - w
                          title: orientation
                          type: object
                        position:
                          additionalProperties: false
                          properties:
                            x:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            y:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            z:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              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: to
                  type: object
              title: LiquidHandlerMovePlate_Goal
              type: object
            result:
              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              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: []
          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: ''
          properties:
            feedback:
              additionalProperties: true
              title: LiquidHandlerMoveResource_Feedback
              type: object
            goal:
              additionalProperties: false
              properties:
                destination_offset:
                  additionalProperties: false
                  properties:
                    x:
                      maximum: 1.7976931348623157e+308
                      minimum: -1.7976931348623157e+308
                      type: number
                    y:
                      maximum: 1.7976931348623157e+308
                      minimum: -1.7976931348623157e+308
                      type: number
                    z:
                      maximum: 1.7976931348623157e+308
                      minimum: -1.7976931348623157e+308
                      type: number
                  required:
                  - x
                  - y
                  - z
                  title: destination_offset
                  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
                    type: object
                  type: array
                pickup_direction:
                  type: string
                pickup_distance_from_top:
                  maximum: 1.7976931348623157e+308
                  minimum: -1.7976931348623157e+308
                  type: number
                put_direction:
                  type: string
                resource:
                  additionalProperties: false
                  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:
                      additionalProperties: false
                      properties:
                        orientation:
                          additionalProperties: false
                          properties:
                            w:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            x:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            y:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            z:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                          required:
                          - x
                          - y
                          - z
                          - w
                          title: orientation
                          type: object
                        position:
                          additionalProperties: false
                          properties:
                            x:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            y:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            z:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              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: resource
                  type: object
                resource_offset:
                  additionalProperties: false
                  properties:
                    x:
                      maximum: 1.7976931348623157e+308
                      minimum: -1.7976931348623157e+308
                      type: number
                    y:
                      maximum: 1.7976931348623157e+308
                      minimum: -1.7976931348623157e+308
                      type: number
                    z:
                      maximum: 1.7976931348623157e+308
                      minimum: -1.7976931348623157e+308
                      type: number
                  required:
                  - x
                  - y
                  - z
                  title: resource_offset
                  type: object
                to:
                  additionalProperties: false
                  properties:
                    x:
                      maximum: 1.7976931348623157e+308
                      minimum: -1.7976931348623157e+308
                      type: number
                    y:
                      maximum: 1.7976931348623157e+308
                      minimum: -1.7976931348623157e+308
                      type: number
                    z:
                      maximum: 1.7976931348623157e+308
                      minimum: -1.7976931348623157e+308
                      type: number
                  required:
                  - x
                  - y
                  - z
                  title: to
                  type: object
              title: LiquidHandlerMoveResource_Goal
              type: object
            result:
              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              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: {}
        placeholder_keys: {}
        result:
          return_info: return_info
          success: success
        schema:
          description: ''
          properties:
            feedback:
              additionalProperties: true
              title: LiquidHandlerMoveTo_Feedback
              type: object
            goal:
              additionalProperties: false
              properties:
                channel:
                  maximum: 2147483647
                  minimum: -2147483648
                  type: integer
                dis_to_top:
                  maximum: 1.7976931348623157e+308
                  minimum: -1.7976931348623157e+308
                  type: number
                well:
                  additionalProperties: false
                  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:
                      additionalProperties: false
                      properties:
                        orientation:
                          additionalProperties: false
                          properties:
                            w:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            x:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            y:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            z:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                          required:
                          - x
                          - y
                          - z
                          - w
                          title: orientation
                          type: object
                        position:
                          additionalProperties: false
                          properties:
                            x:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            y:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            z:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              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
              title: LiquidHandlerMoveTo_Goal
              type: object
            result:
              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              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: []
          tip_spots: []
          use_channels: []
        handles: {}
        result:
          name: name
        schema:
          description: ''
          properties:
            feedback:
              additionalProperties: true
              title: LiquidHandlerPickUpTips_Feedback
              type: object
            goal:
              additionalProperties: false
              properties:
                offsets:
                  items:
                    properties:
                      x:
                        type: number
                      y:
                        type: number
                      z:
                        type: number
                    required:
                    - x
                    - y
                    - z
                    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
                    type: object
                  type: array
                use_channels:
                  items:
                    type: integer
                  type: array
              title: LiquidHandlerPickUpTips_Goal
              type: object
            result:
              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              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: ''
          properties:
            feedback:
              additionalProperties: true
              title: LiquidHandlerPickUpTips96_Feedback
              type: object
            goal:
              additionalProperties: false
              properties:
                offset:
                  additionalProperties: false
                  properties:
                    x:
                      maximum: 1.7976931348623157e+308
                      minimum: -1.7976931348623157e+308
                      type: number
                    y:
                      maximum: 1.7976931348623157e+308
                      minimum: -1.7976931348623157e+308
                      type: number
                    z:
                      maximum: 1.7976931348623157e+308
                      minimum: -1.7976931348623157e+308
                      type: number
                  required:
                  - x
                  - y
                  - z
                  title: offset
                  type: object
                tip_rack:
                  additionalProperties: false
                  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:
                      additionalProperties: false
                      properties:
                        orientation:
                          additionalProperties: false
                          properties:
                            w:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            x:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            y:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            z:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                          required:
                          - x
                          - y
                          - z
                          - w
                          title: orientation
                          type: object
                        position:
                          additionalProperties: false
                          properties:
                            x:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            y:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            z:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              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_rack
                  type: object
              title: LiquidHandlerPickUpTips96_Goal
              type: object
            result:
              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              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: []
          delays: []
          flow_rates: []
          is_96_well: false
          liquid_height: []
          none_keys: []
          offsets: []
          sources: []
          spread: ''
          top: []
          use_channels: []
          vols: []
          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: ''
          properties:
            feedback:
              additionalProperties: true
              title: LiquidHandlerRemove_Feedback
              type: object
            goal:
              additionalProperties: false
              properties:
                blow_out_air_volume:
                  items:
                    type: number
                  type: array
                delays:
                  items:
                    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
                    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
                    type: object
                  type: array
                spread:
                  type: string
                top:
                  items:
                    type: number
                  type: array
                use_channels:
                  items:
                    type: integer
                  type: array
                vols:
                  items:
                    type: number
                  type: array
                waste_liquid:
                  additionalProperties: false
                  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:
                      additionalProperties: false
                      properties:
                        orientation:
                          additionalProperties: false
                          properties:
                            w:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            x:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            y:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            z:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                          required:
                          - x
                          - y
                          - z
                          - w
                          title: orientation
                          type: object
                        position:
                          additionalProperties: false
                          properties:
                            x:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            y:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            z:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              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: waste_liquid
                  type: object
              title: LiquidHandlerRemove_Goal
              type: object
            result:
              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              title: LiquidHandlerRemove_Result
              type: object
          required:
          - goal
          title: LiquidHandlerRemove
          type: object
        type: LiquidHandlerRemove
      remove_liquid:
        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: []
          delays: []
          flow_rates: []
          is_96_well: false
          liquid_height: []
          none_keys: []
          offsets: []
          sources: []
          spread: ''
          top: []
          use_channels: []
          vols: []
          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: {}
        placeholder_keys:
          sources: unilabos_resources
          waste_liquid: unilabos_resources
        result:
          return_info: return_info
          success: success
        schema:
          description: ''
          properties:
            feedback:
              additionalProperties: true
              title: LiquidHandlerRemove_Feedback
              type: object
            goal:
              additionalProperties: false
              properties:
                blow_out_air_volume:
                  items:
                    type: number
                  type: array
                delays:
                  items:
                    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
                    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
                    type: object
                  type: array
                spread:
                  type: string
                top:
                  items:
                    type: number
                  type: array
                use_channels:
                  items:
                    type: integer
                  type: array
                vols:
                  items:
                    type: number
                  type: array
                waste_liquid:
                  additionalProperties: false
                  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:
                      additionalProperties: false
                      properties:
                        orientation:
                          additionalProperties: false
                          properties:
                            w:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            x:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            y:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            z:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                          required:
                          - x
                          - y
                          - z
                          - w
                          title: orientation
                          type: object
                        position:
                          additionalProperties: false
                          properties:
                            x:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            y:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            z:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              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: waste_liquid
                  type: object
              title: LiquidHandlerRemove_Goal
              type: object
            result:
              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              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: []
        handles: {}
        result:
          name: name
        schema:
          description: ''
          properties:
            feedback:
              additionalProperties: true
              title: LiquidHandlerReturnTips_Feedback
              type: object
            goal:
              additionalProperties: false
              properties:
                allow_nonzero_volume:
                  type: boolean
                use_channels:
                  items:
                    type: integer
                  type: array
              title: LiquidHandlerReturnTips_Goal
              type: object
            result:
              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              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: ''
          properties:
            feedback:
              additionalProperties: true
              title: LiquidHandlerReturnTips96_Feedback
              type: object
            goal:
              additionalProperties: false
              properties:
                allow_nonzero_volume:
                  type: boolean
              title: LiquidHandlerReturnTips96_Goal
              type: object
            result:
              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              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: ''
          properties:
            feedback:
              additionalProperties: true
              title: LiquidHandlerStamp_Feedback
              type: object
            goal:
              additionalProperties: false
              properties:
                aspiration_flow_rate:
                  maximum: 1.7976931348623157e+308
                  minimum: -1.7976931348623157e+308
                  type: number
                dispense_flow_rate:
                  maximum: 1.7976931348623157e+308
                  minimum: -1.7976931348623157e+308
                  type: number
                source:
                  additionalProperties: false
                  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:
                      additionalProperties: false
                      properties:
                        orientation:
                          additionalProperties: false
                          properties:
                            w:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            x:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            y:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            z:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                          required:
                          - x
                          - y
                          - z
                          - w
                          title: orientation
                          type: object
                        position:
                          additionalProperties: false
                          properties:
                            x:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            y:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            z:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              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: source
                  type: object
                target:
                  additionalProperties: false
                  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:
                      additionalProperties: false
                      properties:
                        orientation:
                          additionalProperties: false
                          properties:
                            w:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            x:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            y:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            z:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                          required:
                          - x
                          - y
                          - z
                          - w
                          title: orientation
                          type: object
                        position:
                          additionalProperties: false
                          properties:
                            x:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            y:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            z:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              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: target
                  type: object
                volume:
                  maximum: 1.7976931348623157e+308
                  minimum: -1.7976931348623157e+308
                  type: number
              title: LiquidHandlerStamp_Goal
              type: object
            result:
              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              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:
          amount: ''
          from_vessel: ''
          rinsing_repeats: 0
          rinsing_solvent: ''
          rinsing_volume: 0.0
          solid: false
          time: 0.0
          to_vessel: ''
          viscous: false
          volume: 0.0
        handles: {}
        schema:
          description: ''
          properties:
            feedback:
              additionalProperties: false
              properties:
                current_status:
                  type: string
                progress:
                  maximum: 1.7976931348623157e+308
                  minimum: -1.7976931348623157e+308
                  type: number
                transferred_volume:
                  maximum: 1.7976931348623157e+308
                  minimum: -1.7976931348623157e+308
                  type: number
              title: Transfer_Feedback
              type: object
            goal:
              additionalProperties: false
              properties:
                amount:
                  type: string
                from_vessel:
                  type: string
                rinsing_repeats:
                  maximum: 2147483647
                  minimum: -2147483648
                  type: integer
                rinsing_solvent:
                  type: string
                rinsing_volume:
                  maximum: 1.7976931348623157e+308
                  minimum: -1.7976931348623157e+308
                  type: number
                solid:
                  type: boolean
                time:
                  maximum: 1.7976931348623157e+308
                  minimum: -1.7976931348623157e+308
                  type: number
                to_vessel:
                  type: string
                viscous:
                  type: boolean
                volume:
                  maximum: 1.7976931348623157e+308
                  minimum: -1.7976931348623157e+308
                  type: number
              title: Transfer_Goal
              type: object
            result:
              additionalProperties: false
              properties:
                message:
                  type: string
                return_info:
                  type: string
                success:
                  type: boolean
              title: Transfer_Result
              type: object
          required:
          - goal
          title: Transfer
          type: object
        type: Transfer
      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: []
          asp_vols: []
          blow_out_air_volume: []
          delays: []
          dis_flow_rates: []
          dis_vols: []
          is_96_well: false
          liquid_height: []
          mix_liquid_height: 0.0
          mix_rate: 0
          mix_stage: ''
          mix_times: 0
          mix_vol: 0
          none_keys: []
          offsets: []
          sources: []
          spread: ''
          targets: []
          tip_racks: []
          touch_tip: false
          use_channels: []
        handles:
          input:
          - data_key: sources
            data_source: handle
            data_type: resource
            handler_key: sources
            label: 待移动液体
          - data_key: targets
            data_source: handle
            data_type: resource
            handler_key: targets
            label: 转移目标
          - data_key: tip_racks
            data_source: handle
            data_type: resource
            handler_key: tip_rack
            label: 枪头盒
          output:
          - data_key: sources.@flatten
            data_source: executor
            data_type: resource
            handler_key: sources_out
            label: 移液后源孔
          - data_key: targets.@flatten
            data_source: executor
            data_type: resource
            handler_key: targets_out
            label: 移液后目标孔
        placeholder_keys:
          sources: unilabos_resources
          targets: unilabos_resources
          tip_racks: unilabos_resources
        result:
          return_info: return_info
          success: success
        schema:
          description: ''
          properties:
            feedback:
              additionalProperties: true
              title: LiquidHandlerTransfer_Feedback
              type: object
            goal:
              additionalProperties: false
              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:
                    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:
                  maximum: 1.7976931348623157e+308
                  minimum: -1.7976931348623157e+308
                  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
                    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
                    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
                    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
                    type: object
                  type: array
                touch_tip:
                  type: boolean
                use_channels:
                  items:
                    type: integer
                  type: array
              title: LiquidHandlerTransfer_Goal
              type: object
            result:
              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              title: LiquidHandlerTransfer_Result
              type: object
          required:
          - goal
          title: LiquidHandlerTransfer
          type: object
        type: LiquidHandlerTransfer
    module: unilabos.devices.liquid_handling.liquid_handler_abstract:LiquidHandlerAbstract
    status_types: {}
    type: python
  config_info: []
  description: Liquid handler device controlled by pylabrobot
  handles: []
  icon: icon_yiyezhan.webp
  init_param_schema:
    config:
      properties:
        backend:
          type: object
        channel_num:
          default: 8
          type: integer
        deck:
          type: object
        simulator:
          default: false
          type: boolean
        total_height:
          default: 310
          type: number
      required:
      - backend
      - deck
      type: object
    data:
      properties: {}
      required: []
      type: object
  version: 1.0.0
liquid_handler.biomek:
  category:
  - liquid_handler
  class:
    action_value_mappings:
      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: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: create_resource的参数schema
          properties:
            feedback: {}
            goal:
              properties:
                bind_location:
                  additionalProperties:
                    type: number
                  type: object
                bind_parent_id:
                  type: string
                liquid_input_slot:
                  items:
                    type: integer
                  type: array
                liquid_type:
                  items:
                    type: string
                  type: array
                liquid_volume:
                  items:
                    type: integer
                  type: array
                resource_tracker:
                  type: object
                resources:
                  items:
                    type: object
                  type: array
                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参数
          type: object
        type: UniLabJsonCommand
      auto-deserialize:
        feedback: {}
        goal: {}
        goal_default:
          allow_marshal: false
          data: null
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: deserialize的参数schema
          properties:
            feedback: {}
            goal:
              properties:
                allow_marshal:
                  default: false
                  type: boolean
                data:
                  type: object
              required:
              - data
              type: object
            result:
              type: object
          required:
          - goal
          title: deserialize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: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: instrument_setup_biomek的参数schema
          properties:
            feedback: {}
            goal:
              properties:
                class_name:
                  type: string
                id:
                  type: string
                liquid_input_wells:
                  items:
                    type: string
                  type: array
                liquid_type:
                  items:
                    type: string
                  type: array
                liquid_volume:
                  items:
                    type: integer
                  type: array
                parent:
                  type: string
                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: {}
        placeholder_keys: {}
        result:
          return_info: return_info
        schema:
          description: ''
          properties:
            feedback:
              additionalProperties: true
              title: LiquidHandlerProtocolCreation_Feedback
              type: object
            goal:
              additionalProperties: false
              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
              title: LiquidHandlerProtocolCreation_Goal
              type: object
            result:
              additionalProperties: false
              properties:
                return_info:
                  type: string
              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
        placeholder_keys: {}
        result:
          return_info: return_info
          success: success
        schema:
          description: ''
          properties:
            feedback:
              additionalProperties: true
              title: LiquidHandlerIncubateBiomek_Feedback
              type: object
            goal:
              additionalProperties: false
              properties:
                time:
                  maximum: 2147483647
                  minimum: -2147483648
                  type: integer
              title: LiquidHandlerIncubateBiomek_Goal
              type: object
            result:
              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              title: LiquidHandlerIncubateBiomek_Result
              type: object
          required:
          - goal
          title: LiquidHandlerIncubateBiomek
          type: object
        type: LiquidHandlerIncubateBiomek
      move_biomek:
        feedback: {}
        goal:
          source: source
          sources: sources
          target: target
          targets: 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
        placeholder_keys: {}
        result:
          return_info: return_info
          success: success
        schema:
          description: ''
          properties:
            feedback:
              additionalProperties: true
              title: LiquidHandlerMoveBiomek_Feedback
              type: object
            goal:
              additionalProperties: false
              properties:
                sources:
                  type: string
                targets:
                  type: string
              title: LiquidHandlerMoveBiomek_Goal
              type: object
            result:
              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              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
        placeholder_keys: {}
        result:
          return_info: return_info
          success: success
        schema:
          description: ''
          properties:
            feedback:
              additionalProperties: true
              title: LiquidHandlerOscillateBiomek_Feedback
              type: object
            goal:
              additionalProperties: false
              properties:
                rpm:
                  maximum: 2147483647
                  minimum: -2147483648
                  type: integer
                time:
                  maximum: 2147483647
                  minimum: -2147483648
                  type: integer
              title: LiquidHandlerOscillateBiomek_Goal
              type: object
            result:
              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              title: LiquidHandlerOscillateBiomek_Result
              type: object
          required:
          - goal
          title: LiquidHandlerOscillateBiomek
          type: object
        type: LiquidHandlerOscillateBiomek
      run_protocol:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: {}
        placeholder_keys: {}
        result:
          return_info: return_info
        schema:
          description: ''
          properties:
            feedback:
              additionalProperties: true
              title: EmptyIn_Feedback
              type: object
            goal:
              additionalProperties: true
              title: EmptyIn_Goal
              type: object
            result:
              additionalProperties: false
              properties:
                return_info:
                  type: string
              title: EmptyIn_Result
              type: object
          required:
          - goal
          title: EmptyIn
          type: object
        type: EmptyIn
      transfer_biomek:
        feedback: {}
        goal:
          aspirate_technique: aspirate_technique
          aspirate_techniques: aspirate_techniques
          dispense_technique: dispense_technique
          dispense_techniques: dispense_techniques
          source: source
          sources: sources
          target: target
          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
        placeholder_keys: {}
        result:
          return_info: return_info
          success: success
        schema:
          description: ''
          properties:
            feedback:
              additionalProperties: true
              title: LiquidHandlerTransferBiomek_Feedback
              type: object
            goal:
              additionalProperties: false
              properties:
                aspirate_technique:
                  type: string
                dispense_technique:
                  type: string
                sources:
                  type: string
                targets:
                  type: string
                tip_rack:
                  type: string
                volume:
                  maximum: 1.7976931348623157e+308
                  minimum: -1.7976931348623157e+308
                  type: number
              title: LiquidHandlerTransferBiomek_Goal
              type: object
            result:
              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              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: []
          asp_vols: []
          blow_out_air_volume: []
          delays: []
          dis_flow_rates: []
          dis_vols: []
          is_96_well: false
          liquid_height: []
          mix_liquid_height: 0.0
          mix_rate: 0
          mix_stage: ''
          mix_times: 0
          mix_vol: 0
          none_keys: []
          offsets: []
          sources: []
          spread: ''
          targets: []
          tip_racks: []
          touch_tip: false
          use_channels: []
        handles:
          input:
          - data_key: sources
            data_source: handle
            data_type: resource
            handler_key: sources
            io_type: target
            label: 待移动液体
          - data_key: targets
            data_source: handle
            data_type: resource
            handler_key: targets
            label: 转移目标
          - data_key: tip_racks
            data_source: handle
            data_type: resource
            handler_key: tip_rack
            label: 枪头盒
          output:
          - data_key: sources.@flatten
            data_source: executor
            data_type: resource
            handler_key: sources_out
            io_type: source
            label: 移液后源孔
          - data_key: targets.@flatten
            data_source: executor
            data_type: resource
            handler_key: targets_out
            label: 移液后目标孔
        placeholder_keys:
          sources: unilabos_resources
          targets: unilabos_resources
          tip_racks: unilabos_resources
        result:
          return_info: return_info
          success: success
        schema:
          description: ''
          properties:
            feedback:
              additionalProperties: true
              title: LiquidHandlerTransfer_Feedback
              type: object
            goal:
              additionalProperties: false
              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:
                    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:
                  maximum: 1.7976931348623157e+308
                  minimum: -1.7976931348623157e+308
                  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
                    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
                    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
                    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
                    type: object
                  type: array
                touch_tip:
                  type: boolean
                use_channels:
                  items:
                    type: integer
                  type: array
              title: LiquidHandlerTransfer_Goal
              type: object
            result:
              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              title: LiquidHandlerTransfer_Result
              type: object
          required:
          - goal
          title: LiquidHandlerTransfer
          type: object
        type: LiquidHandlerTransfer
    module: unilabos.devices.liquid_handling.biomek:LiquidHandlerBiomek
    status_types:
      success: ''
    type: python
  config_info: []
  description: Biomek液体处理器设备，基于pylabrobot控制
  handles: []
  icon: icon_yiyezhan.webp
  init_param_schema:
    config:
      properties: {}
      required: []
      type: object
    data:
      properties:
        success:
          type: string
      required:
      - success
      type: object
  version: 1.0.0
liquid_handler.laiyu:
  category:
  - liquid_handler
  class:
    action_value_mappings:
      add_liquid:
        feedback: {}
        goal:
          asp_vols: asp_vols
          blow_out_air_volume: blow_out_air_volume
          delays: delays
          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: []
          blow_out_air_volume: []
          dis_vols: []
          flow_rates: []
          is_96_well: false
          liquid_height: []
          mix_liquid_height: 0.0
          mix_rate: 0
          mix_time: 0
          mix_vol: 0
          none_keys: []
          offsets: []
          reagent_sources: []
          spread: ''
          targets: []
          use_channels: []
        handles: {}
        placeholder_keys:
          reagent_sources: unilabos_resources
          targets: unilabos_resources
        result:
          return_info: return_info
          success: success
        schema:
          description: ''
          properties:
            feedback:
              additionalProperties: true
              title: LiquidHandlerAdd_Feedback
              type: object
            goal:
              additionalProperties: false
              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:
                  maximum: 1.7976931348623157e+308
                  minimum: -1.7976931348623157e+308
                  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
                    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
                    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
                    type: object
                  type: array
                use_channels:
                  items:
                    type: integer
                  type: array
              title: LiquidHandlerAdd_Goal
              type: object
            result:
              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              title: LiquidHandlerAdd_Result
              type: object
          required:
          - goal
          title: LiquidHandlerAdd
          type: object
        type: LiquidHandlerAdd
      aspirate:
        feedback: {}
        goal:
          blow_out_air_volume: blow_out_air_volume
          flow_rates: flow_rates
          liquid_height: liquid_height
          offsets: offsets
          resources: resources
          spread: spread
          use_channels: use_channels
          vols: vols
        goal_default:
          blow_out_air_volume: []
          flow_rates: []
          liquid_height: []
          offsets: []
          resources: []
          spread: ''
          use_channels: []
          vols: []
        handles: {}
        placeholder_keys:
          resources: unilabos_resources
        result:
          return_info: return_info
          success: success
        schema:
          description: ''
          properties:
            feedback:
              additionalProperties: true
              title: LiquidHandlerAspirate_Feedback
              type: object
            goal:
              additionalProperties: false
              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
                    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
                    type: object
                  type: array
                spread:
                  type: string
                use_channels:
                  items:
                    type: integer
                  type: array
                vols:
                  items:
                    type: number
                  type: array
              title: LiquidHandlerAspirate_Goal
              type: object
            result:
              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              title: LiquidHandlerAspirate_Result
              type: object
          required:
          - goal
          title: LiquidHandlerAspirate
          type: object
        type: LiquidHandlerAspirate
      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: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: ''
          properties:
            feedback: {}
            goal:
              properties:
                asp_flow_rates:
                  items:
                    type: number
                  type: array
                asp_vols:
                  anyOf:
                  - items:
                      type: number
                    type: array
                  - type: number
                blow_out_air_volume:
                  items:
                    type: number
                  type: array
                delays:
                  items:
                    type: integer
                  type: array
                dis_flow_rates:
                  items:
                    type: number
                  type: array
                dis_vols:
                  anyOf:
                  - items:
                      type: number
                    type: array
                  - type: number
                is_96_well:
                  default: false
                  type: boolean
                liquid_height:
                  items:
                    type: number
                  type: array
                mix_liquid_height:
                  type: number
                mix_rate:
                  type: integer
                mix_stage:
                  default: none
                  enum:
                  - none
                  - before
                  - after
                  - both
                  type: string
                mix_times:
                  items:
                    type: integer
                  type: array
                mix_vol:
                  type: integer
                none_keys:
                  default: []
                  items:
                    type: string
                  type: array
                offsets:
                  items:
                    type: object
                  type: array
                sources:
                  items:
                    type: object
                  type: array
                spread:
                  default: wide
                  enum:
                  - wide
                  - tight
                  - custom
                  type: string
                targets:
                  items:
                    type: object
                  type: array
                tip_racks:
                  items:
                    type: object
                  type: array
                touch_tip:
                  default: false
                  type: boolean
                use_channels:
                  items:
                    type: integer
                  type: array
              required:
              - sources
              - targets
              - tip_racks
              - asp_vols
              - dis_vols
              type: object
            result: {}
          required:
          - goal
          title: transfer_liquid参数
          type: object
        type: UniLabJsonCommandAsync
      dispense:
        feedback: {}
        goal:
          blow_out_air_volume: blow_out_air_volume
          flow_rates: flow_rates
          liquid_height: liquid_height
          offsets: offsets
          resources: resources
          spread: spread
          use_channels: use_channels
          vols: vols
        goal_default:
          blow_out_air_volume: []
          flow_rates: []
          offsets: []
          resources: []
          spread: ''
          use_channels: []
          vols: []
        handles: {}
        placeholder_keys:
          resources: unilabos_resources
        result:
          return_info: return_info
          success: success
        schema:
          description: ''
          properties:
            feedback:
              additionalProperties: true
              title: LiquidHandlerDispense_Feedback
              type: object
            goal:
              additionalProperties: false
              properties:
                blow_out_air_volume:
                  items:
                    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
                    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
                    type: object
                  type: array
                spread:
                  type: string
                use_channels:
                  items:
                    type: integer
                  type: array
                vols:
                  items:
                    type: number
                  type: array
              title: LiquidHandlerDispense_Goal
              type: object
            result:
              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              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: []
          tip_spots: []
          use_channels: []
        handles: {}
        placeholder_keys:
          tip_spots: unilabos_resources
        result:
          return_info: return_info
          success: success
        schema:
          description: ''
          properties:
            feedback:
              additionalProperties: true
              title: LiquidHandlerDropTips_Feedback
              type: object
            goal:
              additionalProperties: false
              properties:
                allow_nonzero_volume:
                  type: boolean
                offsets:
                  items:
                    properties:
                      x:
                        type: number
                      y:
                        type: number
                      z:
                        type: number
                    required:
                    - x
                    - y
                    - z
                    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
                    type: object
                  type: array
                use_channels:
                  items:
                    type: integer
                  type: array
              title: LiquidHandlerDropTips_Goal
              type: object
            result:
              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              title: LiquidHandlerDropTips_Result
              type: object
          required:
          - goal
          title: LiquidHandlerDropTips
          type: object
        type: LiquidHandlerDropTips
      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: []
          targets: []
        handles: {}
        placeholder_keys:
          targets: unilabos_resources
        result:
          return_info: return_info
          success: success
        schema:
          description: ''
          properties:
            feedback:
              additionalProperties: true
              title: LiquidHandlerMix_Feedback
              type: object
            goal:
              additionalProperties: false
              properties:
                height_to_bottom:
                  maximum: 1.7976931348623157e+308
                  minimum: -1.7976931348623157e+308
                  type: number
                mix_rate:
                  maximum: 1.7976931348623157e+308
                  minimum: -1.7976931348623157e+308
                  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
                    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: 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
                    type: object
                  type: array
              title: LiquidHandlerMix_Goal
              type: object
            result:
              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              title: LiquidHandlerMix_Result
              type: object
          required:
          - goal
          title: LiquidHandlerMix
          type: object
        type: LiquidHandlerMix
      pick_up_tips:
        feedback: {}
        goal:
          offsets: offsets
          tip_spots: tip_spots
          use_channels: use_channels
        goal_default:
          offsets: []
          tip_spots: []
          use_channels: []
        handles: {}
        placeholder_keys:
          tip_spots: unilabos_resources
        result:
          return_info: return_info
          success: success
        schema:
          description: ''
          properties:
            feedback:
              additionalProperties: true
              title: LiquidHandlerPickUpTips_Feedback
              type: object
            goal:
              additionalProperties: false
              properties:
                offsets:
                  items:
                    properties:
                      x:
                        type: number
                      y:
                        type: number
                      z:
                        type: number
                    required:
                    - x
                    - y
                    - z
                    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
                    type: object
                  type: array
                use_channels:
                  items:
                    type: integer
                  type: array
              title: LiquidHandlerPickUpTips_Goal
              type: object
            result:
              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              title: LiquidHandlerPickUpTips_Result
              type: object
          required:
          - goal
          title: LiquidHandlerPickUpTips
          type: object
        type: LiquidHandlerPickUpTips
    module: unilabos.devices.liquid_handling.laiyu.laiyu:TransformXYZHandler
    properties:
      support_touch_tip: bool
    status_types: {}
    type: python
  config_info: []
  description: Laiyu液体处理器设备，基于pylabrobot控制
  handles: []
  icon: icon_yiyezhan.webp
  init_param_schema:
    config:
      properties:
        channel_num:
          default: 1
          type: string
        deck:
          type: object
        host:
          default: 127.0.0.1
          type: string
        port:
          default: 9999
          type: integer
        simulator:
          default: true
          type: string
        timeout:
          default: 10.0
          type: number
      required:
      - deck
      type: object
    data:
      properties: {}
      required: []
      type: object
  version: 1.0.0
liquid_handler.prcxi:
  category:
  - liquid_handler
  class:
    action_value_mappings:
      add_liquid:
        feedback: {}
        goal:
          asp_vols: asp_vols
          blow_out_air_volume: blow_out_air_volume
          delays: delays
          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: []
          blow_out_air_volume: []
          dis_vols: []
          flow_rates: []
          is_96_well: false
          liquid_height: []
          mix_liquid_height: 0.0
          mix_rate: 0
          mix_time: 0
          mix_vol: 0
          none_keys: []
          offsets: []
          reagent_sources: []
          spread: ''
          targets: []
          use_channels: []
        handles: {}
        placeholder_keys:
          reagent_sources: unilabos_resources
          targets: unilabos_resources
        result:
          return_info: return_info
          success: success
        schema:
          description: ''
          properties:
            feedback:
              additionalProperties: true
              title: LiquidHandlerAdd_Feedback
              type: object
            goal:
              additionalProperties: false
              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:
                  maximum: 1.7976931348623157e+308
                  minimum: -1.7976931348623157e+308
                  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
                    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
                    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
                    type: object
                  type: array
                use_channels:
                  items:
                    type: integer
                  type: array
              title: LiquidHandlerAdd_Goal
              type: object
            result:
              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              title: LiquidHandlerAdd_Result
              type: object
          required:
          - goal
          title: LiquidHandlerAdd
          type: object
        type: LiquidHandlerAdd
      aspirate:
        feedback: {}
        goal:
          blow_out_air_volume: blow_out_air_volume
          flow_rates: flow_rates
          liquid_height: liquid_height
          offsets: offsets
          resources: resources
          spread: spread
          use_channels: use_channels
          vols: vols
        goal_default:
          blow_out_air_volume: []
          flow_rates: []
          liquid_height: []
          offsets: []
          resources: []
          spread: ''
          use_channels: []
          vols: []
        handles: {}
        placeholder_keys:
          resources: unilabos_resources
        result:
          return_info: return_info
          success: success
        schema:
          description: ''
          properties:
            feedback:
              additionalProperties: true
              title: LiquidHandlerAspirate_Feedback
              type: object
            goal:
              additionalProperties: false
              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
                    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
                    type: object
                  type: array
                spread:
                  type: string
                use_channels:
                  items:
                    type: integer
                  type: array
                vols:
                  items:
                    type: number
                  type: array
              title: LiquidHandlerAspirate_Goal
              type: object
            result:
              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              title: LiquidHandlerAspirate_Result
              type: object
          required:
          - goal
          title: LiquidHandlerAspirate
          type: object
        type: LiquidHandlerAspirate
      auto-create_protocol:
        feedback: {}
        goal: {}
        goal_default:
          none_keys: []
          protocol_author: ''
          protocol_date: ''
          protocol_description: ''
          protocol_name: ''
          protocol_type: ''
          protocol_version: ''
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: create_protocol的参数schema
          properties:
            feedback: {}
            goal:
              properties:
                none_keys:
                  default: []
                  items:
                    type: string
                  type: array
                protocol_author:
                  default: ''
                  type: string
                protocol_date:
                  default: ''
                  type: string
                protocol_description:
                  default: ''
                  type: string
                protocol_name:
                  default: ''
                  type: string
                protocol_type:
                  default: ''
                  type: string
                protocol_version:
                  default: ''
                  type: string
              required: []
              type: object
            result: {}
          required:
          - goal
          title: create_protocol参数
          type: object
        type: UniLabJsonCommandAsync
      auto-custom_delay:
        feedback: {}
        goal: {}
        goal_default:
          msg: null
          seconds: 0
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: custom_delay的参数schema
          properties:
            feedback: {}
            goal:
              properties:
                msg:
                  type: string
                seconds:
                  default: 0
                  type: string
              required: []
              type: object
            result: {}
          required:
          - goal
          title: custom_delay参数
          type: object
        type: UniLabJsonCommandAsync
      auto-heater_action:
        feedback: {}
        goal: {}
        goal_default:
          temperature: null
          time: null
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: ''
          properties:
            feedback: {}
            goal:
              properties:
                temperature:
                  type: number
                time:
                  type: integer
              required:
              - temperature
              - time
              type: object
            result: {}
          required:
          - goal
          title: heater_action参数
          type: object
        type: UniLabJsonCommandAsync
      auto-iter_tips:
        feedback: {}
        goal: {}
        goal_default:
          tip_racks: null
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: iter_tips的参数schema
          properties:
            feedback: {}
            goal:
              properties:
                tip_racks:
                  items:
                    type: object
                  type: array
              required:
              - tip_racks
              type: object
            result:
              type: string
          required:
          - goal
          title: iter_tips参数
          type: object
        type: UniLabJsonCommand
      auto-move_to:
        feedback: {}
        goal: {}
        goal_default:
          channel: 0
          dis_to_top: 0
          well: null
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: move_to的参数schema
          properties:
            feedback: {}
            goal:
              properties:
                channel:
                  default: 0
                  type: integer
                dis_to_top:
                  default: 0
                  type: number
                well:
                  type: object
              required:
              - well
              type: object
            result: {}
          required:
          - goal
          title: move_to参数
          type: object
        type: UniLabJsonCommandAsync
      auto-run_protocol:
        feedback: {}
        goal: {}
        goal_default: {}
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: run_protocol的参数schema
          properties:
            feedback: {}
            goal:
              properties: {}
              required: []
              type: object
            result: {}
          required:
          - goal
          title: run_protocol参数
          type: object
        type: UniLabJsonCommandAsync
      auto-set_group:
        feedback: {}
        goal: {}
        goal_default:
          group_name: null
          volumes: null
          wells: null
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: ''
          properties:
            feedback: {}
            goal:
              properties:
                group_name:
                  type: string
                volumes:
                  items:
                    type: number
                  type: array
                wells:
                  items:
                    type: object
                  type: array
              required:
              - group_name
              - wells
              - volumes
              type: object
            result: {}
          required:
          - goal
          title: set_group参数
          type: object
        type: UniLabJsonCommand
      auto-shaker_action:
        feedback: {}
        goal: {}
        goal_default:
          amplitude: null
          is_wait: null
          module_no: null
          time: null
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: ''
          properties:
            feedback: {}
            goal:
              properties:
                amplitude:
                  type: integer
                is_wait:
                  type: boolean
                module_no:
                  type: integer
                time:
                  type: integer
              required:
              - time
              - module_no
              - amplitude
              - is_wait
              type: object
            result: {}
          required:
          - goal
          title: shaker_action参数
          type: object
        type: UniLabJsonCommandAsync
      auto-touch_tip:
        feedback: {}
        goal: {}
        goal_default:
          targets: null
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: touch_tip的参数schema
          properties:
            feedback: {}
            goal:
              properties:
                targets:
                  items:
                    type: object
                  type: array
              required:
              - targets
              type: object
            result: {}
          required:
          - goal
          title: touch_tip参数
          type: object
        type: UniLabJsonCommandAsync
      auto-transfer_group:
        feedback: {}
        goal: {}
        goal_default:
          source_group_name: null
          target_group_name: null
          unit_volume: null
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: ''
          properties:
            feedback: {}
            goal:
              properties:
                source_group_name:
                  type: string
                target_group_name:
                  type: string
                unit_volume:
                  type: number
              required:
              - source_group_name
              - target_group_name
              - unit_volume
              type: object
            result: {}
          required:
          - goal
          title: transfer_group参数
          type: object
        type: UniLabJsonCommandAsync
      discard_tips:
        feedback: {}
        goal:
          allow_nonzero_volume: allow_nonzero_volume
          offsets: offsets
          use_channels: use_channels
        goal_default:
          use_channels: []
        handles: {}
        placeholder_keys: {}
        result:
          return_info: return_info
          success: success
        schema:
          description: ''
          properties:
            feedback:
              additionalProperties: true
              title: LiquidHandlerDiscardTips_Feedback
              type: object
            goal:
              additionalProperties: false
              properties:
                use_channels:
                  items:
                    type: integer
                  type: array
              title: LiquidHandlerDiscardTips_Goal
              type: object
            result:
              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              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
          liquid_height: liquid_height
          offsets: offsets
          resources: resources
          spread: spread
          use_channels: use_channels
          vols: vols
        goal_default:
          blow_out_air_volume: []
          flow_rates: []
          offsets: []
          resources: []
          spread: ''
          use_channels: []
          vols: []
        handles: {}
        placeholder_keys:
          resources: unilabos_resources
        result:
          return_info: return_info
          success: success
        schema:
          description: ''
          properties:
            feedback:
              additionalProperties: true
              title: LiquidHandlerDispense_Feedback
              type: object
            goal:
              additionalProperties: false
              properties:
                blow_out_air_volume:
                  items:
                    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
                    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
                    type: object
                  type: array
                spread:
                  type: string
                use_channels:
                  items:
                    type: integer
                  type: array
                vols:
                  items:
                    type: number
                  type: array
              title: LiquidHandlerDispense_Goal
              type: object
            result:
              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              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: []
          tip_spots: []
          use_channels: []
        handles: {}
        placeholder_keys:
          tip_spots: unilabos_resources
        result:
          return_info: return_info
          success: success
        schema:
          description: ''
          properties:
            feedback:
              additionalProperties: true
              title: LiquidHandlerDropTips_Feedback
              type: object
            goal:
              additionalProperties: false
              properties:
                allow_nonzero_volume:
                  type: boolean
                offsets:
                  items:
                    properties:
                      x:
                        type: number
                      y:
                        type: number
                      z:
                        type: number
                    required:
                    - x
                    - y
                    - z
                    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
                    type: object
                  type: array
                use_channels:
                  items:
                    type: integer
                  type: array
              title: LiquidHandlerDropTips_Goal
              type: object
            result:
              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              title: LiquidHandlerDropTips_Result
              type: object
          required:
          - goal
          title: LiquidHandlerDropTips
          type: object
        type: LiquidHandlerDropTips
      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: []
          targets: []
        handles: {}
        placeholder_keys:
          targets: unilabos_resources
        result:
          return_info: return_info
          success: success
        schema:
          description: ''
          properties:
            feedback:
              additionalProperties: true
              title: LiquidHandlerMix_Feedback
              type: object
            goal:
              additionalProperties: false
              properties:
                height_to_bottom:
                  maximum: 1.7976931348623157e+308
                  minimum: -1.7976931348623157e+308
                  type: number
                mix_rate:
                  maximum: 1.7976931348623157e+308
                  minimum: -1.7976931348623157e+308
                  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
                    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: 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
                    type: object
                  type: array
              title: LiquidHandlerMix_Goal
              type: object
            result:
              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              title: LiquidHandlerMix_Result
              type: object
          required:
          - goal
          title: LiquidHandlerMix
          type: object
        type: LiquidHandlerMix
      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_distance_from_top: pickup_distance_from_top
          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: []
          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: {}
        placeholder_keys:
          plate: unilabos_resources
          to: unilabos_resources
        result:
          return_info: return_info
          success: success
        schema:
          description: ''
          properties:
            feedback:
              additionalProperties: true
              title: LiquidHandlerMovePlate_Feedback
              type: object
            goal:
              additionalProperties: false
              properties:
                destination_offset:
                  additionalProperties: false
                  properties:
                    x:
                      maximum: 1.7976931348623157e+308
                      minimum: -1.7976931348623157e+308
                      type: number
                    y:
                      maximum: 1.7976931348623157e+308
                      minimum: -1.7976931348623157e+308
                      type: number
                    z:
                      maximum: 1.7976931348623157e+308
                      minimum: -1.7976931348623157e+308
                      type: number
                  required:
                  - x
                  - y
                  - z
                  title: destination_offset
                  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
                    type: object
                  type: array
                pickup_direction:
                  type: string
                pickup_distance_from_top:
                  maximum: 1.7976931348623157e+308
                  minimum: -1.7976931348623157e+308
                  type: number
                pickup_offset:
                  additionalProperties: false
                  properties:
                    x:
                      maximum: 1.7976931348623157e+308
                      minimum: -1.7976931348623157e+308
                      type: number
                    y:
                      maximum: 1.7976931348623157e+308
                      minimum: -1.7976931348623157e+308
                      type: number
                    z:
                      maximum: 1.7976931348623157e+308
                      minimum: -1.7976931348623157e+308
                      type: number
                  required:
                  - x
                  - y
                  - z
                  title: pickup_offset
                  type: object
                plate:
                  additionalProperties: false
                  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:
                      additionalProperties: false
                      properties:
                        orientation:
                          additionalProperties: false
                          properties:
                            w:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            x:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            y:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            z:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                          required:
                          - x
                          - y
                          - z
                          - w
                          title: orientation
                          type: object
                        position:
                          additionalProperties: false
                          properties:
                            x:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            y:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            z:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              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: plate
                  type: object
                put_direction:
                  type: string
                resource_offset:
                  additionalProperties: false
                  properties:
                    x:
                      maximum: 1.7976931348623157e+308
                      minimum: -1.7976931348623157e+308
                      type: number
                    y:
                      maximum: 1.7976931348623157e+308
                      minimum: -1.7976931348623157e+308
                      type: number
                    z:
                      maximum: 1.7976931348623157e+308
                      minimum: -1.7976931348623157e+308
                      type: number
                  required:
                  - x
                  - y
                  - z
                  title: resource_offset
                  type: object
                to:
                  additionalProperties: false
                  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:
                      additionalProperties: false
                      properties:
                        orientation:
                          additionalProperties: false
                          properties:
                            w:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            x:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            y:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            z:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                          required:
                          - x
                          - y
                          - z
                          - w
                          title: orientation
                          type: object
                        position:
                          additionalProperties: false
                          properties:
                            x:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            y:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            z:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              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: to
                  type: object
              title: LiquidHandlerMovePlate_Goal
              type: object
            result:
              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              title: LiquidHandlerMovePlate_Result
              type: object
          required:
          - goal
          title: LiquidHandlerMovePlate
          type: object
        type: LiquidHandlerMovePlate
      pick_up_tips:
        feedback: {}
        goal:
          offsets: offsets
          tip_spots: tip_spots
          use_channels: use_channels
        goal_default:
          offsets: []
          tip_spots: []
          use_channels: []
        handles: {}
        placeholder_keys:
          tip_spots: unilabos_resources
        result:
          return_info: return_info
          success: success
        schema:
          description: ''
          properties:
            feedback:
              additionalProperties: true
              title: LiquidHandlerPickUpTips_Feedback
              type: object
            goal:
              additionalProperties: false
              properties:
                offsets:
                  items:
                    properties:
                      x:
                        type: number
                      y:
                        type: number
                      z:
                        type: number
                    required:
                    - x
                    - y
                    - z
                    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
                    type: object
                  type: array
                use_channels:
                  items:
                    type: integer
                  type: array
              title: LiquidHandlerPickUpTips_Goal
              type: object
            result:
              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              title: LiquidHandlerPickUpTips_Result
              type: object
          required:
          - goal
          title: LiquidHandlerPickUpTips
          type: object
        type: LiquidHandlerPickUpTips
      remove_liquid:
        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: []
          delays: []
          flow_rates: []
          is_96_well: false
          liquid_height: []
          none_keys: []
          offsets: []
          sources: []
          spread: ''
          top: []
          use_channels: []
          vols: []
          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: {}
        placeholder_keys:
          sources: unilabos_resources
          waste_liquid: unilabos_resources
        result:
          return_info: return_info
          success: success
        schema:
          description: ''
          properties:
            feedback:
              additionalProperties: true
              title: LiquidHandlerRemove_Feedback
              type: object
            goal:
              additionalProperties: false
              properties:
                blow_out_air_volume:
                  items:
                    type: number
                  type: array
                delays:
                  items:
                    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
                    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
                    type: object
                  type: array
                spread:
                  type: string
                top:
                  items:
                    type: number
                  type: array
                use_channels:
                  items:
                    type: integer
                  type: array
                vols:
                  items:
                    type: number
                  type: array
                waste_liquid:
                  additionalProperties: false
                  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:
                      additionalProperties: false
                      properties:
                        orientation:
                          additionalProperties: false
                          properties:
                            w:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            x:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            y:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            z:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                          required:
                          - x
                          - y
                          - z
                          - w
                          title: orientation
                          type: object
                        position:
                          additionalProperties: false
                          properties:
                            x:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            y:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            z:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              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: waste_liquid
                  type: object
              title: LiquidHandlerRemove_Goal
              type: object
            result:
              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              title: LiquidHandlerRemove_Result
              type: object
          required:
          - goal
          title: LiquidHandlerRemove
          type: object
        type: LiquidHandlerRemove
      set_liquid:
        feedback: {}
        goal:
          liquid_names: liquid_names
          volumes: volumes
          wells: wells
        goal_default:
          liquid_names: []
          volumes: []
          wells: []
        handles:
          input:
          - data_key: wells
            data_source: handle
            data_type: resource
            handler_key: input_wells
            label: 待设定液体孔
          output:
          - data_key: wells.@flatten
            data_source: executor
            data_type: resource
            handler_key: output_wells
            label: 已设定液体孔
        placeholder_keys:
          wells: unilabos_resources
        result:
          return_info: return_info
        schema:
          description: ''
          properties:
            feedback:
              additionalProperties: true
              title: LiquidHandlerSetLiquid_Feedback
              type: object
            goal:
              additionalProperties: false
              properties:
                liquid_names:
                  items:
                    type: string
                  type: array
                volumes:
                  items:
                    type: number
                  type: array
                wells:
                  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
                    type: object
                  type: array
              title: LiquidHandlerSetLiquid_Goal
              type: object
            result:
              additionalProperties: false
              properties:
                return_info:
                  type: string
              title: LiquidHandlerSetLiquid_Result
              type: object
          required:
          - goal
          title: LiquidHandlerSetLiquid
          type: object
        type: LiquidHandlerSetLiquid
      set_liquid_from_plate:
        feedback: {}
        goal: {}
        goal_default:
          liquid_names: null
          plate: null
          volumes: null
          well_names: null
        handles:
          input:
          - data_key: '@this.0@@@plate'
            data_source: handle
            data_type: resource
            handler_key: input_plate
            label: 待设定液体板
          output:
          - data_key: plate.@flatten
            data_source: executor
            data_type: resource
            handler_key: output_plate
            label: 已设定液体板
          - data_key: wells.@flatten
            data_source: executor
            data_type: resource
            handler_key: output_wells
            label: 已设定液体孔
          - data_key: volumes
            data_source: executor
            data_type: number_array
            handler_key: output_volumes
            label: 各孔设定体积
        placeholder_keys:
          plate: unilabos_resources
        result: {}
        schema:
          description: ''
          properties:
            feedback: {}
            goal:
              properties:
                liquid_names:
                  items:
                    type: string
                  type: array
                plate:
                  additionalProperties: false
                  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:
                      additionalProperties: false
                      properties:
                        orientation:
                          additionalProperties: false
                          properties:
                            w:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            x:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            y:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            z:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                          required:
                          - x
                          - y
                          - z
                          - w
                          title: orientation
                          type: object
                        position:
                          additionalProperties: false
                          properties:
                            x:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            y:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            z:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                          required:
                          - x
                          - y
                          - z
                          title: position
                          type: object
                      required:
                      - position
                      - orientation
                      title: pose
                      type: object
                    sample_id:
                      type: string
                    type:
                      type: string
                  title: plate
                  type: object
                volumes:
                  items:
                    type: number
                  type: array
                well_names:
                  items:
                    type: string
                  type: array
              required:
              - plate
              - well_names
              - liquid_names
              - volumes
              type: object
            result:
              $defs:
                ResourceDict:
                  properties:
                    class:
                      description: Resource class name
                      title: Class
                      type: string
                    config:
                      additionalProperties: true
                      description: Resource configuration
                      title: Config
                      type: object
                    data:
                      additionalProperties: true
                      description: 'Resource data, eg: container liquid data'
                      title: Data
                      type: object
                    description:
                      default: ''
                      description: Resource description
                      title: Description
                      type: string
                    extra:
                      additionalProperties: true
                      description: 'Extra data, eg: slot index'
                      title: Extra
                      type: object
                    icon:
                      default: ''
                      description: Resource icon
                      title: Icon
                      type: string
                    id:
                      description: Resource ID
                      title: Id
                      type: string
                    machine_name:
                      default: ''
                      description: Machine this resource belongs to
                      title: Machine Name
                      type: string
                    model:
                      additionalProperties: true
                      description: Resource model
                      title: Model
                      type: object
                    name:
                      description: Resource name
                      title: Name
                      type: string
                    parent:
                      anyOf:
                      - $ref: '#/$defs/ResourceDict'
                      - type: 'null'
                      default: null
                      description: Parent resource object
                    parent_uuid:
                      anyOf:
                      - type: string
                      - type: 'null'
                      default: null
                      description: Parent resource uuid
                      title: Parent Uuid
                    pose:
                      $ref: '#/$defs/ResourceDictPosition'
                      description: Resource position
                    schema:
                      additionalProperties: true
                      description: Resource schema
                      title: Schema
                      type: object
                    type:
                      anyOf:
                      - const: device
                        type: string
                      - type: string
                      description: Resource type
                      title: Type
                    uuid:
                      description: Resource UUID
                      title: Uuid
                      type: string
                  required:
                  - id
                  - uuid
                  - name
                  - type
                  - class
                  - config
                  - data
                  - extra
                  title: ResourceDict
                  type: object
                ResourceDictPosition:
                  properties:
                    cross_section_type:
                      default: rectangle
                      description: Cross section type
                      enum:
                      - rectangle
                      - circle
                      - rounded_rectangle
                      title: Cross Section Type
                      type: string
                    extra:
                      anyOf:
                      - additionalProperties: true
                        type: object
                      - type: 'null'
                      default: null
                      description: Extra data
                      title: Extra
                    layout:
                      default: x-y
                      description: Resource layout
                      enum:
                      - 2d
                      - x-y
                      - z-y
                      - x-z
                      title: Layout
                      type: string
                    position:
                      $ref: '#/$defs/ResourceDictPositionObject'
                      description: Resource position
                    position3d:
                      $ref: '#/$defs/ResourceDictPositionObject'
                      description: Resource position in 3D space
                    rotation:
                      $ref: '#/$defs/ResourceDictPositionObject'
                      description: Resource rotation
                    scale:
                      $ref: '#/$defs/ResourceDictPositionScale'
                      description: Resource scale
                    size:
                      $ref: '#/$defs/ResourceDictPositionSize'
                      description: Resource size
                  title: ResourceDictPosition
                  type: object
                ResourceDictPositionObject:
                  properties:
                    x:
                      default: 0.0
                      description: X coordinate
                      title: X
                      type: number
                    y:
                      default: 0.0
                      description: Y coordinate
                      title: Y
                      type: number
                    z:
                      default: 0.0
                      description: Z coordinate
                      title: Z
                      type: number
                  title: ResourceDictPositionObject
                  type: object
                ResourceDictPositionScale:
                  properties:
                    x:
                      default: 0.0
                      description: x scale
                      title: X
                      type: number
                    y:
                      default: 0.0
                      description: y scale
                      title: Y
                      type: number
                    z:
                      default: 0.0
                      description: z scale
                      title: Z
                      type: number
                  title: ResourceDictPositionScale
                  type: object
                ResourceDictPositionSize:
                  properties:
                    depth:
                      default: 0.0
                      description: Depth
                      title: Depth
                      type: number
                    height:
                      default: 0.0
                      description: Height
                      title: Height
                      type: number
                    width:
                      default: 0.0
                      description: Width
                      title: Width
                      type: number
                  title: ResourceDictPositionSize
                  type: object
              properties:
                plate:
                  items:
                    items:
                      $ref: '#/$defs/ResourceDict'
                    type: array
                  title: Plate
                  type: array
                volumes:
                  items:
                    type: number
                  title: Volumes
                  type: array
                wells:
                  items:
                    items:
                      $ref: '#/$defs/ResourceDict'
                    type: array
                  title: Wells
                  type: array
              required:
              - plate
              - wells
              - volumes
              title: SetLiquidFromPlateReturn
              type: object
          required:
          - goal
          title: set_liquid_from_plate参数
          type: object
        type: UniLabJsonCommand
      set_tiprack:
        feedback: {}
        goal:
          tip_racks: tip_racks
        goal_default:
          tip_racks: []
        handles: {}
        placeholder_keys:
          tip_racks: unilabos_resources
        result:
          return_info: return_info
          success: success
        schema:
          description: ''
          properties:
            feedback:
              additionalProperties: true
              title: LiquidHandlerSetTipRack_Feedback
              type: object
            goal:
              additionalProperties: false
              properties:
                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
                    type: object
                  type: array
              title: LiquidHandlerSetTipRack_Goal
              type: object
            result:
              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              title: LiquidHandlerSetTipRack_Result
              type: object
          required:
          - goal
          title: LiquidHandlerSetTipRack
          type: object
        type: LiquidHandlerSetTipRack
      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:
          amount: ''
          from_vessel: ''
          rinsing_repeats: 0
          rinsing_solvent: ''
          rinsing_volume: 0.0
          solid: false
          time: 0.0
          to_vessel: ''
          viscous: false
          volume: 0.0
        handles: {}
        schema:
          description: ''
          properties:
            feedback:
              additionalProperties: false
              properties:
                current_status:
                  type: string
                progress:
                  maximum: 1.7976931348623157e+308
                  minimum: -1.7976931348623157e+308
                  type: number
                transferred_volume:
                  maximum: 1.7976931348623157e+308
                  minimum: -1.7976931348623157e+308
                  type: number
              title: Transfer_Feedback
              type: object
            goal:
              additionalProperties: false
              properties:
                amount:
                  type: string
                from_vessel:
                  type: string
                rinsing_repeats:
                  maximum: 2147483647
                  minimum: -2147483648
                  type: integer
                rinsing_solvent:
                  type: string
                rinsing_volume:
                  maximum: 1.7976931348623157e+308
                  minimum: -1.7976931348623157e+308
                  type: number
                solid:
                  type: boolean
                time:
                  maximum: 1.7976931348623157e+308
                  minimum: -1.7976931348623157e+308
                  type: number
                to_vessel:
                  type: string
                viscous:
                  type: boolean
                volume:
                  maximum: 1.7976931348623157e+308
                  minimum: -1.7976931348623157e+308
                  type: number
              title: Transfer_Goal
              type: object
            result:
              additionalProperties: false
              properties:
                message:
                  type: string
                return_info:
                  type: string
                success:
                  type: boolean
              title: Transfer_Result
              type: object
          required:
          - goal
          title: Transfer
          type: object
        type: Transfer
      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: []
          asp_vols: []
          blow_out_air_volume: []
          delays: []
          dis_flow_rates: []
          dis_vols: []
          is_96_well: false
          liquid_height: []
          mix_liquid_height: 0.0
          mix_rate: 0
          mix_stage: ''
          mix_times: 0
          mix_vol: 0
          none_keys: []
          offsets: []
          sources: []
          spread: ''
          targets: []
          tip_racks: []
          touch_tip: false
          use_channels: []
        handles:
          input:
          - data_key: sources
            data_source: handle
            data_type: resource
            handler_key: sources_identifier
            label: 待移动液体
          - data_key: targets
            data_source: handle
            data_type: resource
            handler_key: targets_identifier
            label: 转移目标
          - data_key: tip_rack
            data_source: handle
            data_type: resource
            handler_key: tip_rack_identifier
            label: 枪头盒
          output:
          - data_key: sources.@flatten
            data_source: executor
            data_type: resource
            handler_key: sources_out
            label: 移液后源孔
          - data_key: targets.@flatten
            data_source: executor
            data_type: resource
            handler_key: targets_out
            label: 移液后目标孔
        placeholder_keys:
          sources: unilabos_resources
          targets: unilabos_resources
          tip_racks: unilabos_resources
        result:
          return_info: return_info
          success: success
        schema:
          description: ''
          properties:
            feedback:
              additionalProperties: true
              title: LiquidHandlerTransfer_Feedback
              type: object
            goal:
              additionalProperties: false
              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:
                    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:
                  maximum: 1.7976931348623157e+308
                  minimum: -1.7976931348623157e+308
                  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
                    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
                    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
                    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
                    type: object
                  type: array
                touch_tip:
                  type: boolean
                use_channels:
                  items:
                    type: integer
                  type: array
              title: LiquidHandlerTransfer_Goal
              type: object
            result:
              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              title: LiquidHandlerTransfer_Result
              type: object
          required:
          - goal
          title: LiquidHandlerTransfer
          type: object
        type: LiquidHandlerTransfer
    module: unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Handler
    status_types:
      reset_ok: bool
    type: python
  config_info: []
  description: prcxi液体处理器设备，基于pylabrobot控制
  handles: []
  icon: icon_yiyezhan.webp
  init_param_schema:
    config:
      properties:
        axis:
          default: Left
          type: string
        channel_num:
          default: 8
          type: string
        debug:
          default: false
          type: string
        deck:
          type: object
        host:
          type: string
        is_9320:
          default: false
          type: string
        matrix_id:
          default: ''
          type: string
        port:
          type: integer
        setup:
          default: true
          type: string
        simulator:
          default: false
          type: string
        step_mode:
          default: false
          type: string
        timeout:
          type: number
      required:
      - deck
      - host
      - port
      - timeout
      type: object
    data:
      properties:
        reset_ok:
          type: boolean
      required:
      - reset_ok
      type: object
  version: 1.0.0
liquid_handler.revvity:
  category:
  - liquid_handler
  class:
    action_value_mappings:
      run:
        feedback:
          gantt: gantt
          status: status
        goal:
          file_path: file_path
          params: params
          resource: resource
          wf_name: wf_name
        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: {}
        placeholder_keys: {}
        result:
          return_info: return_info
          success: success
        schema:
          description: ''
          properties:
            feedback:
              additionalProperties: false
              properties:
                gantt:
                  type: string
                status:
                  type: string
              title: WorkStationRun_Feedback
              type: object
            goal:
              additionalProperties: false
              properties:
                params:
                  type: string
                resource:
                  additionalProperties: false
                  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:
                      additionalProperties: false
                      properties:
                        orientation:
                          additionalProperties: false
                          properties:
                            w:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            x:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            y:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            z:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                          required:
                          - x
                          - y
                          - z
                          - w
                          title: orientation
                          type: object
                        position:
                          additionalProperties: false
                          properties:
                            x:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            y:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              type: number
                            z:
                              maximum: 1.7976931348623157e+308
                              minimum: -1.7976931348623157e+308
                              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: resource
                  type: object
                wf_name:
                  type: string
              title: WorkStationRun_Goal
              type: object
            result:
              additionalProperties: false
              properties:
                return_info:
                  type: string
                success:
                  type: boolean
              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
  config_info: []
  description: ''
  handles: []
  icon: ''
  init_param_schema:
    config:
      properties: {}
      required: []
      type: object
    data:
      properties:
        status:
          type: string
        success:
          type: boolean
      required:
      - status
      - success
      type: object
  version: 1.0.0