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.cursor/skills/virtual-workbench/SKILL.md
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259
.cursor/skills/virtual-workbench/SKILL.md
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---
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name: virtual-workbench
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description: Operate Virtual Workbench via REST API — prepare materials, move to heating stations, start heating, move to output, transfer resources. Use when the user mentions virtual workbench, virtual_workbench, 虚拟工作台, heating stations, material processing, or workbench operations.
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---
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# Virtual Workbench API Skill
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## 设备信息
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- **device_id**: `virtual_workbench`
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- **Python 源码**: `unilabos/devices/virtual/workbench.py`
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- **设备类**: `VirtualWorkbench`
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- **动作数**: 6（`auto-prepare_materials`, `auto-move_to_heating_station`, `auto-start_heating`, `auto-move_to_output`, `transfer`, `manual_confirm`）
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- **设备描述**: 模拟工作台，包含 1 个机械臂（每次操作 2s，独占锁）和 3 个加热台（每次加热 60s，可并行）
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### 典型工作流程
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1. `prepare_materials` — 生成 A1-A5 物料（5 个 output handle）
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2. `move_to_heating_station` — 物料并发竞争机械臂，移动到空闲加热台
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3. `start_heating` — 启动加热（3 个加热台可并行）
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4. `move_to_output` — 加热完成后移到输出位置 Cn
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## 前置条件（缺一不可）
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使用本 skill 前，**必须**先确认以下信息。如果缺少任何一项，**立即向用户询问并终止**，等补齐后再继续。
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### 1. ak / sk → AUTH
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从启动参数 `--ak` `--sk` 或 config.py 中获取，生成 token：`base64(ak:sk)` → `Authorization: Lab <token>`
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### 2. --addr → BASE URL
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| `--addr` 值 | BASE |
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| ------------ | ----------------------------------- |
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| `test` | `https://leap-lab.test.bohrium.com` |
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| `uat` | `https://leap-lab.uat.bohrium.com` |
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| `local` | `http://127.0.0.1:48197` |
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| 不传（默认） | `https://leap-lab.bohrium.com` |
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确认后设置：
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```bash
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BASE="<根据 addr 确定的 URL>"
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AUTH="Authorization: Lab <token>"
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```
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**两项全部就绪后才可发起 API 请求。**
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## Session State
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- `lab_uuid` — 实验室 UUID（首次通过 API #1 自动获取，**不需要问用户**）
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- `device_name` — `virtual_workbench`
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## 请求约定
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所有请求使用 `curl -s`，POST/PATCH/DELETE 需加 `Content-Type: application/json`。
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> **Windows 平台**必须使用 `curl.exe`（而非 PowerShell 的 `curl` 别名）。
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---
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## API Endpoints
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### 1. 获取实验室信息（自动获取 lab_uuid）
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```bash
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curl -s -X GET "$BASE/api/v1/edge/lab/info" -H "$AUTH"
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```
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返回 `data.uuid` 为 `lab_uuid`，`data.name` 为 `lab_name`。
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### 2. 创建工作流
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```bash
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curl -s -X POST "$BASE/api/v1/lab/workflow/owner" \
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-H "$AUTH" -H "Content-Type: application/json" \
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-d '{"name":"<名称>","lab_uuid":"<lab_uuid>","description":"<描述>"}'
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```
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返回 `data.uuid` 为 `workflow_uuid`。创建成功后告知用户链接：`$BASE/laboratory/$lab_uuid/workflow/$workflow_uuid`
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### 3. 创建节点
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```bash
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curl -s -X POST "$BASE/api/v1/edge/workflow/node" \
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-H "$AUTH" -H "Content-Type: application/json" \
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-d '{"workflow_uuid":"<workflow_uuid>","resource_template_name":"virtual_workbench","node_template_name":"<action_name>"}'
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```
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- `resource_template_name` 固定为 `virtual_workbench`
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- `node_template_name` — action 名称（如 `auto-prepare_materials`, `auto-move_to_heating_station`）
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### 4. 删除节点
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```bash
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curl -s -X DELETE "$BASE/api/v1/lab/workflow/nodes" \
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-H "$AUTH" -H "Content-Type: application/json" \
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-d '{"node_uuids":["<uuid1>"],"workflow_uuid":"<workflow_uuid>"}'
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```
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### 5. 更新节点参数
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```bash
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curl -s -X PATCH "$BASE/api/v1/lab/workflow/node" \
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-H "$AUTH" -H "Content-Type: application/json" \
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-d '{"workflow_uuid":"<wf_uuid>","uuid":"<node_uuid>","param":{...}}'
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```
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参考 [action-index.md](action-index.md) 确定哪些字段是 Slot。
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### 6. 查询节点 handles
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```bash
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curl -s -X POST "$BASE/api/v1/lab/workflow/node-handles" \
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-H "$AUTH" -H "Content-Type: application/json" \
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-d '{"node_uuids":["<node_uuid_1>","<node_uuid_2>"]}'
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```
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### 7. 批量创建边
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```bash
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curl -s -X POST "$BASE/api/v1/lab/workflow/edges" \
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-H "$AUTH" -H "Content-Type: application/json" \
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-d '{"edges":[{"source_node_uuid":"<uuid>","target_node_uuid":"<uuid>","source_handle_uuid":"<uuid>","target_handle_uuid":"<uuid>"}]}'
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```
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### 8. 启动工作流
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```bash
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curl -s -X POST "$BASE/api/v1/lab/workflow/<workflow_uuid>/run" -H "$AUTH"
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```
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### 9. 运行设备单动作
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```bash
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curl -s -X POST "$BASE/api/v1/lab/mcp/run/action" \
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-H "$AUTH" -H "Content-Type: application/json" \
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-d '{"lab_uuid":"<lab_uuid>","device_id":"virtual_workbench","action":"<action_name>","action_type":"<type>","param":{...}}'
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```
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`param` 直接放 goal 里的属性，**不要**再包一层 `{"goal": {...}}`。`action_type` 从 `actions/<name>.json` 的 `type` 字段获取。
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### 10. 查询任务状态
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```bash
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curl -s -X GET "$BASE/api/v1/lab/mcp/task/<task_uuid>" -H "$AUTH"
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```
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### 11. 运行工作流单节点
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```bash
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curl -s -X POST "$BASE/api/v1/lab/mcp/run/workflow/action" \
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-H "$AUTH" -H "Content-Type: application/json" \
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-d '{"node_uuid":"<node_uuid>"}'
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```
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### 12. 获取资源树（物料信息）
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```bash
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curl -s -X GET "$BASE/api/v1/lab/material/download/$lab_uuid" -H "$AUTH"
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```
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注意 `lab_uuid` 在路径中。返回 `data.nodes[]` 含所有节点（设备 + 物料），每个节点含 `name`、`uuid`、`type`、`parent`。
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### 13. 获取工作流模板详情
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```bash
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curl -s -X GET "$BASE/api/v1/lab/workflow/template/detail/$workflow_uuid" -H "$AUTH"
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```
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> 必须使用 `/lab/workflow/template/detail/{uuid}`，其他路径会返回 404。
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### 14. 按名称查询物料模板
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```bash
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curl -s -X GET "$BASE/api/v1/lab/material/template/by-name?lab_uuid=$lab_uuid&name=<template_name>" -H "$AUTH"
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```
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返回 `data.uuid` 为 `res_template_uuid`，用于 API #15。
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### 15. 创建物料节点
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```bash
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curl -s -X POST "$BASE/api/v1/edge/material/node" \
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-H "$AUTH" -H "Content-Type: application/json" \
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-d '{"res_template_uuid":"<uuid>","name":"<名称>","display_name":"<显示名>","parent_uuid":"<父节点uuid>","data":{...}}'
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```
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### 16. 更新物料节点
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```bash
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curl -s -X PUT "$BASE/api/v1/edge/material/node" \
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-H "$AUTH" -H "Content-Type: application/json" \
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-d '{"uuid":"<节点uuid>","display_name":"<新名称>","data":{...}}'
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```
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---
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## Placeholder Slot 填写规则
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| `placeholder_keys` 值 | Slot 类型 | 填写格式 | 选取范围 |
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| --------------------- | ------------ | ----------------------------------------------------- | ---------------------- |
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| `unilabos_resources` | ResourceSlot | `{"id": "/path/name", "name": "name", "uuid": "xxx"}` | 仅物料节点（非设备） |
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| `unilabos_devices` | DeviceSlot | `"/parent/device_name"` | 仅设备节点（type=device） |
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| `unilabos_nodes` | NodeSlot | `"/parent/node_name"` | 所有节点（设备 + 物料） |
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| `unilabos_class` | ClassSlot | `"class_name"` | 注册表中已注册的资源类 |
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### virtual_workbench 设备的 Slot 字段表
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| Action | 字段 | Slot 类型 | 说明 |
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| ----------------- | ---------------- | ------------ | -------------------- |
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| `transfer` | `resource` | ResourceSlot | 待转移物料数组 |
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| `transfer` | `target_device` | DeviceSlot | 目标设备路径 |
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| `transfer` | `mount_resource` | ResourceSlot | 目标孔位数组 |
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| `manual_confirm` | `resource` | ResourceSlot | 确认用物料数组 |
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| `manual_confirm` | `target_device` | DeviceSlot | 确认用目标设备 |
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| `manual_confirm` | `mount_resource` | ResourceSlot | 确认用目标孔位数组 |
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> `prepare_materials`、`move_to_heating_station`、`start_heating`、`move_to_output` 这 4 个动作**无 Slot 字段**，参数为纯数值/整数。
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---
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## 渐进加载策略
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1. **SKILL.md**（本文件）— API 端点 + session state 管理 + 设备工作流概览
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2. **[action-index.md](action-index.md)** — 按分类浏览 6 个动作的描述和核心参数
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3. **[actions/\<name\>.json](actions/)** — 仅在需要构建具体请求时，加载对应 action 的完整 JSON Schema
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---
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## 完整工作流 Checklist
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```
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Task Progress:
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- [ ] Step 1: GET /edge/lab/info 获取 lab_uuid
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- [ ] Step 2: 获取资源树 (GET #12) → 记住可用物料
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- [ ] Step 3: 读 action-index.md 确定要用的 action 名
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- [ ] Step 4: 创建工作流 (POST #2) → 记住 workflow_uuid，告知用户链接
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- [ ] Step 5: 创建节点 (POST #3, resource_template_name=virtual_workbench) → 记住 node_uuid + data.param
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- [ ] Step 6: 根据 _unilabos_placeholder_info 和资源树，填写 data.param 中的 Slot 字段
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- [ ] Step 7: 更新节点参数 (PATCH #5)
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- [ ] Step 8: 查询节点 handles (POST #6) → 获取各节点的 handle_uuid
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- [ ] Step 9: 批量创建边 (POST #7) → 用 handle_uuid 连接节点
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- [ ] Step 10: 启动工作流 (POST #8) 或运行单节点 (POST #11)
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- [ ] Step 11: 查询任务状态 (GET #10) 确认完成
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```
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### 典型 5 物料并发加热工作流示例
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```
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prepare_materials (count=5)
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├─ channel_1 → move_to_heating_station (material_number=1) → start_heating → move_to_output
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├─ channel_2 → move_to_heating_station (material_number=2) → start_heating → move_to_output
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├─ channel_3 → move_to_heating_station (material_number=3) → start_heating → move_to_output
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├─ channel_4 → move_to_heating_station (material_number=4) → start_heating → move_to_output
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└─ channel_5 → move_to_heating_station (material_number=5) → start_heating → move_to_output
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```
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创建节点时，`prepare_materials` 的 5 个 output handle（`channel_1` ~ `channel_5`）分别连接到 5 个 `move_to_heating_station` 节点的 `material_input` handle。每个 `move_to_heating_station` 的 `heating_station_output` 和 `material_number_output` 连接到对应 `start_heating` 的 `station_id_input` 和 `material_number_input`。
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70
.cursor/skills/virtual-workbench/action-index.md
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70
.cursor/skills/virtual-workbench/action-index.md
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# Action Index — virtual_workbench
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6 个动作，按功能分类。每个动作的完整 JSON Schema 在 `actions/<name>.json`。
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---
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## 物料准备
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### `auto-prepare_materials`
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批量准备物料（虚拟起始节点），生成 A1-A5 物料编号，输出 5 个 handle 供后续节点使用
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- **Schema**: [`actions/prepare_materials.json`](actions/prepare_materials.json)
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- **可选参数**: `count`（物料数量，默认 5）
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---
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## 机械臂 & 加热台操作
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### `auto-move_to_heating_station`
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将物料从 An 位置移动到空闲加热台（竞争机械臂，自动查找空闲加热台）
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- **Schema**: [`actions/move_to_heating_station.json`](actions/move_to_heating_station.json)
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- **核心参数**: `material_number`（物料编号，integer）
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### `auto-start_heating`
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启动指定加热台的加热程序（可并行，3 个加热台同时工作）
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- **Schema**: [`actions/start_heating.json`](actions/start_heating.json)
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- **核心参数**: `station_id`（加热台 ID），`material_number`（物料编号）
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### `auto-move_to_output`
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将加热完成的物料从加热台移动到输出位置 Cn
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- **Schema**: [`actions/move_to_output.json`](actions/move_to_output.json)
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- **核心参数**: `station_id`（加热台 ID），`material_number`（物料编号）
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---
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## 物料转移
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### `transfer`
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异步转移物料到目标设备（通过 ROS 资源转移）
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- **Schema**: [`actions/transfer.json`](actions/transfer.json)
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- **核心参数**: `resource`, `target_device`, `mount_resource`
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- **占位符字段**:
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- `resource` — **ResourceSlot**，待转移的物料数组 `[{id, name, uuid}, ...]`
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- `target_device` — **DeviceSlot**，目标设备路径字符串
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- `mount_resource` — **ResourceSlot**，目标孔位数组 `[{id, name, uuid}, ...]`
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---
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## 人工确认
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### `manual_confirm`
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创建人工确认节点，等待用户手动确认后继续（含物料转移上下文）
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- **Schema**: [`actions/manual_confirm.json`](actions/manual_confirm.json)
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- **核心参数**: `resource`, `target_device`, `mount_resource`, `timeout_seconds`, `assignee_user_ids`
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- **占位符字段**:
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- `resource` — **ResourceSlot**，物料数组
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- `target_device` — **DeviceSlot**，目标设备路径
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- `mount_resource` — **ResourceSlot**，目标孔位数组
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- `assignee_user_ids` — `unilabos_manual_confirm` 类型
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270
.cursor/skills/virtual-workbench/actions/manual_confirm.json
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270
.cursor/skills/virtual-workbench/actions/manual_confirm.json
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{
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"type": "UniLabJsonCommand",
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"goal": {
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"resource": "resource",
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"target_device": "target_device",
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"mount_resource": "mount_resource",
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"timeout_seconds": "timeout_seconds",
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"assignee_user_ids": "assignee_user_ids"
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},
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"schema": {
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"type": "object",
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"properties": {
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"resource": {
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"items": {
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"type": "object",
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"additionalProperties": false,
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"properties": {
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"id": {
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"type": "string"
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},
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"name": {
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"type": "string"
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},
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"sample_id": {
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"type": "string"
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},
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||||
"children": {
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||||
"type": "array",
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||||
"items": {
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||||
"type": "string"
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||||
}
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||||
},
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||||
"parent": {
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||||
"type": "string"
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||||
},
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||||
"type": {
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||||
"type": "string"
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||||
},
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||||
"category": {
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||||
"type": "string"
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||||
},
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||||
"pose": {
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||||
"type": "object",
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||||
"properties": {
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||||
"position": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"y": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"z": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"x",
|
||||
"y",
|
||||
"z"
|
||||
],
|
||||
"title": "position",
|
||||
"additionalProperties": false
|
||||
},
|
||||
"orientation": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"y": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"z": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"w": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"x",
|
||||
"y",
|
||||
"z",
|
||||
"w"
|
||||
],
|
||||
"title": "orientation",
|
||||
"additionalProperties": false
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"position",
|
||||
"orientation"
|
||||
],
|
||||
"title": "pose",
|
||||
"additionalProperties": false
|
||||
},
|
||||
"config": {
|
||||
"type": "string"
|
||||
},
|
||||
"data": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"title": "resource"
|
||||
},
|
||||
"type": "array"
|
||||
},
|
||||
"target_device": {
|
||||
"type": "string",
|
||||
"description": "device reference"
|
||||
},
|
||||
"mount_resource": {
|
||||
"items": {
|
||||
"type": "object",
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"id": {
|
||||
"type": "string"
|
||||
},
|
||||
"name": {
|
||||
"type": "string"
|
||||
},
|
||||
"sample_id": {
|
||||
"type": "string"
|
||||
},
|
||||
"children": {
|
||||
"type": "array",
|
||||
"items": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"parent": {
|
||||
"type": "string"
|
||||
},
|
||||
"type": {
|
||||
"type": "string"
|
||||
},
|
||||
"category": {
|
||||
"type": "string"
|
||||
},
|
||||
"pose": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"position": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"y": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"z": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"x",
|
||||
"y",
|
||||
"z"
|
||||
],
|
||||
"title": "position",
|
||||
"additionalProperties": false
|
||||
},
|
||||
"orientation": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"y": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"z": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"w": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"x",
|
||||
"y",
|
||||
"z",
|
||||
"w"
|
||||
],
|
||||
"title": "orientation",
|
||||
"additionalProperties": false
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"position",
|
||||
"orientation"
|
||||
],
|
||||
"title": "pose",
|
||||
"additionalProperties": false
|
||||
},
|
||||
"config": {
|
||||
"type": "string"
|
||||
},
|
||||
"data": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"title": "mount_resource"
|
||||
},
|
||||
"type": "array"
|
||||
},
|
||||
"timeout_seconds": {
|
||||
"type": "integer"
|
||||
},
|
||||
"assignee_user_ids": {
|
||||
"type": "array",
|
||||
"items": {
|
||||
"type": "string"
|
||||
}
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"resource",
|
||||
"target_device",
|
||||
"mount_resource",
|
||||
"timeout_seconds",
|
||||
"assignee_user_ids"
|
||||
],
|
||||
"_unilabos_placeholder_info": {
|
||||
"resource": "unilabos_resources",
|
||||
"target_device": "unilabos_devices",
|
||||
"mount_resource": "unilabos_resources",
|
||||
"assignee_user_ids": "unilabos_manual_confirm"
|
||||
}
|
||||
},
|
||||
"goal_default": {},
|
||||
"placeholder_keys": {
|
||||
"resource": "unilabos_resources",
|
||||
"target_device": "unilabos_devices",
|
||||
"mount_resource": "unilabos_resources",
|
||||
"assignee_user_ids": "unilabos_manual_confirm"
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,19 @@
|
||||
{
|
||||
"type": "UniLabJsonCommand",
|
||||
"goal": {
|
||||
"material_number": "material_number"
|
||||
},
|
||||
"schema": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"material_number": {
|
||||
"type": "integer"
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"material_number"
|
||||
]
|
||||
},
|
||||
"goal_default": {},
|
||||
"placeholder_keys": {}
|
||||
}
|
||||
24
.cursor/skills/virtual-workbench/actions/move_to_output.json
Normal file
24
.cursor/skills/virtual-workbench/actions/move_to_output.json
Normal file
@@ -0,0 +1,24 @@
|
||||
{
|
||||
"type": "UniLabJsonCommand",
|
||||
"goal": {
|
||||
"station_id": "station_id",
|
||||
"material_number": "material_number"
|
||||
},
|
||||
"schema": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"station_id": {
|
||||
"type": "integer"
|
||||
},
|
||||
"material_number": {
|
||||
"type": "integer"
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"station_id",
|
||||
"material_number"
|
||||
]
|
||||
},
|
||||
"goal_default": {},
|
||||
"placeholder_keys": {}
|
||||
}
|
||||
@@ -0,0 +1,20 @@
|
||||
{
|
||||
"type": "UniLabJsonCommand",
|
||||
"goal": {
|
||||
"count": "count"
|
||||
},
|
||||
"schema": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"count": {
|
||||
"type": "integer",
|
||||
"default": 5
|
||||
}
|
||||
},
|
||||
"required": []
|
||||
},
|
||||
"goal_default": {
|
||||
"count": 5
|
||||
},
|
||||
"placeholder_keys": {}
|
||||
}
|
||||
24
.cursor/skills/virtual-workbench/actions/start_heating.json
Normal file
24
.cursor/skills/virtual-workbench/actions/start_heating.json
Normal file
@@ -0,0 +1,24 @@
|
||||
{
|
||||
"type": "UniLabJsonCommand",
|
||||
"goal": {
|
||||
"station_id": "station_id",
|
||||
"material_number": "material_number"
|
||||
},
|
||||
"schema": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"station_id": {
|
||||
"type": "integer"
|
||||
},
|
||||
"material_number": {
|
||||
"type": "integer"
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"station_id",
|
||||
"material_number"
|
||||
]
|
||||
},
|
||||
"goal_default": {},
|
||||
"placeholder_keys": {}
|
||||
}
|
||||
255
.cursor/skills/virtual-workbench/actions/transfer.json
Normal file
255
.cursor/skills/virtual-workbench/actions/transfer.json
Normal file
@@ -0,0 +1,255 @@
|
||||
{
|
||||
"type": "UniLabJsonCommandAsync",
|
||||
"goal": {
|
||||
"resource": "resource",
|
||||
"target_device": "target_device",
|
||||
"mount_resource": "mount_resource"
|
||||
},
|
||||
"schema": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"resource": {
|
||||
"items": {
|
||||
"type": "object",
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"id": {
|
||||
"type": "string"
|
||||
},
|
||||
"name": {
|
||||
"type": "string"
|
||||
},
|
||||
"sample_id": {
|
||||
"type": "string"
|
||||
},
|
||||
"children": {
|
||||
"type": "array",
|
||||
"items": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"parent": {
|
||||
"type": "string"
|
||||
},
|
||||
"type": {
|
||||
"type": "string"
|
||||
},
|
||||
"category": {
|
||||
"type": "string"
|
||||
},
|
||||
"pose": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"position": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"y": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"z": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"x",
|
||||
"y",
|
||||
"z"
|
||||
],
|
||||
"title": "position",
|
||||
"additionalProperties": false
|
||||
},
|
||||
"orientation": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"y": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"z": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"w": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"x",
|
||||
"y",
|
||||
"z",
|
||||
"w"
|
||||
],
|
||||
"title": "orientation",
|
||||
"additionalProperties": false
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"position",
|
||||
"orientation"
|
||||
],
|
||||
"title": "pose",
|
||||
"additionalProperties": false
|
||||
},
|
||||
"config": {
|
||||
"type": "string"
|
||||
},
|
||||
"data": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"title": "resource"
|
||||
},
|
||||
"type": "array"
|
||||
},
|
||||
"target_device": {
|
||||
"type": "string",
|
||||
"description": "device reference"
|
||||
},
|
||||
"mount_resource": {
|
||||
"items": {
|
||||
"type": "object",
|
||||
"additionalProperties": false,
|
||||
"properties": {
|
||||
"id": {
|
||||
"type": "string"
|
||||
},
|
||||
"name": {
|
||||
"type": "string"
|
||||
},
|
||||
"sample_id": {
|
||||
"type": "string"
|
||||
},
|
||||
"children": {
|
||||
"type": "array",
|
||||
"items": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"parent": {
|
||||
"type": "string"
|
||||
},
|
||||
"type": {
|
||||
"type": "string"
|
||||
},
|
||||
"category": {
|
||||
"type": "string"
|
||||
},
|
||||
"pose": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"position": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"y": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"z": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"x",
|
||||
"y",
|
||||
"z"
|
||||
],
|
||||
"title": "position",
|
||||
"additionalProperties": false
|
||||
},
|
||||
"orientation": {
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"x": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"y": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"z": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
},
|
||||
"w": {
|
||||
"type": "number",
|
||||
"minimum": -1.7976931348623157e+308,
|
||||
"maximum": 1.7976931348623157e+308
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"x",
|
||||
"y",
|
||||
"z",
|
||||
"w"
|
||||
],
|
||||
"title": "orientation",
|
||||
"additionalProperties": false
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"position",
|
||||
"orientation"
|
||||
],
|
||||
"title": "pose",
|
||||
"additionalProperties": false
|
||||
},
|
||||
"config": {
|
||||
"type": "string"
|
||||
},
|
||||
"data": {
|
||||
"type": "string"
|
||||
}
|
||||
},
|
||||
"title": "mount_resource"
|
||||
},
|
||||
"type": "array"
|
||||
}
|
||||
},
|
||||
"required": [
|
||||
"resource",
|
||||
"target_device",
|
||||
"mount_resource"
|
||||
],
|
||||
"_unilabos_placeholder_info": {
|
||||
"resource": "unilabos_resources",
|
||||
"target_device": "unilabos_devices",
|
||||
"mount_resource": "unilabos_resources"
|
||||
}
|
||||
},
|
||||
"goal_default": {},
|
||||
"placeholder_keys": {
|
||||
"resource": "unilabos_resources",
|
||||
"target_device": "unilabos_devices",
|
||||
"mount_resource": "unilabos_resources"
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user