{ "asset_id": "GC7890B", "coordinate_system": "SI, right-handed, +X right, +Y rear, +Z up; origin centered on bench", "configuration": "single S/SL and single capillary FID; no ALS, MS or gas cylinders", "dimensions_m": [ 0.58, 0.51, 0.49 ], "mass_kg": 49, "dimensions_source": "GC_SPECS", "oven_cavity_m": { "width": 0.28, "height": 0.31, "depth": 0.16, "axis_assignment": "photo_inference" }, "limitations": [ "Internal geometry is functional schematic, not manufacturer CAD", "Kinematic joint limits and per-part inertia are engineering assumptions", "Collision-free robot motion and physics-engine import require host validation", "Coil is LOD geometry, analytical column length is separate", "Accessories are independent objects; not supplied instrument components" ], "components": [ { "id": "chassis", "origin_m": [ 0, 0, 0 ], "parent": "base_link", "joint_type": "fixed", "axis": [ 0, 0, 0 ], "limits": [ 0, 0 ], "limit_unit": "m", "limit_evidence": "not_applicable", "geometry_evidence": "photo_estimate", "mass_kg": 22.106925332731794, "mass_evidence": "engineering_assumption", "collisions": [ { "shape": "box", "size_m": [ 0.58, 0.51, 0.022 ], "origin_m": [ 0, 0, 0.022 ], "rpy_rad": [ 0, 0, 0 ] }, { "shape": "box", "size_m": [ 0.012, 0.5, 0.444 ], "origin_m": [ -0.284, 0, 0.255 ], "rpy_rad": [ 0, 0, 0 ] }, { "shape": "box", "size_m": [ 0.012, 0.5, 0.444 ], "origin_m": [ 0.284, 0, 0.255 ], "rpy_rad": [ 0, 0, 0 ] }, { "shape": "box", "size_m": [ 0.557, 0.012, 0.438 ], "origin_m": [ 0, 0.249, 0.252 ], "rpy_rad": [ 0, 0, 0 ] }, { "shape": "box", "size_m": [ 0.134, 0.018, 0.422 ], "origin_m": [ -0.222, -0.246, 0.247 ], "rpy_rad": [ 0, 0, 0 ] }, { "shape": "box", "size_m": [ 0.556, 0.204, 0.016 ], "origin_m": [ 0, 0.145, 0.473 ], "rpy_rad": [ 0, 0, 0 ] }, { "shape": "box", "size_m": [ 0.176, 0.29, 0.012 ], "origin_m": [ -0.196, -0.098, 0.474 ], "rpy_rad": [ 0, 0, 0 ] }, { "shape": "box", "size_m": [ 0.064, 0.045, 0.012 ], "origin_m": [ -0.075, -0.228, 0.474 ], "rpy_rad": [ 0, 0, 0 ] }, { "shape": "box", "size_m": [ 0.064, 0.166, 0.012 ], "origin_m": [ -0.075, -0.043, 0.474 ], "rpy_rad": [ 0, 0, 0 ] }, { "shape": "box", "size_m": [ 0.016, 0.098, 0.012 ], "origin_m": [ -0.11, -0.158, 0.474 ], "rpy_rad": [ 0, 0, 0 ] }, { "shape": "box", "size_m": [ 0.012, 0.098, 0.012 ], "origin_m": [ -0.043, -0.158, 0.474 ], "rpy_rad": [ 0, 0, 0 ] }, { "shape": "box", "size_m": [ 0.126, 0.293, 0.012 ], "origin_m": [ 0.222, -0.097, 0.476 ], "rpy_rad": [ 0, 0, 0 ] } ], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "chassis", "name_zh": "机壳与底盘", "subsystem": "structure", "function_zh": "承载柱箱、进样口、检测器和电子模块。", "physical_meaning_zh": "把组件载荷传递到支脚，限定碰撞边界；外壳不是样品容器。", "representation": { "geometry_class": "photo_referenced_approximation", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "fixed", "graspable": false, "removable": false, "joint_type": "fixed", "access_zh": "根据当前动作和可达性处理接触。" }, "physical_quantities": [ { "name": "mass", "label_zh": "mass", "si_unit": "kg", "state_key": "chassis.mass", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "满足任务所定义的可达性与装配条件。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "chassis.mass", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "photo_referenced_approximation", "dynamics": "engineering_abstraction", "source_ids": [ "GC_GETTING_STARTED" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" } }, "inertial_box_dimensions_m": [ 0.5803000330924988, 0.5115000009536743, 0.4710000231862068 ], "center_of_mass_m": [ 0.0001499950885772705, 0.0007500052452087402, 0.24650001153349876 ], "blender_object": "GC7890B__chassis", 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"mass_evidence": "engineering_assumption", "collisions": [ { "shape": "box", "size_m": [ 0.045, 0.054, 0.011 ], "origin_m": [ -0.255, -0.21, 0.0055 ], "rpy_rad": [ 0, 0, 0 ] }, { "shape": "box", "size_m": [ 0.045, 0.054, 0.011 ], "origin_m": [ -0.255, 0.21, 0.0055 ], "rpy_rad": [ 0, 0, 0 ] }, { "shape": "box", "size_m": [ 0.045, 0.054, 0.011 ], "origin_m": [ 0.255, -0.21, 0.0055 ], "rpy_rad": [ 0, 0, 0 ] }, { "shape": "box", "size_m": [ 0.045, 0.054, 0.011 ], "origin_m": [ 0.255, 0.21, 0.0055 ], "rpy_rad": [ 0, 0, 0 ] } ], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "feet", "name_zh": "支脚", "subsystem": "structure", "function_zh": "支撑仪器并接触工作台。", "physical_meaning_zh": "法向力与摩擦约束整机位姿，摩擦系数没有公开校准值。", "representation": { "geometry_class": "photo_referenced_approximation", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "fixed", "graspable": false, "removable": false, "joint_type": "fixed", "access_zh": "根据当前动作和可达性处理接触。" }, "physical_quantities": [ { "name": "normal_force", "label_zh": "normal_force", "si_unit": "N", "state_key": "feet.normal_force", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "满足任务所定义的可达性与装配条件。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "feet.normal_force", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "photo_referenced_approximation", "dynamics": "engineering_abstraction", "source_ids": [ "GC_GETTING_STARTED" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" } }, "inertial_box_dimensions_m": [ 0.5550000071525574, 0.4739999771118164, 0.010999999940395355 ], "center_of_mass_m": [ 0.0, 0.0, 0.005499999970197678 ], "blender_object": "GC7890B__feet", "mesh_file": "meshes/feet.obj", "mesh_objects": [ "GC7890B__feet__rubber_foot", "GC7890B__feet__rubber_foot.001", "GC7890B__feet__rubber_foot.002", "GC7890B__feet__rubber_foot.003" ] }, { "id": "oven_insulation", "origin_m": [ 0, 0, 0 ], "parent": "base_link", "joint_type": "fixed", "axis": [ 0, 0, 0 ], "limits": [ 0, 0 ], "limit_unit": "m", "limit_evidence": "not_applicable", "geometry_evidence": "photo_estimate", "mass_kg": 8.597137629395698, "mass_evidence": "engineering_assumption", "collisions": [ { "shape": "box", "size_m": [ 0.016, 0.19, 0.338 ], "origin_m": [ -0.148, -0.141, 0.229 ], "rpy_rad": [ 0, 0, 0 ] }, { "shape": "box", "size_m": [ 0.016, 0.19, 0.338 ], "origin_m": [ 0.148, -0.141, 0.229 ], "rpy_rad": [ 0, 0, 0 ] }, { "shape": "box", "size_m": [ 0.28, 0.19, 0.016 ], "origin_m": [ 0, -0.141, 0.392 ], "rpy_rad": [ 0, 0, 0 ] }, { "shape": "box", "size_m": [ 0.28, 0.19, 0.016 ], "origin_m": [ 0, -0.141, 0.066 ], "rpy_rad": [ 0, 0, 0 ] }, { "shape": "box", "size_m": [ 0.04, 0.018, 0.31 ], "origin_m": [ -0.12, -0.052, 0.229 ], "rpy_rad": [ 0, 0, 0 ] }, { "shape": "box", "size_m": [ 0.04, 0.018, 0.31 ], "origin_m": [ 0.12, -0.052, 0.229 ], "rpy_rad": [ 0, 0, 0 ] }, { "shape": "box", "size_m": [ 0.2, 0.018, 0.055 ], "origin_m": [ 0, -0.052, 0.3565 ], "rpy_rad": [ 0, 0, 0 ] }, { "shape": "box", "size_m": [ 0.2, 0.018, 0.055 ], "origin_m": [ 0, -0.052, 0.1015 ], "rpy_rad": [ 0, 0, 0 ] } ], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "oven_insulation", "name_zh": "柱箱隔热层", "subsystem": "oven", "function_zh": "减小柱箱向周围的热传递。", "physical_meaning_zh": "用等效热阻关联内外温差和热流，材料与厚度未测量。", "representation": { "geometry_class": "internal_schematic", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "internal", "graspable": false, "removable": false, "joint_type": "fixed", "access_zh": "内部固定状态不得作为自由抓取物体。" }, "physical_quantities": [ { "name": "thermal_resistance", "label_zh": "thermal_resistance", "si_unit": "K/W", "state_key": "oven_insulation.thermal_resistance", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null }, { "id": "inspect_semantics", "label_zh": "查询内部状态语义", "kind": "semantic_query", "runtime_binding": null } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "满足任务所定义的可达性与装配条件。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "oven_insulation.thermal_resistance", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "internal_schematic", "dynamics": "engineering_abstraction", "source_ids": [ "GC_MAINTAINING" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" } }, "inertial_box_dimensions_m": [ 0.31200000643730164, 0.19299999997019768, 0.34199997782707214 ], "center_of_mass_m": [ 0.0, -0.13950000144541264, 0.22899998724460602 ], "blender_object": "GC7890B__oven_insulation", "mesh_file": "meshes/oven_insulation.obj", "mesh_objects": [ "GC7890B__oven_insulation__left", "GC7890B__oven_insulation__right", "GC7890B__oven_insulation__top", "GC7890B__oven_insulation__bottom", "GC7890B__oven_insulation__left_metal", "GC7890B__oven_insulation__right_metal", "GC7890B__oven_insulation__roof_metal", "GC7890B__oven_insulation__floor_metal", "GC7890B__oven_insulation__back_left", "GC7890B__oven_insulation__back_left_metal", "GC7890B__oven_insulation__back_right", "GC7890B__oven_insulation__back_right_metal", "GC7890B__oven_insulation__back_top", "GC7890B__oven_insulation__back_top_metal", "GC7890B__oven_insulation__back_bottom", "GC7890B__oven_insulation__back_bottom_metal" ] }, { "id": "oven_door", "origin_m": [ -0.15, -0.25, 0.246 ], "parent": "base_link", "joint_type": "revolute", "axis": [ 0, 0, -1 ], "limits": [ 0, 1.92 ], "limit_unit": "rad", "limit_evidence": "engineering_assumption", "geometry_evidence": "photo_estimate", "mass_kg": 6.140812592425498, "mass_evidence": "engineering_assumption", "collisions": [ { "shape": "box", "size_m": [ 0.296, 0.018, 0.421 ], "origin_m": [ 0.15, -0.001, 0 ], "rpy_rad": [ 0, 0, 0 ] }, { "shape": "box", "size_m": [ 0.274, 0.025, 0.306 ], "origin_m": [ 0.15, 0.019, -0.017 ], "rpy_rad": [ 0, 0, 0 ] }, { "shape": "cylinder", "size_m": [ 0.008, 0.045 ], "origin_m": [ 0, 0.007, -0.175 ], "rpy_rad": [ 0, 0, 0 ] }, { "shape": "cylinder", "size_m": [ 0.008, 0.045 ], "origin_m": [ 0, 0.007, 0.175 ], "rpy_rad": [ 0, 0, 0 ] } ], "interaction_anchor_local_m": [ 0.25, -0.017, -0.181 ], "semantics": { "id": "oven_door", "name_zh": "柱箱门", "subsystem": "oven", "function_zh": "开启后提供色谱柱维护通道，关闭后围成热环境。", "physical_meaning_zh": "开度改变热泄漏与可达空间；合页位置和行程为照片估计。", "representation": { "geometry_class": "photo_referenced_approximation", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "hinged", "graspable": false, "removable": false, "joint_type": "revolute", "access_zh": "根据当前动作和可达性处理接触。" }, "physical_quantities": [ { "name": "angle", "label_zh": "angle", "si_unit": "rad", "state_key": "oven_door.angle", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null }, { "id": "door", "label_zh": "开关柱箱门", "kind": "runtime_command", "runtime_binding": { "api": "GC.perform", "action": "door", "kwargs": { "open": "bool" } } } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "满足任务所定义的可达性与装配条件。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "oven_door.angle", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "photo_referenced_approximation", "dynamics": "engineering_abstraction", "source_ids": [ "GC_GETTING_STARTED" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" } }, "inertial_box_dimensions_m": [ 0.3060000082477927, 0.04399997740983963, 0.42100000381469727 ], "center_of_mass_m": [ 0.14500000374391675, 0.012000001966953278, 0.0 ], "blender_object": "GC7890B__oven_door", "mesh_file": "meshes/oven_door.obj", "mesh_objects": [ "GC7890B__oven_door__front_panel", "GC7890B__oven_door__inner_insulator", "GC7890B__oven_door__inner_metal", "GC7890B__oven_door__hinge", "GC7890B__oven_door__hinge.001" ] }, { "id": "oven_handle", "origin_m": [ 0.256, -0.018, -0.213 ], "parent": "oven_door", "joint_type": "fixed", "axis": [ 0, 0, 0 ], "limits": [ 0, 0 ], "limit_unit": "m", "limit_evidence": "not_applicable", "geometry_evidence": "photo_estimate", "mass_kg": 0.14737950221821197, "mass_evidence": "engineering_assumption", "collisions": [ { "shape": "cylinder", "size_m": [ 0.016, 0.012 ], "origin_m": [ 0, 0, 0 ], "rpy_rad": [ 1.5707963267948966, 0, 0 ] }, { "shape": "box", "size_m": [ 0.032, 0.007, 0.016 ], "origin_m": [ 0, -0.005, 0.008 ], "rpy_rad": [ 0, 0, 0 ] } ], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "oven_handle", "name_zh": "柱箱门把手", "subsystem": "oven", "function_zh": "提供手或夹爪接触柱箱门的位置。", "physical_meaning_zh": "接触力通过力臂产生开门力矩，与门作为一个机械组件运动。", "representation": { "geometry_class": "photo_referenced_approximation", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "grasp_target", "graspable": true, "removable": false, "joint_type": "fixed", "access_zh": "根据当前动作和可达性处理接触。" }, "physical_quantities": [ { "name": "contact_force", "label_zh": "contact_force", "si_unit": "N", "state_key": "oven_handle.contact_force", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null }, { "id": "door", "label_zh": "握持把手开关柱箱门", "kind": "runtime_command", "runtime_binding": { "api": "GC.perform", "action": "door", "kwargs": { "open": "bool" } } } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "满足任务所定义的可达性与装配条件。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "oven_handle.contact_force", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "photo_referenced_approximation", "dynamics": "engineering_abstraction", "source_ids": [ "GC_GETTING_STARTED" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" } }, "inertial_box_dimensions_m": [ 0.03200000151991844, 0.014499995857477188, 0.03200000338256359 ], "center_of_mass_m": [ 0.0, -0.0012499969452619553, 9.313225746154785e-10 ], "blender_object": "GC7890B__oven_handle", "mesh_file": "meshes/oven_handle.obj", "mesh_objects": [ "GC7890B__oven_handle__latch", "GC7890B__oven_handle__handle_flat" ] }, { "id": "oven_fan", "origin_m": [ 0, -0.037, 0.231 ], "parent": "base_link", "joint_type": "fixed", "axis": [ 0, 0, 0 ], "limits": [ 0, 0 ], "limit_unit": "m", "limit_evidence": "not_applicable", "geometry_evidence": "photo_estimate", "mass_kg": 0.4912650073940399, "mass_evidence": "engineering_assumption", "collisions": [], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "oven_fan", "name_zh": "柱箱循环风扇", "subsystem": "oven", "function_zh": "促进柱箱空气循环。", "physical_meaning_zh": "强制对流影响热均匀性和热响应；当前语义层采用集总温度。", "representation": { "geometry_class": "internal_schematic", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "internal", "graspable": false, "removable": false, "joint_type": "fixed", "access_zh": "内部固定状态不得作为自由抓取物体。" }, "physical_quantities": [ { "name": "angular_speed", "label_zh": "angular_speed", "si_unit": "rad/s", "state_key": "oven_fan.angular_speed", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null }, { "id": "inspect_semantics", "label_zh": "查询内部状态语义", "kind": "semantic_query", "runtime_binding": null } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "满足任务所定义的可达性与装配条件。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "oven_fan.angular_speed", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "internal_schematic", "dynamics": "engineering_abstraction", "source_ids": [ "GC_GETTING_STARTED" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" } }, "inertial_box_dimensions_m": [ 0.2019999921321869, 0.04500000271946192, 0.2019999921321869 ], "center_of_mass_m": [ 0.0, -0.00849999999627471, 0.0 ], "blender_object": "GC7890B__oven_fan", "mesh_file": "meshes/oven_fan.obj", "mesh_objects": [ "GC7890B__oven_fan__motor_hub", "GC7890B__oven_fan__blade", "GC7890B__oven_fan__blade.001", "GC7890B__oven_fan__blade.002", 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"GC7890B__oven_fan__guard_hex.401", "GC7890B__oven_fan__guard_hex.402", "GC7890B__oven_fan__guard_hex.403", "GC7890B__oven_fan__guard_hex.404", "GC7890B__oven_fan__guard_hex.405", "GC7890B__oven_fan__guard_hex.406", "GC7890B__oven_fan__guard_hex.407", "GC7890B__oven_fan__guard_hex.408", "GC7890B__oven_fan__guard_hex.409", "GC7890B__oven_fan__guard_hex.410", "GC7890B__oven_fan__fan_guard_rim" ] }, { "id": "oven_heater", "origin_m": [ 0, -0.01, 0.231 ], "parent": "base_link", "joint_type": "fixed", "axis": [ 0, 0, 0 ], "limits": [ 0, 0 ], "limit_unit": "m", "limit_evidence": "not_applicable", "geometry_evidence": "internal_schematic", "mass_kg": 0.4912650073940399, "mass_evidence": "engineering_assumption", "collisions": [], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "oven_heater", "name_zh": "柱箱加热器", "subsystem": "oven", "function_zh": "向柱箱供热以执行恒温或程序升温。", "physical_meaning_zh": "电功率进入柱箱热平衡；可视加热器不代表厂商精确绕组。", "representation": { "geometry_class": "internal_schematic", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "internal", "graspable": false, "removable": false, "joint_type": "fixed", "access_zh": "内部固定状态不得作为自由抓取物体。" }, "physical_quantities": [ { "name": "power", "label_zh": "power", "si_unit": "W", "state_key": "oven_heater.power", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null }, { "id": "inspect_semantics", "label_zh": "查询内部状态语义", "kind": "semantic_query", "runtime_binding": null }, { "id": "set_temperature", "label_zh": "设定柱箱目标温度", "kind": "runtime_command", "runtime_binding": { "api": "GC.perform", "action": "set_temperature", "kwargs": { "zone": "oven", "temperature_K": "number" } } } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "满足任务所定义的可达性与装配条件。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "oven_heater.power", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "internal_schematic", "dynamics": "engineering_abstraction", "source_ids": [ "GC_SPECS" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" } }, "inertial_box_dimensions_m": [ 0.17800000309944153, 0.006000007968395948, 0.17800000309944153 ], "center_of_mass_m": [ 0.0, 0.0, 0.0 ], "blender_object": "GC7890B__oven_heater", "mesh_file": "meshes/oven_heater.obj", "mesh_objects": [ "GC7890B__oven_heater__resistance_heater" ] }, { "id": "oven_sensor", "origin_m": [ 0.12, -0.087, 0.27 ], "parent": "base_link", "joint_type": "fixed", "axis": [ 0, 0, 0 ], "limits": [ 0, 0 ], "limit_unit": "m", "limit_evidence": "not_applicable", "geometry_evidence": "internal_schematic", "mass_kg": 0.024563250369701996, "mass_evidence": "engineering_assumption", "collisions": [ { "shape": "cylinder", "size_m": [ 0.002, 0.07 ], "origin_m": [ 0, 0, 0 ], "rpy_rad": [ 0, 0, 0 ] } ], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "oven_sensor", "name_zh": "柱箱温度传感器", "subsystem": "oven", "function_zh": "为温度控制提供观测。", "physical_meaning_zh": "传感温度与实际温度可有响应延迟与偏差；校准数据未知。", "representation": { "geometry_class": "internal_schematic", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "internal", "graspable": false, "removable": false, "joint_type": "fixed", "access_zh": "内部固定状态不得作为自由抓取物体。" }, "physical_quantities": [ { "name": "temperature", "label_zh": "temperature", "si_unit": "K", "state_key": "oven_sensor.temperature", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null }, { "id": "inspect_semantics", "label_zh": "查询内部状态语义", "kind": "semantic_query", "runtime_binding": null } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "满足任务所定义的可达性与装配条件。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "oven_sensor.temperature", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" }, { "id": "temperatures_K.oven", "channel": "instrument_readout", "runtime_api": "GC.observe", "visibility_zh": "可由仪器显示或通信读取。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "internal_schematic", "dynamics": "engineering_abstraction", "source_ids": [ "GC_OPERATION" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" } }, "inertial_box_dimensions_m": [ 0.004000000189989805, 0.004000000189989805, 0.07000000029802322 ], "center_of_mass_m": [ 0.0, 0.0, 0.0 ], "blender_object": "GC7890B__oven_sensor", "mesh_file": "meshes/oven_sensor.obj", "mesh_objects": [ "GC7890B__oven_sensor__temperature_probe" ] }, { "id": "oven_exhaust", "origin_m": [ -0.19, 0.25, 0.35 ], "parent": "base_link", "joint_type": "fixed", "axis": [ 0, 0, 0 ], "limits": [ 0, 0 ], "limit_unit": "m", "limit_evidence": "not_applicable", "geometry_evidence": "photo_estimate", "mass_kg": 0.4298568814697849, "mass_evidence": "engineering_assumption", "collisions": [ { "shape": "box", "size_m": [ 0.112, 0.006, 0.092 ], "origin_m": [ 0, 0, 0 ], "rpy_rad": [ 0, 0, 0 ] } ], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "oven_exhaust", "name_zh": "柱箱热空气出口", "subsystem": "oven", "function_zh": "为柱箱冷却排出热空气。", "physical_meaning_zh": "温差与空气流量共同决定带走的显热，不等同分析气路出口。", "representation": { "geometry_class": "photo_referenced_approximation", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "fixed", "graspable": false, "removable": false, "joint_type": "fixed", "access_zh": "根据当前动作和可达性处理接触。" }, "physical_quantities": [ { "name": "heat_flow", "label_zh": "heat_flow", "si_unit": "W", "state_key": "oven_exhaust.heat_flow", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "满足任务所定义的可达性与装配条件。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "oven_exhaust.heat_flow", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "photo_referenced_approximation", "dynamics": "engineering_abstraction", "source_ids": [ "GC_GETTING_STARTED" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" } }, "inertial_box_dimensions_m": [ 0.1120000034570694, 0.01601020060479641, 0.09200000017881393 ], "center_of_mass_m": [ 0.0, 0.004999995231628418, 0.0 ], "blender_object": "GC7890B__oven_exhaust", "mesh_file": "meshes/oven_exhaust.obj", "mesh_objects": [ "GC7890B__oven_exhaust__cooling_damper", "GC7890B__oven_exhaust__louver", "GC7890B__oven_exhaust__louver.001", "GC7890B__oven_exhaust__louver.002", "GC7890B__oven_exhaust__louver.003", "GC7890B__oven_exhaust__louver.004" ] }, { "id": "column_cage", "origin_m": [ 0, -0.136, 0.235 ], "parent": "base_link", "joint_type": "fixed", "axis": [ 0, 0, 0 ], "limits": [ 0, 0 ], "limit_unit": "m", "limit_evidence": "not_applicable", "geometry_evidence": "photo_estimate", "mass_kg": 0.22106925332731794, "mass_evidence": "engineering_assumption", "collisions": [], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "column_cage", "name_zh": "色谱柱支架", "subsystem": "column", "function_zh": "承托盘绕的毛细管柱。", "physical_meaning_zh": "约束柱圈位置并保留加热空气通道，支架本身不产生分离。", "representation": { "geometry_class": "photo_referenced_approximation", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "maintenance", "graspable": false, "removable": true, "joint_type": "fixed", "access_zh": "根据当前动作和可达性处理接触。" }, "physical_quantities": [ { "name": "support_force", "label_zh": "support_force", "si_unit": "N", "state_key": "column_cage.support_force", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null }, { "id": "remove_or_install", "label_zh": "在维护情境拆装", "kind": "maintenance", "runtime_binding": null } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "进入维护情境。", "相关热区已冷却且相关气路已隔离。", "使用维护任务规定的工具与可达空间。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "column_cage.support_force", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "photo_referenced_approximation", "dynamics": "engineering_abstraction", "source_ids": [ "GC_MAINTAINING" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。", "source_locator": "第24页" } }, "inertial_box_dimensions_m": [ 0.21900001168251038, 0.035999998450279236, 0.25256067514419556 ], "center_of_mass_m": [ 0.0, 0.0, 0.01678033173084259 ], "blender_object": "GC7890B__column_cage", "mesh_file": "meshes/column_cage.obj", "mesh_objects": [ "GC7890B__column_cage__support_ring", "GC7890B__column_cage__support_ring.001", "GC7890B__column_cage__cage_spoke", "GC7890B__column_cage__cage_spoke.001", "GC7890B__column_cage__cage_spoke.002", "GC7890B__column_cage__cage_spoke.003", "GC7890B__column_cage__cage_spoke.004", "GC7890B__column_cage__cage_spoke.005", "GC7890B__column_cage__hanger" ] }, { "id": "column", "origin_m": [ 0, -0.137, 0.235 ], "parent": "base_link", "joint_type": "fixed", "axis": [ 0, 0, 0 ], "limits": [ 0, 0 ], "limit_unit": "m", "limit_evidence": "not_applicable", "geometry_evidence": "photo_estimate", "mass_kg": 0.04912650073940399, "mass_evidence": "engineering_assumption", "collisions": [], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "column", "name_zh": "毛细管色谱柱", "subsystem": "column", "function_zh": "利用流动相与固定相作用差异分离组分。", "physical_meaning_zh": "保留与展宽依赖温度、载气速度、几何及组分分配；展示线圈不是完整流体网格。", "representation": { "geometry_class": "photo_referenced_approximation", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "maintenance", "graspable": false, "removable": true, "joint_type": "fixed", "access_zh": "根据当前动作和可达性处理接触。" }, "physical_quantities": [ { "name": "retention_time", "label_zh": "retention_time", "si_unit": "s", "state_key": "column.retention_time", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null }, { "id": "remove_or_install", "label_zh": "在维护情境拆装", "kind": "maintenance", "runtime_binding": null } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "进入维护情境。", "相关热区已冷却且相关气路已隔离。", "使用维护任务规定的工具与可达空间。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "column.retention_time", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "photo_referenced_approximation", "dynamics": "engineering_abstraction", "source_ids": [ "GC_OPERATION" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" } }, "inertial_box_dimensions_m": [ 0.22372273355722427, 0.036748011596500874, 0.26373016834259033 ], "center_of_mass_m": [ 0.008506517857313156, -0.007001010235399008, 0.028499066829681396 ], "blender_object": "GC7890B__column", "mesh_file": "meshes/column.obj", "mesh_objects": [ "GC7890B__column__capillary_coil_visual", "GC7890B__column__inlet_tail", "GC7890B__column__outlet_tail" ] }, { "id": "column_inlet_fitting", "origin_m": [ -0.075, -0.162, 0.391 ], "parent": "base_link", "joint_type": "fixed", "axis": [ 0, 0, 0 ], "limits": [ 0, 0 ], "limit_unit": "m", "limit_evidence": "not_applicable", "geometry_evidence": "photo_estimate", "mass_kg": 0.04298568814697849, "mass_evidence": "engineering_assumption", "collisions": [ { "shape": "cylinder", "size_m": [ 0.0048, 0.021 ], "origin_m": [ 0, 0, 0 ], "rpy_rad": [ 0, 0, 0 ] }, { "shape": "cylinder", "size_m": [ 0.0018, 0.004 ], "origin_m": [ 0, 0, -0.012 ], "rpy_rad": [ 0, 0, 0 ] } ], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "column_inlet_fitting", "name_zh": "色谱柱进样端接头", "subsystem": "column", "function_zh": "把色谱柱入口密封连接到进样口。", "physical_meaning_zh": "装配状态决定流路连续性和泄漏边界；未复制精确插入深度。", "representation": { "geometry_class": "photo_referenced_approximation", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "maintenance", "graspable": false, "removable": true, "joint_type": "fixed", "access_zh": "根据当前动作和可达性处理接触。" }, "physical_quantities": [ { "name": "leak_flow", "label_zh": "leak_flow", "si_unit": "m3/s", "state_key": "column_inlet_fitting.leak_flow", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null }, { "id": "remove_or_install", "label_zh": "在维护情境拆装", "kind": "maintenance", "runtime_binding": null } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "进入维护情境。", "相关热区已冷却且相关气路已隔离。", "使用维护任务规定的工具与可达空间。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "column_inlet_fitting.leak_flow", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "photo_referenced_approximation", "dynamics": "engineering_abstraction", "source_ids": [ "GC_MAINTAINING" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" } }, "inertial_box_dimensions_m": [ 0.008313843980431557, 0.009600000455975533, 0.024499994702637196 ], "center_of_mass_m": [ 0.0, 0.0, -0.0017499974928796291 ], "blender_object": "GC7890B__column_inlet_fitting", "mesh_file": "meshes/column_inlet_fitting.obj", "mesh_objects": [ "GC7890B__column_inlet_fitting__nut", "GC7890B__column_inlet_fitting__ferrule" ] }, { "id": "column_outlet_fitting", "origin_m": [ 0.075, -0.162, 0.391 ], "parent": "base_link", "joint_type": "fixed", "axis": [ 0, 0, 0 ], "limits": [ 0, 0 ], "limit_unit": "m", "limit_evidence": "not_applicable", "geometry_evidence": "photo_estimate", "mass_kg": 0.04298568814697849, "mass_evidence": "engineering_assumption", "collisions": [ { "shape": "cylinder", "size_m": [ 0.0048, 0.021 ], "origin_m": [ 0, 0, 0 ], "rpy_rad": [ 0, 0, 0 ] }, { "shape": "cylinder", "size_m": [ 0.0018, 0.004 ], "origin_m": [ 0, 0, -0.012 ], "rpy_rad": [ 0, 0, 0 ] } ], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "column_outlet_fitting", "name_zh": "色谱柱检测端接头", "subsystem": "column", "function_zh": "把柱出口密封连接到检测器。", "physical_meaning_zh": "断开或泄漏改变组分输运与检测器气路。", "representation": { "geometry_class": "photo_referenced_approximation", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "maintenance", "graspable": false, "removable": true, "joint_type": "fixed", "access_zh": "根据当前动作和可达性处理接触。" }, "physical_quantities": [ { "name": "leak_flow", "label_zh": "leak_flow", "si_unit": "m3/s", "state_key": "column_outlet_fitting.leak_flow", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null }, { "id": "remove_or_install", "label_zh": "在维护情境拆装", "kind": "maintenance", "runtime_binding": null } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "进入维护情境。", "相关热区已冷却且相关气路已隔离。", "使用维护任务规定的工具与可达空间。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "column_outlet_fitting.leak_flow", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "photo_referenced_approximation", "dynamics": "engineering_abstraction", "source_ids": [ "GC_MAINTAINING" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" } }, "inertial_box_dimensions_m": [ 0.008313843980431557, 0.009600000455975533, 0.024499994702637196 ], "center_of_mass_m": [ 0.0, 0.0, -0.0017499974928796291 ], "blender_object": "GC7890B__column_outlet_fitting", "mesh_file": "meshes/column_outlet_fitting.obj", "mesh_objects": [ "GC7890B__column_outlet_fitting__nut", "GC7890B__column_outlet_fitting__ferrule" ] }, { "id": "inlet_body", "origin_m": [ -0.075, -0.162, 0.421 ], "parent": "base_link", "joint_type": "fixed", "axis": [ 0, 0, 0 ], "limits": [ 0, 0 ], "limit_unit": "m", "limit_evidence": "not_applicable", "geometry_evidence": "photo_estimate", "mass_kg": 0.6754893851668049, "mass_evidence": "engineering_assumption", "collisions": [ { "shape": "box", "size_m": [ 0.033, 0.039, 0.067 ], "origin_m": [ 0, 0, 0 ], "rpy_rad": [ 0, 0, 0 ] }, { "shape": "cylinder", "size_m": [ 0.025, 0.005 ], "origin_m": [ 0, 0, 0.035 ], "rpy_rad": [ 0, 0, 0 ] }, { "shape": "cylinder", "size_m": [ 0.0105, 0.02 ], "origin_m": [ 0, 0, 0.047 ], "rpy_rad": [ 0, 0, 0 ] } ], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "inlet_body", "name_zh": "分流不分流进样口本体", "subsystem": "inlet", "function_zh": "接收进样并容纳衬管及密封界面。", "physical_meaning_zh": "形成受热流体控制体，将汽化样品分配到色谱柱与排放支路。", "representation": { "geometry_class": "photo_referenced_approximation", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "fixed", "graspable": false, "removable": false, "joint_type": "fixed", "access_zh": "根据当前动作和可达性处理接触。" }, "physical_quantities": [ { "name": "temperature", "label_zh": "temperature", "si_unit": "K", "state_key": "inlet_body.temperature", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "满足任务所定义的可达性与装配条件。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "inlet_body.temperature", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "photo_referenced_approximation", "dynamics": "engineering_abstraction", "source_ids": [ "GC_SSL_HELP" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" } }, "inertial_box_dimensions_m": [ 0.05000000074505806, 0.05000000074505806, 0.09049998968839645 ], "center_of_mass_m": [ 0.0, 0.0, 0.0117499940097332 ], "blender_object": "GC7890B__inlet_body", "mesh_file": "meshes/inlet_body.obj", "mesh_objects": [ "GC7890B__inlet_body__heated_block", "GC7890B__inlet_body__top_flange", "GC7890B__inlet_body__insert_neck" ] }, { "id": "septum_cap", "origin_m": [ -0.075, -0.162, 0.482 ], "parent": "base_link", "joint_type": "prismatic", "axis": [ 0, 0, 1 ], "limits": [ 0, 0.065 ], "limit_unit": "m", "limit_evidence": "engineering_assumption", "geometry_evidence": "photo_estimate", "mass_kg": 0.030704062962127493, "mass_evidence": "engineering_assumption", "collisions": [ { "shape": "box", "size_m": [ 0.0045, 0.0029, 0.014 ], "origin_m": [ 0.006, 0.0, 0 ], "rpy_rad": [ 0, 0, 0.0 ] }, { "shape": "box", "size_m": [ 0.0045, 0.0029, 0.014 ], "origin_m": [ 0.005196152422706633, 0.0029999999999999996, 0 ], "rpy_rad": [ 0, 0, 0.5235987755982988 ] }, { "shape": "box", "size_m": [ 0.0045, 0.0029, 0.014 ], "origin_m": [ 0.003000000000000001, 0.005196152422706632, 0 ], "rpy_rad": [ 0, 0, 1.0471975511965976 ] }, { "shape": "box", "size_m": [ 0.0045, 0.0029, 0.014 ], "origin_m": [ 3.6739403974420597e-19, 0.006, 0 ], "rpy_rad": [ 0, 0, 1.5707963267948966 ] }, { "shape": "box", "size_m": [ 0.0045, 0.0029, 0.014 ], "origin_m": [ -0.002999999999999999, 0.005196152422706633, 0 ], "rpy_rad": [ 0, 0, 2.0943951023931953 ] }, { "shape": "box", "size_m": [ 0.0045, 0.0029, 0.014 ], "origin_m": [ -0.005196152422706633, 0.0029999999999999996, 0 ], "rpy_rad": [ 0, 0, 2.6179938779914944 ] }, { "shape": "box", "size_m": [ 0.0045, 0.0029, 0.014 ], "origin_m": [ -0.006, 7.347880794884119e-19, 0 ], "rpy_rad": [ 0, 0, 3.141592653589793 ] }, { "shape": "box", "size_m": [ 0.0045, 0.0029, 0.014 ], "origin_m": [ -0.005196152422706633, -0.0029999999999999988, 0 ], "rpy_rad": [ 0, 0, 3.665191429188092 ] }, { "shape": "box", "size_m": [ 0.0045, 0.0029, 0.014 ], "origin_m": [ -0.0030000000000000027, -0.00519615242270663, 0 ], "rpy_rad": [ 0, 0, 4.1887902047863905 ] }, { "shape": "box", "size_m": [ 0.0045, 0.0029, 0.014 ], "origin_m": [ -1.1021821192326178e-18, -0.006, 0 ], "rpy_rad": [ 0, 0, 4.71238898038469 ] }, { "shape": "box", "size_m": [ 0.0045, 0.0029, 0.014 ], "origin_m": [ 0.003000000000000001, -0.005196152422706632, 0 ], "rpy_rad": [ 0, 0, 5.235987755982989 ] }, { "shape": "box", "size_m": [ 0.0045, 0.0029, 0.014 ], "origin_m": [ 0.00519615242270663, -0.0030000000000000027, 0 ], "rpy_rad": [ 0, 0, 5.759586531581287 ] } ], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "septum_cap", "name_zh": "隔垫压帽", "subsystem": "inlet", "function_zh": "固定并压紧进样隔垫。", "physical_meaning_zh": "轴向压缩影响密封及穿刺阻力，安装扭矩没有实测值。", "representation": { "geometry_class": "photo_referenced_approximation", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "maintenance", "graspable": false, "removable": true, "joint_type": "fixed", "access_zh": "根据当前动作和可达性处理接触。" }, "physical_quantities": [ { "name": "clamping_force", "label_zh": "clamping_force", "si_unit": "N", "state_key": "septum_cap.clamping_force", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null }, { "id": "remove_or_install", "label_zh": "在维护情境拆装", "kind": "maintenance", "runtime_binding": null } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "进入维护情境。", "相关热区已冷却且相关气路已隔离。", "使用维护任务规定的工具与可达空间。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "septum_cap.clamping_force", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "photo_referenced_approximation", "dynamics": "engineering_abstraction", "source_ids": [ "GC_MAINTAINING" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。", "source_locator": "第39页" } }, "inertial_box_dimensions_m": [ 0.015588456764817238, 0.017999999225139618, 0.015499993227422237 ], "center_of_mass_m": [ 0.0, 0.0, 0.0007499963976442814 ], "blender_object": "GC7890B__septum_cap", "mesh_file": "meshes/septum_cap.obj", "mesh_objects": [ "GC7890B__septum_cap__retainer", "GC7890B__septum_cap__needle_access" ] }, { "id": "septum", "origin_m": [ -0.075, -0.162, 0.474 ], "parent": "base_link", "joint_type": "fixed", "axis": [ 0, 0, 0 ], "limits": [ 0, 0 ], "limit_unit": "m", "limit_evidence": "not_applicable", "geometry_evidence": "photo_estimate", "mass_kg": 0.0012281625184850998, "mass_evidence": "engineering_assumption", "collisions": [ { "shape": "cylinder", "size_m": [ 0.006, 0.003 ], "origin_m": [ 0, 0, 0 ], "rpy_rad": [ 0, 0, 0 ] } ], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "septum", "name_zh": "进样隔垫", "subsystem": "inlet", "function_zh": "允许针头穿入，同时封闭进样口。", "physical_meaning_zh": "弹性密封限制泄漏，老化与穿刺历史可能引入泄漏或污染。", "representation": { "geometry_class": "photo_referenced_approximation", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "maintenance", "graspable": false, "removable": true, "joint_type": "fixed", "access_zh": "根据当前动作和可达性处理接触。" }, "physical_quantities": [ { "name": "leak_flow", "label_zh": "leak_flow", "si_unit": "m3/s", "state_key": "septum.leak_flow", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null }, { "id": "remove_or_install", "label_zh": "在维护情境拆装", "kind": "maintenance", "runtime_binding": null } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "进入维护情境。", "相关热区已冷却且相关气路已隔离。", "使用维护任务规定的工具与可达空间。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "septum.leak_flow", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "photo_referenced_approximation", "dynamics": "engineering_abstraction", "source_ids": [ "GC_MAINTAINING" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。", "source_locator": "第39页" } }, "inertial_box_dimensions_m": [ 0.012000000104308128, 0.012000000104308128, 0.003000000026077032 ], "center_of_mass_m": [ 0.0, 0.0, 0.0 ], "blender_object": "GC7890B__septum", "mesh_file": "meshes/septum.obj", "mesh_objects": [ "GC7890B__septum__silicone_disc" ] }, { "id": "liner", "origin_m": [ -0.075, -0.162, 0.422 ], "parent": "base_link", "joint_type": "fixed", "axis": [ 0, 0, 0 ], "limits": [ 0, 0 ], "limit_unit": "m", "limit_evidence": "not_applicable", "geometry_evidence": "internal_schematic", "mass_kg": 0.003684487555455299, "mass_evidence": "engineering_assumption", "collisions": [], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "liner", "name_zh": "进样衬管", "subsystem": "inlet", "function_zh": "提供样品汽化和载气混合空间。", "physical_meaning_zh": "内部体积、表面活性和温度影响汽化、吸附以及进入色谱柱的质量。", "representation": { "geometry_class": "photo_referenced_approximation", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "maintenance", "graspable": false, "removable": true, "joint_type": "fixed", "access_zh": "根据当前动作和可达性处理接触。" }, "physical_quantities": [ { "name": "volume", "label_zh": "volume", "si_unit": "m3", "state_key": "liner.volume", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null }, { "id": "remove_or_install", "label_zh": "在维护情境拆装", "kind": "maintenance", "runtime_binding": null } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "进入维护情境。", "相关热区已冷却且相关气路已隔离。", "使用维护任务规定的工具与可达空间。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "liner.volume", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "photo_referenced_approximation", "dynamics": "engineering_abstraction", "source_ids": [ "GC_MAINTAINING" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。", "source_locator": "第39页" } }, "inertial_box_dimensions_m": [ 0.006000000052154064, 0.006000000052154064, 0.07599999755620956 ], "center_of_mass_m": [ 0.0, 0.0, 0.0 ], "blender_object": "GC7890B__liner", "mesh_file": "meshes/liner.obj", "mesh_objects": [ "GC7890B__liner__glass_liner_proxy" ] }, { "id": "liner_seal", "origin_m": [ -0.075, -0.162, 0.459 ], "parent": "base_link", "joint_type": "fixed", "axis": [ 0, 0, 0 ], "limits": [ 0, 0 ], "limit_unit": "m", "limit_evidence": "not_applicable", "geometry_evidence": "internal_schematic", "mass_kg": 0.0012281625184850998, "mass_evidence": "engineering_assumption", "collisions": [], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "liner_seal", "name_zh": "衬管密封圈", "subsystem": "inlet", "function_zh": "封闭衬管外侧的非预期通路。", "physical_meaning_zh": "密封完整性约束旁路泄漏；此对象代表衬管O形圈，不替代底部金密封件。", "representation": { "geometry_class": "photo_referenced_approximation", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "maintenance", "graspable": false, "removable": true, "joint_type": "fixed", "access_zh": "根据当前动作和可达性处理接触。" }, "physical_quantities": [ { "name": "leak_flow", "label_zh": "leak_flow", "si_unit": "m3/s", "state_key": "liner_seal.leak_flow", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null }, { "id": "remove_or_install", "label_zh": "在维护情境拆装", "kind": "maintenance", "runtime_binding": null } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "进入维护情境。", "相关热区已冷却且相关气路已隔离。", "使用维护任务规定的工具与可达空间。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "liner_seal.leak_flow", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "photo_referenced_approximation", "dynamics": "engineering_abstraction", "source_ids": [ "GC_MAINTAINING" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。", "source_locator": "第39页" } }, "inertial_box_dimensions_m": [ 0.010000000707805157, 0.010000000707805157, 0.0020000000949949026 ], "center_of_mass_m": [ 0.0, 0.0, 0.0 ], "blender_object": "GC7890B__liner_seal", "mesh_file": "meshes/liner_seal.obj", "mesh_objects": [ "GC7890B__liner_seal__O_ring" ] }, { "id": "inlet_heater", "origin_m": [ -0.075, -0.162, 0.421 ], "parent": "base_link", "joint_type": "fixed", "axis": [ 0, 0, 0 ], "limits": [ 0, 0 ], "limit_unit": "m", "limit_evidence": "not_applicable", "geometry_evidence": "internal_schematic", "mass_kg": 0.061408125924254986, "mass_evidence": "engineering_assumption", "collisions": [], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "inlet_heater", "name_zh": "进样口加热器", "subsystem": "inlet", "function_zh": "加热进样口。", "physical_meaning_zh": "把电能转化为热，使适用样品汽化；实际汽化受物性与注入量影响。", "representation": { "geometry_class": "internal_schematic", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "internal", "graspable": false, "removable": false, "joint_type": "fixed", "access_zh": "内部固定状态不得作为自由抓取物体。" }, "physical_quantities": [ { "name": "power", "label_zh": "power", "si_unit": "W", "state_key": "inlet_heater.power", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null }, { "id": "inspect_semantics", "label_zh": "查询内部状态语义", "kind": "semantic_query", "runtime_binding": null }, { "id": "set_temperature", "label_zh": "设定进样口目标温度", "kind": "runtime_command", "runtime_binding": { "api": "GC.perform", "action": "set_temperature", "kwargs": { "zone": "inlet", "temperature_K": "number" } } } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "满足任务所定义的可达性与装配条件。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "inlet_heater.power", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "internal_schematic", "dynamics": "engineering_abstraction", "source_ids": [ "GC_OPERATION" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" } }, "inertial_box_dimensions_m": [ 0.02800000086426735, 0.02800000086426735, 0.004000000189989805 ], "center_of_mass_m": [ 0.0, 0.0, 0.0 ], "blender_object": "GC7890B__inlet_heater", "mesh_file": "meshes/inlet_heater.obj", "mesh_objects": [ "GC7890B__inlet_heater__heater" ] }, { "id": "inlet_sensor", "origin_m": [ -0.056, -0.159, 0.421 ], "parent": "base_link", "joint_type": "fixed", "axis": [ 0, 0, 0 ], "limits": [ 0, 0 ], "limit_unit": "m", "limit_evidence": "not_applicable", "geometry_evidence": "internal_schematic", "mass_kg": 0.012281625184850998, "mass_evidence": "engineering_assumption", "collisions": [], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "inlet_sensor", "name_zh": "进样口温度传感器", "subsystem": "inlet", "function_zh": "测量受控进样区温度。", "physical_meaning_zh": "观测量作为温控反馈，不能假定等于瞬时样品温度。", "representation": { "geometry_class": "internal_schematic", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "internal", "graspable": false, "removable": false, "joint_type": "fixed", "access_zh": "内部固定状态不得作为自由抓取物体。" }, "physical_quantities": [ { "name": "temperature", "label_zh": "temperature", "si_unit": "K", "state_key": "inlet_sensor.temperature", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null }, { "id": "inspect_semantics", "label_zh": "查询内部状态语义", "kind": "semantic_query", "runtime_binding": null } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "满足任务所定义的可达性与装配条件。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "inlet_sensor.temperature", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" }, { "id": "temperatures_K.inlet", "channel": "instrument_readout", "runtime_api": "GC.observe", "visibility_zh": "可由仪器显示或通信读取。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "internal_schematic", "dynamics": "engineering_abstraction", "source_ids": [ "GC_OPERATION" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" } }, "inertial_box_dimensions_m": [ 0.002400000113993883, 0.002400000113993883, 0.03500000014901161 ], "center_of_mass_m": [ 0.0, 0.0, 0.0 ], "blender_object": "GC7890B__inlet_sensor", "mesh_file": "meshes/inlet_sensor.obj", "mesh_objects": [ "GC7890B__inlet_sensor__probe" ] }, { "id": "split_valve", "origin_m": [ -0.164, 0.103, 0.427 ], "parent": "base_link", "joint_type": "fixed", "axis": [ 0, 0, 0 ], "limits": [ 0, 0 ], "limit_unit": "m", "limit_evidence": "not_applicable", "geometry_evidence": "internal_schematic", "mass_kg": 0.18422437777276496, "mass_evidence": "engineering_assumption", "collisions": [ { "shape": "box", "size_m": [ 0.026, 0.032, 0.029 ], "origin_m": [ 0, 0, 0 ], "rpy_rad": [ 0, 0, 0 ] } ], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "split_valve", "name_zh": "分流控制阀", "subsystem": "inlet", "function_zh": "控制进样口分流支路。", "physical_meaning_zh": "支路阻力影响柱流量与分流流量的分配；它是受控流体状态，不能抓取。", "representation": { "geometry_class": "internal_schematic", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "internal", "graspable": false, "removable": false, "joint_type": "fixed", "access_zh": "内部固定状态不得作为自由抓取物体。" }, "physical_quantities": [ { "name": "flow", "label_zh": "flow", "si_unit": "m3/s", "state_key": "split_valve.flow", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null }, { "id": "inspect_semantics", "label_zh": "查询内部状态语义", "kind": "semantic_query", "runtime_binding": null } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "满足任务所定义的可达性与装配条件。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "split_valve.flow", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "internal_schematic", "dynamics": "engineering_abstraction", "source_ids": [ "GC_SSL_HELP" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" } }, "inertial_box_dimensions_m": [ 0.026000000536441803, 0.03200000151991844, 0.028999999165534973 ], "center_of_mass_m": [ 0.0, 0.0, 0.0 ], "blender_object": "GC7890B__split_valve", "mesh_file": "meshes/split_valve.obj", "mesh_objects": [ "GC7890B__split_valve__valve" ] }, { "id": "split_vent", "origin_m": [ -0.167, 0.228, 0.431 ], "parent": "base_link", "joint_type": "fixed", "axis": [ 0, 0, 0 ], "limits": [ 0, 0 ], "limit_unit": "m", "limit_evidence": "not_applicable", "geometry_evidence": "photo_estimate", "mass_kg": 0.12281625184850997, "mass_evidence": "engineering_assumption", "collisions": [ { "shape": "cylinder", "size_m": [ 0.009, 0.058 ], "origin_m": [ 0, -0.025, 0 ], "rpy_rad": [ 1.5707963267948966, 0, 0 ] } ], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "split_vent", "name_zh": "分流排气口", "subsystem": "inlet", "function_zh": "排出分流支路的载气与样品蒸气。", "physical_meaning_zh": "其质量通量必须计入质量守恒，排出质量不进入色谱柱。", "representation": { "geometry_class": "photo_referenced_approximation", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "fixed", "graspable": false, "removable": false, "joint_type": "fixed", "access_zh": "根据当前动作和可达性处理接触。" }, "physical_quantities": [ { "name": "mass_flow", "label_zh": "mass_flow", "si_unit": "kg/s", "state_key": "split_vent.mass_flow", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "满足任务所定义的可达性与装配条件。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "split_vent.mass_flow", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "photo_referenced_approximation", "dynamics": "engineering_abstraction", "source_ids": [ "GC_MAINTAINING" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" } }, "inertial_box_dimensions_m": [ 0.10056888684630394, 0.3943139468319714, 0.018000001087784767 ], "center_of_mass_m": [ 0.04128444381058216, -0.19315697974525392, 0.0 ], "blender_object": "GC7890B__split_vent", "mesh_file": "meshes/split_vent.obj", "mesh_objects": [ "GC7890B__split_vent__trap", "GC7890B__split_vent__inlet_split_line" ] }, { "id": "septum_purge", "origin_m": [ -0.115, -0.157, 0.458 ], "parent": "base_link", "joint_type": "fixed", "axis": [ 0, 0, 0 ], "limits": [ 0, 0 ], "limit_unit": "m", "limit_evidence": "not_applicable", "geometry_evidence": "internal_schematic", "mass_kg": 0.024563250369701996, "mass_evidence": "engineering_assumption", "collisions": [], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "septum_purge", "name_zh": "隔垫吹扫支路", "subsystem": "inlet", "function_zh": "带走隔垫附近挥发物。", "physical_meaning_zh": "独立支路流量参与总流量平衡，不能与分析柱流量混为一谈。", "representation": { "geometry_class": "internal_schematic", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "internal", "graspable": false, "removable": false, "joint_type": "fixed", "access_zh": "内部固定状态不得作为自由抓取物体。" }, "physical_quantities": [ { "name": "flow", "label_zh": "flow", "si_unit": "m3/s", "state_key": "septum_purge.flow", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null }, { "id": "inspect_semantics", "label_zh": "查询内部状态语义", "kind": "semantic_query", "runtime_binding": null } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "满足任务所定义的可达性与装配条件。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "septum_purge.flow", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "internal_schematic", "dynamics": "engineering_abstraction", "source_ids": [ "GC_SSL_HELP" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" } }, "inertial_box_dimensions_m": [ 0.04099902743473649, 0.3410424718167633, 0.016917315660975873 ], "center_of_mass_m": [ 0.019500485388562083, 0.1695212359772995, -0.007504157081712037 ], "blender_object": "GC7890B__septum_purge", "mesh_file": "meshes/septum_purge.obj", "mesh_objects": [ "GC7890B__septum_purge__purge_tube" ] }, { "id": "carrier_epc", "origin_m": [ -0.175, 0.105, 0.414 ], "parent": "base_link", "joint_type": "fixed", "axis": [ 0, 0, 0 ], "limits": [ 0, 0 ], "limit_unit": "m", "limit_evidence": "not_applicable", "geometry_evidence": "internal_schematic", "mass_kg": 0.4298568814697849, "mass_evidence": "engineering_assumption", "collisions": [ { "shape": "box", "size_m": [ 0.044, 0.071, 0.033 ], "origin_m": [ 0, 0, 0 ], "rpy_rad": [ 0, 0, 0 ] }, { "shape": "box", "size_m": [ 0.027, 0.037, 0.02 ], "origin_m": [ 0, 0, 0.026 ], "rpy_rad": [ 0, 0, 0 ] } ], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "carrier_epc", "name_zh": "载气电子压力控制模块", "subsystem": "gas", "function_zh": "调节进样口载气条件。", "physical_meaning_zh": "通过反馈调节压力，柱内流量还受气体黏度、温度及柱阻力影响。", "representation": { "geometry_class": "internal_schematic", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "internal", "graspable": false, "removable": false, "joint_type": "fixed", "access_zh": "内部固定状态不得作为自由抓取物体。" }, "physical_quantities": [ { "name": "pressure", "label_zh": "pressure", "si_unit": "Pa", "state_key": "carrier_epc.pressure", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null }, { "id": "inspect_semantics", "label_zh": "查询内部状态语义", "kind": "semantic_query", "runtime_binding": null } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "满足任务所定义的可达性与装配条件。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "carrier_epc.pressure", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" }, { "id": "flows_m3_s.carrier", "channel": "instrument_readout", "runtime_api": "GC.observe", "visibility_zh": "仪器报告流量与真实流量应区分，模型目前未加入测量误差。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "internal_schematic", "dynamics": "engineering_abstraction", "source_ids": [ "GC_SPECS" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" } }, "inertial_box_dimensions_m": [ 0.12316031008958817, 0.4177061915397644, 0.05249999091029167 ], "center_of_mass_m": [ 0.03958015516400337, -0.0587487518787384, 0.009749995544552803 ], "blender_object": "GC7890B__carrier_epc", "mesh_file": "meshes/carrier_epc.obj", "mesh_objects": [ "GC7890B__carrier_epc__regulator_block", "GC7890B__carrier_epc__solenoid", "GC7890B__carrier_epc__supply_path", "GC7890B__carrier_epc__regulated_output" ] }, { "id": "hydrogen_epc", "origin_m": [ -0.06, 0.105, 0.414 ], "parent": "base_link", "joint_type": "fixed", "axis": [ 0, 0, 0 ], "limits": [ 0, 0 ], "limit_unit": "m", "limit_evidence": "not_applicable", "geometry_evidence": "internal_schematic", "mass_kg": 0.4298568814697849, "mass_evidence": "engineering_assumption", "collisions": [ { "shape": "box", "size_m": [ 0.044, 0.071, 0.033 ], "origin_m": [ 0, 0, 0 ], "rpy_rad": [ 0, 0, 0 ] }, { "shape": "box", "size_m": [ 0.027, 0.037, 0.02 ], "origin_m": [ 0, 0, 0.026 ], "rpy_rad": [ 0, 0, 0 ] } ], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "hydrogen_epc", "name_zh": "FID氢气控制通道", "subsystem": "gas", "function_zh": "控制FID燃料氢气。", "physical_meaning_zh": "燃料流量影响火焰状态；模块视为固定控制子系统。", "representation": { "geometry_class": "internal_schematic", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "internal", "graspable": false, "removable": false, "joint_type": "fixed", "access_zh": "内部固定状态不得作为自由抓取物体。" }, "physical_quantities": [ { "name": "flow", "label_zh": "flow", "si_unit": "m3/s", "state_key": "hydrogen_epc.flow", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null }, { "id": "inspect_semantics", "label_zh": "查询内部状态语义", "kind": "semantic_query", "runtime_binding": null } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "满足任务所定义的可达性与装配条件。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "hydrogen_epc.flow", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" }, { "id": "flows_m3_s.hydrogen", "channel": "instrument_readout", "runtime_api": "GC.observe", "visibility_zh": "仪器报告流量与真实流量应区分，模型目前未加入测量误差。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "internal_schematic", "dynamics": "engineering_abstraction", "source_ids": [ "GC_FID_HELP" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" } }, "inertial_box_dimensions_m": [ 0.1580561250448227, 0.4178622364997864, 0.05249999091029167 ], "center_of_mass_m": [ 0.057028062641620636, -0.05882677435874939, 0.009749995544552803 ], "blender_object": "GC7890B__hydrogen_epc", "mesh_file": "meshes/hydrogen_epc.obj", "mesh_objects": [ "GC7890B__hydrogen_epc__regulator_block", "GC7890B__hydrogen_epc__solenoid", "GC7890B__hydrogen_epc__supply_path", "GC7890B__hydrogen_epc__regulated_output" ] }, { "id": "air_epc", "origin_m": [ 0.04, 0.105, 0.414 ], "parent": "base_link", "joint_type": "fixed", "axis": [ 0, 0, 0 ], "limits": [ 0, 0 ], "limit_unit": "m", "limit_evidence": "not_applicable", "geometry_evidence": "internal_schematic", "mass_kg": 0.4298568814697849, "mass_evidence": "engineering_assumption", "collisions": [ { "shape": "box", "size_m": [ 0.044, 0.071, 0.033 ], "origin_m": [ 0, 0, 0 ], "rpy_rad": [ 0, 0, 0 ] }, { "shape": "box", "size_m": [ 0.027, 0.037, 0.02 ], "origin_m": [ 0, 0, 0.026 ], "rpy_rad": [ 0, 0, 0 ] } ], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "air_epc", "name_zh": "FID空气控制通道", "subsystem": "gas", "function_zh": "控制FID助燃空气。", "physical_meaning_zh": "氧化剂供给与燃料供给共同影响燃烧条件。", "representation": { "geometry_class": "internal_schematic", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "internal", "graspable": false, "removable": false, "joint_type": "fixed", "access_zh": "内部固定状态不得作为自由抓取物体。" }, "physical_quantities": [ { "name": "flow", "label_zh": "flow", "si_unit": "m3/s", "state_key": "air_epc.flow", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null }, { "id": "inspect_semantics", "label_zh": "查询内部状态语义", "kind": "semantic_query", "runtime_binding": null } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "满足任务所定义的可达性与装配条件。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "air_epc.flow", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" }, { "id": "flows_m3_s.air", "channel": "instrument_readout", "runtime_api": "GC.observe", "visibility_zh": "仪器报告流量与真实流量应区分，模型目前未加入测量误差。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "internal_schematic", "dynamics": "engineering_abstraction", "source_ids": [ "GC_FID_HELP" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" } }, "inertial_box_dimensions_m": [ 0.05829070135951042, 0.417283296585083, 0.05249999091029167 ], "center_of_mass_m": [ 0.0071453507989645, -0.058537304401397705, 0.009749995544552803 ], "blender_object": "GC7890B__air_epc", "mesh_file": "meshes/air_epc.obj", "mesh_objects": [ "GC7890B__air_epc__regulator_block", "GC7890B__air_epc__solenoid", "GC7890B__air_epc__supply_path", "GC7890B__air_epc__regulated_output" ] }, { "id": "makeup_epc", "origin_m": [ 0.13, 0.105, 0.414 ], "parent": "base_link", "joint_type": "fixed", "axis": [ 0, 0, 0 ], "limits": [ 0, 0 ], "limit_unit": "m", "limit_evidence": "not_applicable", "geometry_evidence": "internal_schematic", "mass_kg": 0.4298568814697849, "mass_evidence": "engineering_assumption", "collisions": [ { "shape": "box", "size_m": [ 0.044, 0.071, 0.033 ], "origin_m": [ 0, 0, 0 ], "rpy_rad": [ 0, 0, 0 ] }, { "shape": "box", "size_m": [ 0.027, 0.037, 0.02 ], "origin_m": [ 0, 0, 0.026 ], "rpy_rad": [ 0, 0, 0 ] } ], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "makeup_epc", "name_zh": "FID尾吹气控制通道", "subsystem": "gas", "function_zh": "为毛细管柱检测提供辅助气流。", "physical_meaning_zh": "尾吹气改变检测区总流量与停留时间，不是样品本身。", "representation": { "geometry_class": "internal_schematic", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "internal", "graspable": false, "removable": false, "joint_type": "fixed", "access_zh": "内部固定状态不得作为自由抓取物体。" }, "physical_quantities": [ { "name": "flow", "label_zh": "flow", "si_unit": "m3/s", "state_key": "makeup_epc.flow", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null }, { "id": "inspect_semantics", "label_zh": "查询内部状态语义", "kind": "semantic_query", "runtime_binding": null } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "满足任务所定义的可达性与装配条件。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "makeup_epc.flow", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" }, { "id": "flows_m3_s.makeup", "channel": "instrument_readout", "runtime_api": "GC.observe", "visibility_zh": "仪器报告流量与真实流量应区分，模型目前未加入测量误差。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "internal_schematic", "dynamics": "engineering_abstraction", "source_ids": [ "GC_FID_HELP" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" } }, "inertial_box_dimensions_m": [ 0.07819937914609909, 0.4176049530506134, 0.05249999091029167 ], "center_of_mass_m": [ -0.017099689692258835, -0.0586981326341629, 0.009749995544552803 ], "blender_object": "GC7890B__makeup_epc", "mesh_file": "meshes/makeup_epc.obj", "mesh_objects": [ "GC7890B__makeup_epc__regulator_block", "GC7890B__makeup_epc__solenoid", "GC7890B__makeup_epc__supply_path", "GC7890B__makeup_epc__regulated_output" ] }, { "id": "fid_body", "origin_m": [ 0.075, -0.162, 0.423 ], "parent": "base_link", "joint_type": "fixed", "axis": [ 0, 0, 0 ], "limits": [ 0, 0 ], "limit_unit": "m", "limit_evidence": "not_applicable", "geometry_evidence": "photo_estimate", "mass_kg": 0.6754893851668049, "mass_evidence": "engineering_assumption", "collisions": [ { "shape": "box", "size_m": [ 0.064, 0.153, 0.009 ], "origin_m": [ 0, 0.055, 0.003 ], "rpy_rad": [ 0, 0, 0 ] }, { "shape": "cylinder", "size_m": [ 0.017, 0.044 ], "origin_m": [ 0, 0, 0 ], "rpy_rad": [ 0, 0, 0 ] } ], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "fid_body", "name_zh": "氢火焰离子化检测器本体", "subsystem": "fid", "function_zh": "容纳柱流出物、燃气与检测电极。", "physical_meaning_zh": "组分在火焰中产生可测离子流；响应依赖化学组成，不能通用于所有气体。", "representation": { "geometry_class": "photo_referenced_approximation", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "fixed", "graspable": false, "removable": false, "joint_type": "fixed", "access_zh": "根据当前动作和可达性处理接触。" }, "physical_quantities": [ { "name": "temperature", "label_zh": "temperature", "si_unit": "K", "state_key": "fid_body.temperature", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null }, { "id": "extinguish", "label_zh": "熄灭火焰", "kind": "runtime_command", "runtime_binding": { "api": "GC.perform", "action": "extinguish", "kwargs": {} } } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "满足任务所定义的可达性与装配条件。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "fid_body.temperature", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" }, { "id": "flame_lit", "channel": "instrument_readout", "runtime_api": "GC.observe", "visibility_zh": "需通过显示或数据接口映射到机器人观测。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "photo_referenced_approximation", "dynamics": "engineering_abstraction", "source_ids": [ "GC_FID_HELP" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" } }, "inertial_box_dimensions_m": [ 0.06400000303983688, 0.15300000458955765, 0.04399999976158142 ], "center_of_mass_m": [ 0.0, 0.055000003427267075, 0.0 ], "blender_object": "GC7890B__fid_body", "mesh_file": "meshes/fid_body.obj", "mesh_objects": [ "GC7890B__fid_body__mounting_pallet", "GC7890B__fid_body__detector_base" ] }, { "id": "fid_jet", "origin_m": [ 0.075, -0.162, 0.425 ], "parent": "base_link", "joint_type": "fixed", "axis": [ 0, 0, 0 ], "limits": [ 0, 0 ], "limit_unit": "m", "limit_evidence": "not_applicable", "geometry_evidence": "internal_schematic", "mass_kg": 0.0024563250369701996, "mass_evidence": "engineering_assumption", "collisions": [], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "fid_jet", "name_zh": "FID喷嘴", "subsystem": "fid", "function_zh": "引导气流进入火焰区。", "physical_meaning_zh": "喷孔阻力和流速影响气流与燃烧；标准毛细管喷嘴几何与教学可视尺寸分别记录。", "representation": { "geometry_class": "photo_referenced_approximation", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "maintenance", "graspable": false, "removable": true, "joint_type": "fixed", "access_zh": "根据当前动作和可达性处理接触。" }, "physical_quantities": [ { "name": "orifice_diameter", "label_zh": "orifice_diameter", "si_unit": "m", "state_key": "fid_jet.orifice_diameter", "value": 0.00029, "value_evidence": "manufacturer_specified", "source_id": "GC_MAINTAINING", "source_locator": "第189页表31，G1531-80560" }, { "name": "length", "label_zh": "标准喷嘴总长", "si_unit": "m", "state_key": "fid_jet.length", "value": 0.043, "value_evidence": "manufacturer_specified", "source_id": "GC_MAINTAINING", "source_locator": "第189页表31，G1531-80560" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null }, { "id": "remove_or_install", "label_zh": "在维护情境拆装", "kind": "maintenance", "runtime_binding": null } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "进入维护情境。", "相关热区已冷却且相关气路已隔离。", "使用维护任务规定的工具与可达空间。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "fid_jet.orifice_diameter", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "photo_referenced_approximation", "dynamics": "engineering_abstraction", "source_ids": [ "GC_MAINTAINING" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。", "source_locator": "第187及189页" } }, "inertial_box_dimensions_m": [ 0.002400000113993883, 0.002400000113993883, 0.043999992311000824 ], "center_of_mass_m": [ 0.0, 0.0, 0.0004999954253435135 ], "blender_object": "GC7890B__fid_jet", "mesh_file": "meshes/fid_jet.obj", "mesh_objects": [ "GC7890B__fid_jet__43mm_standard_jet", "GC7890B__fid_jet__jet_tip" ] }, { "id": "fid_collector", "origin_m": [ 0.075, -0.162, 0.459 ], "parent": "base_link", "joint_type": "fixed", "axis": [ 0, 0, 0 ], "limits": [ 0, 0 ], "limit_unit": "m", "limit_evidence": "not_applicable", "geometry_evidence": "photo_estimate", "mass_kg": 0.03684487555455299, "mass_evidence": "engineering_assumption", "collisions": [ { "shape": "cylinder", "size_m": [ 0.0105, 0.024 ], "origin_m": [ 0, 0, 0 ], "rpy_rad": [ 0, 0, 0 ] } ], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "fid_collector", "name_zh": "FID收集极", "subsystem": "fid", "function_zh": "收集火焰产生的电荷。", "physical_meaning_zh": "偏置电场驱动离子迁移，收集电流为检测信号来源。", "representation": { "geometry_class": "photo_referenced_approximation", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "maintenance", "graspable": false, "removable": true, "joint_type": "fixed", "access_zh": "根据当前动作和可达性处理接触。" }, "physical_quantities": [ { "name": "current", "label_zh": "current", "si_unit": "A", "state_key": "fid_collector.current", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null }, { "id": "remove_or_install", "label_zh": "在维护情境拆装", "kind": "maintenance", "runtime_binding": null } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "进入维护情境。", "相关热区已冷却且相关气路已隔离。", "使用维护任务规定的工具与可达空间。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "fid_collector.current", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "photo_referenced_approximation", "dynamics": "engineering_abstraction", "source_ids": [ "GC_FID_HELP" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。", "source_locator": "第187、201及202页" } }, "inertial_box_dimensions_m": [ 0.020999999716877937, 0.020999999716877937, 0.028000012040138245 ], "center_of_mass_m": [ 0.0, 0.0, 0.002000005915760994 ], "blender_object": "GC7890B__fid_collector", "mesh_file": "meshes/fid_collector.obj", "mesh_objects": [ "GC7890B__fid_collector__collector_outer", "GC7890B__fid_collector__collector_opening" ] }, { "id": "fid_igniter", "origin_m": [ 0.089, -0.162, 0.459 ], "parent": "base_link", "joint_type": "fixed", "axis": [ 0, 0, 0 ], "limits": [ 0, 0 ], "limit_unit": "m", "limit_evidence": "not_applicable", "geometry_evidence": "photo_estimate", "mass_kg": 0.009825300147880798, "mass_evidence": "engineering_assumption", "collisions": [], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "fid_igniter", "name_zh": "FID点火器", "subsystem": "fid", "function_zh": "为燃气点火提供局部能量。", "physical_meaning_zh": "点火是有限时间的能量输入，不是持续样品信号。", "representation": { "geometry_class": "internal_schematic", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "internal", "graspable": false, "removable": false, "joint_type": "fixed", "access_zh": "内部固定状态不得作为自由抓取物体。" }, "physical_quantities": [ { "name": "power", "label_zh": "power", "si_unit": "W", "state_key": "fid_igniter.power", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null }, { "id": "inspect_semantics", "label_zh": "查询内部状态语义", "kind": "semantic_query", "runtime_binding": null }, { "id": "ignite", "label_zh": "请求点火", "kind": "runtime_command", "runtime_binding": { "api": "GC.perform", "action": "ignite", "kwargs": {} } } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "满足任务所定义的可达性与装配条件。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "fid_igniter.power", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "internal_schematic", "dynamics": "engineering_abstraction", "source_ids": [ "GC_MAINTAINING" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" } }, "inertial_box_dimensions_m": [ 0.017999999225139618, 0.004999999888241291, 0.005000000819563866 ], "center_of_mass_m": [ 0.0, 0.0, 0.0 ], "blender_object": "GC7890B__fid_igniter", "mesh_file": "meshes/fid_igniter.obj", "mesh_objects": [ "GC7890B__fid_igniter__glow_plug" ] }, { "id": "fid_electrometer", "origin_m": [ 0.225, 0.045, 0.29 ], "parent": "base_link", "joint_type": "fixed", "axis": [ 0, 0, 0 ], "limits": [ 0, 0 ], "limit_unit": "m", "limit_evidence": "not_applicable", "geometry_evidence": "internal_schematic", "mass_kg": 0.18422437777276496, "mass_evidence": "engineering_assumption", "collisions": [ { "shape": "box", "size_m": [ 0.047, 0.063, 0.003 ], "origin_m": [ 0, 0, 0 ], "rpy_rad": [ 0, 0, 0 ] } ], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "fid_electrometer", "name_zh": "FID静电计", "subsystem": "fid", "function_zh": "测量微弱离子电流并形成可采集信号。", "physical_meaning_zh": "输出受增益、带宽、噪声和基线影响；具体校准常数未知。", "representation": { "geometry_class": "internal_schematic", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "internal", "graspable": false, "removable": false, "joint_type": "fixed", "access_zh": "内部固定状态不得作为自由抓取物体。" }, "physical_quantities": [ { "name": "current", "label_zh": "current", "si_unit": "A", "state_key": "fid_electrometer.current", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null }, { "id": "inspect_semantics", "label_zh": "查询内部状态语义", "kind": "semantic_query", "runtime_binding": null } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "满足任务所定义的可达性与装配条件。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "fid_electrometer.current", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" }, { "id": "fid_current_A", "channel": "instrument_readout", "runtime_api": "GC.observe", "visibility_zh": "需通过显示或数据接口映射到机器人观测。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "internal_schematic", "dynamics": "engineering_abstraction", "source_ids": [ "GC_FID_HELP" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" } }, "inertial_box_dimensions_m": [ 0.17417814210057259, 0.23983648791909218, 0.17193571175448596 ], "center_of_mass_m": [ -0.063589071854949, -0.08841824345290661, 0.08446785586420447 ], "blender_object": "GC7890B__fid_electrometer", "mesh_file": "meshes/fid_electrometer.obj", "mesh_objects": [ "GC7890B__fid_electrometer__amplifier_board", "GC7890B__fid_electrometer__signal_cable" ] }, { "id": "fid_heater", "origin_m": [ 0.075, -0.162, 0.425 ], "parent": "base_link", "joint_type": "fixed", "axis": [ 0, 0, 0 ], "limits": [ 0, 0 ], "limit_unit": "m", "limit_evidence": "not_applicable", "geometry_evidence": "internal_schematic", "mass_kg": 0.061408125924254986, "mass_evidence": "engineering_assumption", "collisions": [], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "fid_heater", "name_zh": "FID加热器", "subsystem": "fid", "function_zh": "维持检测区受控温度。", "physical_meaning_zh": "热输入影响冷凝与检测器稳定性；不能将设定温度等同火焰温度。", "representation": { "geometry_class": "internal_schematic", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "internal", "graspable": false, "removable": false, "joint_type": "fixed", "access_zh": "内部固定状态不得作为自由抓取物体。" }, "physical_quantities": [ { "name": "power", "label_zh": "power", "si_unit": "W", "state_key": "fid_heater.power", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null }, { "id": "inspect_semantics", "label_zh": "查询内部状态语义", "kind": "semantic_query", "runtime_binding": null }, { "id": "set_temperature", "label_zh": "设定检测器目标温度", "kind": "runtime_command", "runtime_binding": { "api": "GC.perform", "action": "set_temperature", "kwargs": { "zone": "fid", "temperature_K": "number" } } } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "满足任务所定义的可达性与装配条件。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "fid_heater.power", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "internal_schematic", "dynamics": "engineering_abstraction", "source_ids": [ "GC_SPECS" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" } }, "inertial_box_dimensions_m": [ 0.03200000151991844, 0.03200000151991844, 0.004000000189989805 ], "center_of_mass_m": [ 0.0, 0.0, 0.0 ], "blender_object": "GC7890B__fid_heater", "mesh_file": "meshes/fid_heater.obj", "mesh_objects": [ "GC7890B__fid_heater__detector_heater" ] }, { "id": "fid_sensor", "origin_m": [ 0.094, -0.151, 0.428 ], "parent": "base_link", "joint_type": "fixed", "axis": [ 0, 0, 0 ], "limits": [ 0, 0 ], "limit_unit": "m", "limit_evidence": "not_applicable", "geometry_evidence": "internal_schematic", "mass_kg": 0.012281625184850998, "mass_evidence": "engineering_assumption", "collisions": [], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "fid_sensor", "name_zh": "FID温度传感器", "subsystem": "fid", "function_zh": "观测检测器加热区温度。", "physical_meaning_zh": "该观测属于检测器热区，与火焰反应区温度不同。", "representation": { "geometry_class": "internal_schematic", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "internal", "graspable": false, "removable": false, "joint_type": "fixed", "access_zh": "内部固定状态不得作为自由抓取物体。" }, "physical_quantities": [ { "name": "temperature", "label_zh": "temperature", "si_unit": "K", "state_key": "fid_sensor.temperature", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null }, { "id": "inspect_semantics", "label_zh": "查询内部状态语义", "kind": "semantic_query", "runtime_binding": null } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "满足任务所定义的可达性与装配条件。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "fid_sensor.temperature", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" }, { "id": "temperatures_K.fid", "channel": "instrument_readout", "runtime_api": "GC.observe", "visibility_zh": "可由仪器显示或通信读取。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "internal_schematic", "dynamics": "engineering_abstraction", "source_ids": [ "GC_OPERATION" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" } }, "inertial_box_dimensions_m": [ 0.002400000113993883, 0.002400000113993883, 0.029999999329447746 ], "center_of_mass_m": [ 0.0, 0.0, 0.0 ], "blender_object": "GC7890B__fid_sensor", "mesh_file": "meshes/fid_sensor.obj", "mesh_objects": [ "GC7890B__fid_sensor__probe" ] }, { "id": "exhaust", "origin_m": [ 0.075, -0.162, 0.478 ], "parent": "base_link", "joint_type": "fixed", "axis": [ 0, 0, 0 ], "limits": [ 0, 0 ], "limit_unit": "m", "limit_evidence": "not_applicable", "geometry_evidence": "photo_estimate", "mass_kg": 0.022106925332731793, "mass_evidence": "engineering_assumption", "collisions": [ { "shape": "cylinder", "size_m": [ 0.0065, 0.014 ], "origin_m": [ 0, 0, 0 ], "rpy_rad": [ 0, 0, 0 ] } ], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "exhaust", "name_zh": "FID检测排气口", "subsystem": "fid", "function_zh": "排出检测器气流及燃烧产物。", "physical_meaning_zh": "作为检测气路的物质与能量出口，与柱箱热风口区分。", "representation": { "geometry_class": "photo_referenced_approximation", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "fixed", "graspable": false, "removable": false, "joint_type": "fixed", "access_zh": "根据当前动作和可达性处理接触。" }, "physical_quantities": [ { "name": "mass_flow", "label_zh": "mass_flow", "si_unit": "kg/s", "state_key": "exhaust.mass_flow", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "满足任务所定义的可达性与装配条件。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "exhaust.mass_flow", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "photo_referenced_approximation", "dynamics": "engineering_abstraction", "source_ids": [ "GC_FID_HELP" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" } }, "inertial_box_dimensions_m": [ 0.013000000268220901, 0.013000000268220901, 0.014599989634007215 ], "center_of_mass_m": [ 0.0, 0.0, 0.00029999460093677044 ], "blender_object": "GC7890B__exhaust", "mesh_file": "meshes/exhaust.obj", "mesh_objects": [ "GC7890B__exhaust__PTFE_chimney", "GC7890B__exhaust__exhaust_dark_opening" ] }, { "id": "detector_cover", "origin_m": [ 0.059, 0.058, 0.472 ], "parent": "base_link", "joint_type": "revolute", "axis": [ -1, 0, 0 ], "limits": [ 0, 1.92 ], "limit_unit": "rad", "limit_evidence": "engineering_assumption", "geometry_evidence": "photo_estimate", "mass_kg": 0.9825300147880798, "mass_evidence": "engineering_assumption", "collisions": [ { "shape": "box", "size_m": [ 0.201, 0.298, 0.012 ], "origin_m": [ 0, -0.153, 0.012 ], "rpy_rad": [ 0, 0, 0 ] }, { "shape": "box", "size_m": [ 0.008, 0.298, 0.024 ], "origin_m": [ 0.095, -0.153, 0.002 ], "rpy_rad": [ 0, 0, 0 ] } ], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "detector_cover", "name_zh": "检测器隔热防护罩", "subsystem": "fid", "function_zh": "覆盖检测器区域，维护时打开以获得访问空间。", "physical_meaning_zh": "隔开可接触空间与受热组件；枢轴与行程为照片估计，不推断厂商互锁。", "representation": { "geometry_class": "photo_referenced_approximation", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "hinged", "graspable": false, "removable": false, "joint_type": "revolute", "access_zh": "根据当前动作和可达性处理接触。" }, "physical_quantities": [ { "name": "angle", "label_zh": "angle", "si_unit": "rad", "state_key": "detector_cover.angle", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "满足任务所定义的可达性与装配条件。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "detector_cover.angle", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "photo_referenced_approximation", "dynamics": "engineering_abstraction", "source_ids": [ "GC_MAINTAINING" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。", "source_locator": "第18页" } }, "inertial_box_dimensions_m": [ 0.20100000500679016, 0.2979999929666519, 0.028450006619095802 ], "center_of_mass_m": [ 0.0, -0.15299998968839645, 0.0042250072583556175 ], "blender_object": "GC7890B__detector_cover", "mesh_file": "meshes/detector_cover.obj", "mesh_objects": [ "GC7890B__detector_cover__top_cover", "GC7890B__detector_cover__right_lip", "GC7890B__detector_cover__top_vent", "GC7890B__detector_cover__top_vent.001", "GC7890B__detector_cover__top_vent.002", "GC7890B__detector_cover__top_vent.003", "GC7890B__detector_cover__top_vent.004", "GC7890B__detector_cover__top_vent.005", "GC7890B__detector_cover__top_vent.006", "GC7890B__detector_cover__top_vent.007", "GC7890B__detector_cover__top_vent.008", "GC7890B__detector_cover__top_vent.009", "GC7890B__detector_cover__top_vent.010", "GC7890B__detector_cover__top_vent.011", "GC7890B__detector_cover__top_vent.012", "GC7890B__detector_cover__top_vent.013", "GC7890B__detector_cover__top_vent.014", "GC7890B__detector_cover__top_vent.015", "GC7890B__detector_cover__top_vent.016", "GC7890B__detector_cover__top_vent.017", "GC7890B__detector_cover__top_vent.018", "GC7890B__detector_cover__top_vent.019", "GC7890B__detector_cover__top_vent.020", "GC7890B__detector_cover__top_vent.021" ] }, { "id": "control_panel", "origin_m": [ 0.223, -0.246, 0.258 ], "parent": "base_link", "joint_type": "fixed", "axis": [ 0, 0, 0 ], "limits": [ 0, 0 ], "limit_unit": "m", "limit_evidence": "not_applicable", "geometry_evidence": "photo_estimate", "mass_kg": 1.3509787703336098, "mass_evidence": "engineering_assumption", "collisions": [ { "shape": "box", "size_m": [ 0.128, 0.027, 0.444 ], "origin_m": [ 0, 0, 0 ], "rpy_rad": [ 0, 0, 0 ] } ], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "control_panel", "name_zh": "控制面板", "subsystem": "controls", "function_zh": "提供仪器参数与状态的人机交互区域。", "physical_meaning_zh": "把接触操作转换为离散命令；面板整体不作为独立可搬物。", "representation": { "geometry_class": "photo_referenced_approximation", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "fixed", "graspable": false, "removable": false, "joint_type": "fixed", "access_zh": "根据当前动作和可达性处理接触。" }, "physical_quantities": [ { "name": "contact_force", "label_zh": "contact_force", "si_unit": "N", "state_key": "control_panel.contact_force", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "满足任务所定义的可达性与装配条件。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "control_panel.contact_force", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" }, { "id": "ready", "channel": "instrument_readout", "runtime_api": "GC.observe", "visibility_zh": "需通过显示或数据接口映射到机器人观测。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "photo_referenced_approximation", "dynamics": "engineering_abstraction", "source_ids": [ "GC_GETTING_STARTED" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" } }, "inertial_box_dimensions_m": [ 0.12800000607967377, 0.028599999845027924, 0.4440000057220459 ], "center_of_mass_m": [ 0.0, -0.0007999995723366737, 0.0 ], "blender_object": "GC7890B__control_panel", "mesh_file": "meshes/control_panel.obj", "mesh_objects": [ "GC7890B__control_panel__fascia", "GC7890B__control_panel__brand", "GC7890B__control_panel__model", "GC7890B__control_panel__oven_ramp", "GC7890B__control_panel__ramp_icon", "GC7890B__control_panel__status" ] }, { "id": "display", "origin_m": [ 0.223, -0.262, 0.385 ], "parent": "base_link", "joint_type": "fixed", "axis": [ 0, 0, 0 ], "limits": [ 0, 0 ], "limit_unit": "m", "limit_evidence": "not_applicable", "geometry_evidence": "photo_estimate", "mass_kg": 0.03684487555455299, "mass_evidence": "engineering_assumption", "collisions": [], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "display", "name_zh": "状态显示屏", "subsystem": "controls", "function_zh": "呈现参数、运行状态与提示。", "physical_meaning_zh": "属于可见观测界面，显示值与传感真值及系统隐藏状态应区分。", "representation": { "geometry_class": "photo_referenced_approximation", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "fixed", "graspable": false, "removable": false, "joint_type": "fixed", "access_zh": "根据当前动作和可达性处理接触。" }, "physical_quantities": [ { "name": "display_update_period", "label_zh": "display_update_period", "si_unit": "s", "state_key": "display.display_update_period", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "满足任务所定义的可达性与装配条件。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "display.display_update_period", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" }, { "id": "not_ready_reasons", "channel": "instrument_readout", "runtime_api": "GC.observe", "visibility_zh": "需通过显示或数据接口映射到机器人观测。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "photo_referenced_approximation", "dynamics": "engineering_abstraction", "source_ids": [ "GC_GETTING_STARTED" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" } }, "inertial_box_dimensions_m": [ 0.11699999868869781, 0.0055100147146731615, 0.061000000685453415 ], "center_of_mass_m": [ 0.0, -0.0007550072623416781, 0.0 ], "blender_object": "GC7890B__display", "mesh_file": "meshes/display.obj", "mesh_objects": [ "GC7890B__display__display_bezel", "GC7890B__display__VFD", "GC7890B__display__screen_line1", "GC7890B__display__screen_line2", "GC7890B__display__screen_line3" ] }, { "id": "start_key", "origin_m": [ 0.185, -0.263, 0.257 ], "parent": "base_link", "joint_type": "prismatic", "axis": [ 0, 1, 0 ], "limits": [ 0, 0.001 ], "limit_unit": "m", "limit_evidence": "engineering_assumption", "geometry_evidence": "photo_estimate", "mass_kg": 0.0024563250369701996, "mass_evidence": "engineering_assumption", "collisions": [ { "shape": "box", "size_m": [ 0.027, 0.003, 0.009 ], "origin_m": [ 0, 0, 0 ], "rpy_rad": [ 0, 0, 0 ] } ], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "start_key", "name_zh": "启动键", "subsystem": "controls", "function_zh": "请求开始当前方法运行。", "physical_meaning_zh": "触发运行状态跃迁及时间原点；不能自动代表已注入样品。", "representation": { "geometry_class": "photo_referenced_approximation", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "button", "graspable": false, "removable": false, "joint_type": "fixed", "access_zh": "根据当前动作和可达性处理接触。" }, "physical_quantities": [ { "name": "press_force", "label_zh": "press_force", "si_unit": "N", "state_key": "start_key.press_force", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null }, { "id": "start", "label_zh": "请求开始运行", "kind": "runtime_command", "runtime_binding": { "api": "GC.perform", "action": "start", "kwargs": {} } } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "满足任务所定义的可达性与装配条件。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "start_key.press_force", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" }, { "id": "running", "channel": "instrument_readout", "runtime_api": "GC.observe", "visibility_zh": "需通过显示或数据接口映射到机器人观测。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "photo_referenced_approximation", "dynamics": "engineering_abstraction", "source_ids": [ "GC_OPERATION" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" } }, "inertial_box_dimensions_m": [ 0.027000000700354576, 0.0032100139651447535, 0.008999999612569809 ], "center_of_mass_m": [ 0.0, -0.00010500696953386068, 0.0 ], "blender_object": "GC7890B__start_key", "mesh_file": "meshes/start_key.obj", "mesh_objects": [ "GC7890B__start_key__button", "GC7890B__start_key__label" ] }, { "id": "stop_key", "origin_m": [ 0.265, -0.263, 0.257 ], "parent": "base_link", "joint_type": "prismatic", "axis": [ 0, 1, 0 ], "limits": [ 0, 0.001 ], "limit_unit": "m", "limit_evidence": "engineering_assumption", "geometry_evidence": "photo_estimate", "mass_kg": 0.0024563250369701996, "mass_evidence": "engineering_assumption", "collisions": [ { "shape": "box", "size_m": [ 0.027, 0.003, 0.009 ], "origin_m": [ 0, 0, 0 ], "rpy_rad": [ 0, 0, 0 ] } ], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "stop_key", "name_zh": "停止键", "subsystem": "controls", "function_zh": "请求停止当前分析运行。", "physical_meaning_zh": "终止运行阶段而非瞬时消除余热或剩余气体。", "representation": { "geometry_class": "photo_referenced_approximation", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "button", "graspable": false, "removable": false, "joint_type": "fixed", "access_zh": "根据当前动作和可达性处理接触。" }, "physical_quantities": [ { "name": "press_force", "label_zh": "press_force", "si_unit": "N", "state_key": "stop_key.press_force", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null }, { "id": "stop", "label_zh": "请求停止运行", "kind": "runtime_command", "runtime_binding": { "api": "GC.perform", "action": "stop", "kwargs": {} } } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "满足任务所定义的可达性与装配条件。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "stop_key.press_force", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "photo_referenced_approximation", "dynamics": "engineering_abstraction", "source_ids": [ "GC_OPERATION" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" } }, "inertial_box_dimensions_m": [ 0.027000000700354576, 0.0032100139651447535, 0.008999999612569809 ], "center_of_mass_m": [ 0.0, -0.00010500696953386068, 0.0 ], "blender_object": "GC7890B__stop_key", "mesh_file": "meshes/stop_key.obj", "mesh_objects": [ "GC7890B__stop_key__button", "GC7890B__stop_key__label" ] }, { "id": "parameter_keys", "origin_m": [ 0, 0, 0 ], "parent": "base_link", "joint_type": "fixed", "axis": [ 0, 0, 0 ], "limits": [ 0, 0 ], "limit_unit": "m", "limit_evidence": "not_applicable", "geometry_evidence": "photo_estimate", "mass_kg": 0.07983056370153148, "mass_evidence": "engineering_assumption", "collisions": [], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "parameter_keys", "name_zh": "参数输入键组", "subsystem": "controls", "function_zh": "选择参数并输入设定值。", "physical_meaning_zh": "命令改变控制目标，实际温度和流量仍需经历动态响应。", "representation": { "geometry_class": "photo_referenced_approximation", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "button", "graspable": false, "removable": false, "joint_type": "fixed", "access_zh": "根据当前动作和可达性处理接触。" }, "physical_quantities": [ { "name": "press_force", "label_zh": "press_force", "si_unit": "N", "state_key": "parameter_keys.press_force", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "满足任务所定义的可达性与装配条件。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "parameter_keys.press_force", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "photo_referenced_approximation", "dynamics": "engineering_abstraction", "source_ids": [ "GC_GETTING_STARTED" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" } }, "inertial_box_dimensions_m": [ 0.12070001661777496, 0.0033100247383117676, 0.15800000727176666 ], "center_of_mass_m": [ 0.22100000828504562, -0.2631550133228302, 0.1614999994635582 ], "blender_object": "GC7890B__parameter_keys", "mesh_file": "meshes/parameter_keys.obj", "mesh_objects": [ "GC7890B__parameter_keys__key_Oven", "GC7890B__parameter_keys__key_legend_Oven", "GC7890B__parameter_keys__key_Front", "GC7890B__parameter_keys__key_legend_Front", "GC7890B__parameter_keys__key_Back", "GC7890B__parameter_keys__key_legend_Back", "GC7890B__parameter_keys__key_Column", "GC7890B__parameter_keys__key_legend_Column", "GC7890B__parameter_keys__key_Aux", "GC7890B__parameter_keys__key_legend_Aux", "GC7890B__parameter_keys__key_Status", "GC7890B__parameter_keys__key_legend_Status", "GC7890B__parameter_keys__key_Inlet", "GC7890B__parameter_keys__key_legend_Inlet", "GC7890B__parameter_keys__key_Det", "GC7890B__parameter_keys__key_legend_Det", "GC7890B__parameter_keys__key_Flow", "GC7890B__parameter_keys__key_legend_Flow", "GC7890B__parameter_keys__key_Signal", "GC7890B__parameter_keys__key_legend_Signal", "GC7890B__parameter_keys__key_Config", "GC7890B__parameter_keys__key_legend_Config", "GC7890B__parameter_keys__key_Info", "GC7890B__parameter_keys__key_legend_Info", "GC7890B__parameter_keys__key_Prep", "GC7890B__parameter_keys__key_legend_Prep", "GC7890B__parameter_keys__key_Run", "GC7890B__parameter_keys__key_legend_Run", "GC7890B__parameter_keys__key_Store", "GC7890B__parameter_keys__key_legend_Store", "GC7890B__parameter_keys__key_Load", "GC7890B__parameter_keys__key_legend_Load", "GC7890B__parameter_keys__key_Time", "GC7890B__parameter_keys__key_legend_Time", "GC7890B__parameter_keys__key_Help", "GC7890B__parameter_keys__key_legend_Help", "GC7890B__parameter_keys__key_7", "GC7890B__parameter_keys__key_legend_7", "GC7890B__parameter_keys__key_8", "GC7890B__parameter_keys__key_legend_8", "GC7890B__parameter_keys__key_9", "GC7890B__parameter_keys__key_legend_9", "GC7890B__parameter_keys__key_+", "GC7890B__parameter_keys__key_legend_+", "GC7890B__parameter_keys__key_-", "GC7890B__parameter_keys__key_legend_-", "GC7890B__parameter_keys__key_Up", "GC7890B__parameter_keys__key_legend_Up", "GC7890B__parameter_keys__key_4", "GC7890B__parameter_keys__key_legend_4", "GC7890B__parameter_keys__key_5", "GC7890B__parameter_keys__key_legend_5", "GC7890B__parameter_keys__key_6", "GC7890B__parameter_keys__key_legend_6", "GC7890B__parameter_keys__key_On", "GC7890B__parameter_keys__key_legend_On", "GC7890B__parameter_keys__key_Off", "GC7890B__parameter_keys__key_legend_Off", "GC7890B__parameter_keys__key_Dn", "GC7890B__parameter_keys__key_legend_Dn", "GC7890B__parameter_keys__key_1", "GC7890B__parameter_keys__key_legend_1", "GC7890B__parameter_keys__key_2", "GC7890B__parameter_keys__key_legend_2", "GC7890B__parameter_keys__key_3", "GC7890B__parameter_keys__key_legend_3", "GC7890B__parameter_keys__key_Yes", "GC7890B__parameter_keys__key_legend_Yes", "GC7890B__parameter_keys__key_No", "GC7890B__parameter_keys__key_legend_No", "GC7890B__parameter_keys__key_Del", "GC7890B__parameter_keys__key_legend_Del", "GC7890B__parameter_keys__key_0", "GC7890B__parameter_keys__key_legend_0", "GC7890B__parameter_keys__key_.", "GC7890B__parameter_keys__key_legend_.", "GC7890B__parameter_keys__key_Enter", "GC7890B__parameter_keys__key_legend_Enter", "GC7890B__parameter_keys__key_Clear", "GC7890B__parameter_keys__key_legend_Clear", "GC7890B__parameter_keys__key_Mode", "GC7890B__parameter_keys__key_legend_Mode", "GC7890B__parameter_keys__key_Lock", "GC7890B__parameter_keys__key_legend_Lock", "GC7890B__parameter_keys__key_Method", "GC7890B__parameter_keys__key_legend_Method", "GC7890B__parameter_keys__key_Seq", "GC7890B__parameter_keys__key_legend_Seq", "GC7890B__parameter_keys__key_Save", "GC7890B__parameter_keys__key_legend_Save", "GC7890B__parameter_keys__key_Recall", "GC7890B__parameter_keys__key_legend_Recall", "GC7890B__parameter_keys__key_Next", "GC7890B__parameter_keys__key_legend_Next", "GC7890B__parameter_keys__key_Prev", "GC7890B__parameter_keys__key_legend_Prev" ] }, { "id": "power_switch", "origin_m": [ -0.24, -0.258, 0.025 ], "parent": "base_link", "joint_type": "revolute", "axis": [ 1, 0, 0 ], "limits": [ -0.15, 0.15 ], "limit_unit": "rad", "limit_evidence": "engineering_assumption", "geometry_evidence": "photo_estimate", "mass_kg": 0.024563250369701996, "mass_evidence": "engineering_assumption", "collisions": [ { "shape": "box", "size_m": [ 0.018, 0.004, 0.01 ], "origin_m": [ 0, 0, 0 ], "rpy_rad": [ 0, 0, 0 ] } ], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "power_switch", "name_zh": "电源开关", "subsystem": "power", "function_zh": "切换主机供电状态。", "physical_meaning_zh": "离散电连接状态影响加热和电子模块；断电后温度不会立即归零。", "representation": { "geometry_class": "photo_referenced_approximation", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "switch", "graspable": false, "removable": false, "joint_type": "fixed", "access_zh": "根据当前动作和可达性处理接触。" }, "physical_quantities": [ { "name": "voltage", "label_zh": "voltage", "si_unit": "V", "state_key": "power_switch.voltage", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null }, { "id": "power", "label_zh": "切换电源", "kind": "runtime_command", "runtime_binding": { "api": "GC.perform", "action": "power", "kwargs": { "enabled": "bool" } } } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "满足任务所定义的可达性与装配条件。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "power_switch.voltage", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "photo_referenced_approximation", "dynamics": "engineering_abstraction", "source_ids": [ "GC_GETTING_STARTED" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" } }, "inertial_box_dimensions_m": [ 0.017999999225139618, 0.004509997786954045, 0.009999999776482582 ], "center_of_mass_m": [ 0.0, -0.00025499879848212004, 0.0 ], "blender_object": "GC7890B__power_switch", "mesh_file": "meshes/power_switch.obj", "mesh_objects": [ "GC7890B__power_switch__rocker", "GC7890B__power_switch__on_off" ] }, { "id": "carrier_port", "origin_m": [ -0.2, 0.259, 0.425 ], "parent": "base_link", "joint_type": "fixed", "axis": [ 0, 0, 0 ], "limits": [ 0, 0 ], "limit_unit": "m", "limit_evidence": "not_applicable", "geometry_evidence": "photo_estimate", "mass_kg": 0.04912650073940399, "mass_evidence": "engineering_assumption", "collisions": [ { "shape": "cylinder", "size_m": [ 0.006, 0.012 ], "origin_m": [ 0, 0, 0 ], "rpy_rad": [ 1.5707963267948966, 0, 0 ] } ], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "carrier_port", "name_zh": "载气入口", "subsystem": "gas", "function_zh": "连接外部载气供应。", "physical_meaning_zh": "建立进样气路的压力和组分边界。", "representation": { "geometry_class": "photo_referenced_approximation", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "connector", "graspable": false, "removable": false, "joint_type": "fixed", "access_zh": "根据当前动作和可达性处理接触。" }, "physical_quantities": [ { "name": "supply_pressure", "label_zh": "supply_pressure", "si_unit": "Pa", "state_key": "carrier_port.supply_pressure", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null }, { "id": "connect_gas", "label_zh": "设置气源连接", "kind": "runtime_command", "runtime_binding": { "api": "GC.perform", "action": "connect_gas", "kwargs": { "gas": "carrier", "connected": "bool" } } } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "满足任务所定义的可达性与装配条件。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "carrier_port.supply_pressure", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "photo_referenced_approximation", "dynamics": "engineering_abstraction", "source_ids": [ "GC_GETTING_STARTED" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" } }, "inertial_box_dimensions_m": [ 0.03200000151991844, 0.013000006321817636, 0.03823598800227046 ], "center_of_mass_m": [ 0.0, 0.0005000026430934668, 0.013117993483319879 ], "blender_object": "GC7890B__carrier_port", "mesh_file": "meshes/carrier_port.obj", "mesh_objects": [ "GC7890B__carrier_port__bulkhead", "GC7890B__carrier_port__opening", "GC7890B__carrier_port__color_tag", "GC7890B__carrier_port__port_legend" ] }, { "id": "hydrogen_port", "origin_m": [ -0.04, 0.259, 0.425 ], "parent": "base_link", "joint_type": "fixed", "axis": [ 0, 0, 0 ], "limits": [ 0, 0 ], "limit_unit": "m", "limit_evidence": "not_applicable", "geometry_evidence": "photo_estimate", "mass_kg": 0.04912650073940399, "mass_evidence": "engineering_assumption", "collisions": [ { "shape": "cylinder", "size_m": [ 0.006, 0.012 ], "origin_m": [ 0, 0, 0 ], "rpy_rad": [ 1.5707963267948966, 0, 0 ] } ], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "hydrogen_port", "name_zh": "氢气入口", "subsystem": "gas", "function_zh": "连接FID燃料供应。", "physical_meaning_zh": "提供氢气压力边界，接口位置以功能示意表示。", "representation": { "geometry_class": "photo_referenced_approximation", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "connector", "graspable": false, "removable": false, "joint_type": "fixed", "access_zh": "根据当前动作和可达性处理接触。" }, "physical_quantities": [ { "name": "supply_pressure", "label_zh": "supply_pressure", "si_unit": "Pa", "state_key": "hydrogen_port.supply_pressure", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null }, { "id": "connect_gas", "label_zh": "设置气源连接", "kind": "runtime_command", "runtime_binding": { "api": "GC.perform", "action": "connect_gas", "kwargs": { "gas": "hydrogen", "connected": "bool" } } } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "满足任务所定义的可达性与装配条件。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "hydrogen_port.supply_pressure", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "photo_referenced_approximation", "dynamics": "engineering_abstraction", "source_ids": [ "GC_GETTING_STARTED" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" } }, "inertial_box_dimensions_m": [ 0.03200000151991844, 0.013000006321817636, 0.03819999052211642 ], "center_of_mass_m": [ 0.0, 0.0005000026430934668, 0.01309999474324286 ], "blender_object": "GC7890B__hydrogen_port", "mesh_file": "meshes/hydrogen_port.obj", "mesh_objects": [ "GC7890B__hydrogen_port__bulkhead", "GC7890B__hydrogen_port__opening", "GC7890B__hydrogen_port__color_tag", "GC7890B__hydrogen_port__port_legend" ] }, { "id": "air_port", "origin_m": [ 0.045, 0.259, 0.425 ], "parent": "base_link", "joint_type": "fixed", "axis": [ 0, 0, 0 ], "limits": [ 0, 0 ], "limit_unit": "m", "limit_evidence": "not_applicable", "geometry_evidence": "photo_estimate", "mass_kg": 0.04912650073940399, "mass_evidence": "engineering_assumption", "collisions": [ { "shape": "cylinder", "size_m": [ 0.006, 0.012 ], "origin_m": [ 0, 0, 0 ], "rpy_rad": [ 1.5707963267948966, 0, 0 ] } ], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "air_port", "name_zh": "空气入口", "subsystem": "gas", "function_zh": "连接FID助燃气供应。", "physical_meaning_zh": "提供空气压力边界，不能把空气当作任意可替换载气。", "representation": { "geometry_class": "photo_referenced_approximation", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "connector", "graspable": false, "removable": false, "joint_type": "fixed", "access_zh": "根据当前动作和可达性处理接触。" }, "physical_quantities": [ { "name": "supply_pressure", "label_zh": "supply_pressure", "si_unit": "Pa", "state_key": "air_port.supply_pressure", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null }, { "id": "connect_gas", "label_zh": "设置气源连接", "kind": "runtime_command", "runtime_binding": { "api": "GC.perform", "action": "connect_gas", "kwargs": { "gas": "air", "connected": "bool" } } } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "满足任务所定义的可达性与装配条件。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "air_port.supply_pressure", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "photo_referenced_approximation", "dynamics": "engineering_abstraction", "source_ids": [ "GC_GETTING_STARTED" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" } }, "inertial_box_dimensions_m": [ 0.03200000151991844, 0.013000006321817636, 0.03819999052211642 ], "center_of_mass_m": [ 0.0, 0.0005000026430934668, 0.01309999474324286 ], "blender_object": "GC7890B__air_port", "mesh_file": "meshes/air_port.obj", "mesh_objects": [ "GC7890B__air_port__bulkhead", "GC7890B__air_port__opening", "GC7890B__air_port__color_tag", "GC7890B__air_port__port_legend" ] }, { "id": "makeup_port", "origin_m": [ 0.13, 0.259, 0.425 ], "parent": "base_link", "joint_type": "fixed", "axis": [ 0, 0, 0 ], "limits": [ 0, 0 ], "limit_unit": "m", "limit_evidence": "not_applicable", "geometry_evidence": "photo_estimate", "mass_kg": 0.04912650073940399, "mass_evidence": "engineering_assumption", "collisions": [ { "shape": "cylinder", "size_m": [ 0.006, 0.012 ], "origin_m": [ 0, 0, 0 ], "rpy_rad": [ 1.5707963267948966, 0, 0 ] } ], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "makeup_port", "name_zh": "尾吹气入口", "subsystem": "gas", "function_zh": "表示FID尾吹气的外部供给边界。", "physical_meaning_zh": "它是逻辑供给端口；实际接头与共享供气布置取决于配置，未据照片逐项验证。", "representation": { "geometry_class": "photo_referenced_approximation", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "connector", "graspable": false, "removable": false, "joint_type": "fixed", "access_zh": "根据当前动作和可达性处理接触。" }, "physical_quantities": [ { "name": "supply_pressure", "label_zh": "supply_pressure", "si_unit": "Pa", "state_key": "makeup_port.supply_pressure", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null }, { "id": "connect_gas", "label_zh": "设置气源连接", "kind": "runtime_command", "runtime_binding": { "api": "GC.perform", "action": "connect_gas", "kwargs": { "gas": "makeup", "connected": "bool" } } } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "满足任务所定义的可达性与装配条件。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "makeup_port.supply_pressure", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "photo_referenced_approximation", "dynamics": "engineering_abstraction", "source_ids": [ "GC_FID_HELP" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" } }, "inertial_box_dimensions_m": [ 0.03200000151991844, 0.013000006321817636, 0.03823598800227046 ], "center_of_mass_m": [ 0.0, 0.0005000026430934668, 0.013117993483319879 ], "blender_object": "GC7890B__makeup_port", "mesh_file": "meshes/makeup_port.obj", "mesh_objects": [ "GC7890B__makeup_port__bulkhead", "GC7890B__makeup_port__opening", "GC7890B__makeup_port__color_tag", "GC7890B__makeup_port__port_legend" ] }, { "id": "signal_port", "origin_m": [ 0.238, 0.258, 0.17 ], "parent": "base_link", "joint_type": "fixed", "axis": [ 0, 0, 0 ], "limits": [ 0, 0 ], "limit_unit": "m", "limit_evidence": "not_applicable", "geometry_evidence": "photo_estimate", "mass_kg": 0.061408125924254986, "mass_evidence": "engineering_assumption", "collisions": [ { "shape": "box", "size_m": [ 0.071, 0.005, 0.188 ], "origin_m": [ 0, 0, 0 ], "rpy_rad": [ 0, 0, 0 ] }, { "shape": "box", "size_m": [ 0.014, 0.007, 0.012 ], "origin_m": [ 0, 0.003, 0.056 ], "rpy_rad": [ 0, 0, 0 ] }, { "shape": "box", "size_m": [ 0.014, 0.007, 0.012 ], "origin_m": [ 0, 0.003, 0.03 ], "rpy_rad": [ 0, 0, 0 ] }, { "shape": "box", "size_m": [ 0.029, 0.007, 0.009 ], "origin_m": [ 0, 0.004, -0.021 ], "rpy_rad": [ 0, 0, 0 ] }, { "shape": "box", "size_m": [ 0.029, 0.007, 0.009 ], "origin_m": [ 0, 0.004, -0.055 ], "rpy_rad": [ 0, 0, 0 ] } ], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "signal_port", "name_zh": "信号与通信接口", "subsystem": "electronics", "function_zh": "连接外部数据采集或控制系统。", "physical_meaning_zh": "提供数据边界，不输送样品；本几何将多类通信接口概括为一语义区域。", "representation": { "geometry_class": "photo_referenced_approximation", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "connector", "graspable": false, "removable": false, "joint_type": "fixed", "access_zh": "根据当前动作和可达性处理接触。" }, "physical_quantities": [ { "name": "sampling_frequency", "label_zh": "sampling_frequency", "si_unit": "Hz", "state_key": "signal_port.sampling_frequency", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "满足任务所定义的可达性与装配条件。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "signal_port.sampling_frequency", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "photo_referenced_approximation", "dynamics": "engineering_abstraction", "source_ids": [ "GC_GETTING_STARTED" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" } }, "inertial_box_dimensions_m": [ 0.07100000232458115, 0.010000008158385754, 0.18799999356269836 ], "center_of_mass_m": [ 0.0, 0.0025000041350722313, 0.0 ], "blender_object": "GC7890B__signal_port", "mesh_file": "meshes/signal_port.obj", "mesh_objects": [ "GC7890B__signal_port__I_O_panel", "GC7890B__signal_port__LAN_USB", "GC7890B__signal_port__LAN_USB.001", "GC7890B__signal_port__remote_signal", "GC7890B__signal_port__remote_signal.001" ] }, { "id": "power_inlet", "origin_m": [ -0.192, 0.258, 0.065 ], "parent": "base_link", "joint_type": "fixed", "axis": [ 0, 0, 0 ], "limits": [ 0, 0 ], "limit_unit": "m", "limit_evidence": "not_applicable", "geometry_evidence": "photo_estimate", "mass_kg": 0.07368975110910599, "mass_evidence": "engineering_assumption", "collisions": [ { "shape": "box", "size_m": [ 0.032, 0.013, 0.024 ], "origin_m": [ 0, 0, 0 ], "rpy_rad": [ 0, 0, 0 ] } ], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "power_inlet", "name_zh": "电源入口", "subsystem": "power", "function_zh": "接入外部电源。", "physical_meaning_zh": "定义电压、电流与功率边界；连接状态与开关状态不同。", "representation": { "geometry_class": "photo_referenced_approximation", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "connector", "graspable": false, "removable": false, "joint_type": "fixed", "access_zh": "根据当前动作和可达性处理接触。" }, "physical_quantities": [ { "name": "voltage", "label_zh": "voltage", "si_unit": "V", "state_key": "power_inlet.voltage", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null }, { "id": "plug_power", "label_zh": "连接或断开电源", "kind": "runtime_command", "runtime_binding": { "api": "GC.perform", "action": "plug_power", "kwargs": { "connected": "bool" } } } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "满足任务所定义的可达性与装配条件。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "power_inlet.voltage", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "photo_referenced_approximation", "dynamics": "engineering_abstraction", "source_ids": [ "GC_GETTING_STARTED" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" } }, "inertial_box_dimensions_m": [ 0.03200000151991844, 0.016999999061226845, 0.024000000208616257 ], "center_of_mass_m": [ 0.0, 0.0019999993965029716, 0.0 ], "blender_object": "GC7890B__power_inlet", "mesh_file": "meshes/power_inlet.obj", "mesh_objects": [ "GC7890B__power_inlet__IEC", "GC7890B__power_inlet__power_pin", "GC7890B__power_inlet__power_pin.001", "GC7890B__power_inlet__power_pin.002" ] }, { "id": "electronics", "origin_m": [ 0.219, 0.015, 0.219 ], "parent": "base_link", "joint_type": "fixed", "axis": [ 0, 0, 0 ], "limits": [ 0, 0 ], "limit_unit": "m", "limit_evidence": "not_applicable", "geometry_evidence": "internal_schematic", "mass_kg": 2.824773792515729, "mass_evidence": "engineering_assumption", "collisions": [ { "shape": "box", "size_m": [ 0.003, 0.285, 0.252 ], "origin_m": [ 0, 0, 0 ], "rpy_rad": [ 0, 0, 0 ] } ], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "electronics", "name_zh": "控制与采集电子模块", "subsystem": "electronics", "function_zh": "执行控制、信号采集与通信。", "physical_meaning_zh": "离散状态机与连续传感信号在此交互，板级器件布置为内部示意。", "representation": { "geometry_class": "internal_schematic", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "internal", "graspable": false, "removable": false, "joint_type": "fixed", "access_zh": "内部固定状态不得作为自由抓取物体。" }, "physical_quantities": [ { "name": "power", "label_zh": "power", "si_unit": "W", "state_key": "electronics.power", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null }, { "id": "inspect_semantics", "label_zh": "查询内部状态语义", "kind": "semantic_query", "runtime_binding": null } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "满足任务所定义的可达性与装配条件。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "electronics.power", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "internal_schematic", "dynamics": "engineering_abstraction", "source_ids": [ "GC_MAINTAINING" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" } }, "inertial_box_dimensions_m": [ 0.011499995132908225, 0.2849999964237213, 0.25200000405311584 ], "center_of_mass_m": [ -0.0042499975534155965, 0.0, 0.0 ], "blender_object": "GC7890B__electronics", "mesh_file": "meshes/electronics.obj", "mesh_objects": [ "GC7890B__electronics__logic_board", "GC7890B__electronics__logic_IC", "GC7890B__electronics__logic_IC.001", "GC7890B__electronics__logic_IC.002", "GC7890B__electronics__logic_IC.003", "GC7890B__electronics__logic_IC.004", "GC7890B__electronics__logic_IC.005", "GC7890B__electronics__logic_IC.006", "GC7890B__electronics__logic_IC.007", "GC7890B__electronics__logic_IC.008" ] }, { "id": "sample_vial", "origin_m": [ 0.39, -0.16, 0.02 ], "parent": "base_link", "joint_type": "fixed", "axis": [ 0, 0, 0 ], "limits": [ 0, 0 ], "limit_unit": "m", "limit_evidence": "not_applicable", "geometry_evidence": "photo_estimate", "mass_kg": 0.015, "mass_evidence": "engineering_assumption", "collisions": [ { "shape": "cylinder", "size_m": [ 0.012, 0.04 ], "origin_m": [ 0, 0, 0 ], "rpy_rad": [ 0, 0, 0 ] }, { "shape": "cylinder", "size_m": [ 0.013, 0.008 ], "origin_m": [ 0, 0, 0.024 ], "rpy_rad": [ 0, 0, 0 ] }, { "shape": "cylinder", "size_m": [ 0.007, 0.001 ], "origin_m": [ 0, 0, 0.0285 ], "rpy_rad": [ 0, 0, 0 ] } ], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "sample_vial", "name_zh": "样品瓶", "subsystem": "accessories", "function_zh": "承装待分析样品。", "physical_meaning_zh": "组分质量和液体体积定义样品边界条件；本瓶不是厂商标配声明。", "representation": { "geometry_class": "generic_accessory", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "free", "graspable": true, "removable": false, "joint_type": "free", "access_zh": "根据当前动作和可达性处理接触。" }, "physical_quantities": [ { "name": "volume", "label_zh": "volume", "si_unit": "m3", "state_key": "sample_vial.volume", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null }, { "id": "grasp_or_place", "label_zh": "抓取和放置", "kind": "manipulation", "runtime_binding": null } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "满足任务所定义的可达性与装配条件。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "sample_vial.volume", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "generic_accessory", "dynamics": "engineering_abstraction", "source_ids": [ "GC_OPERATION" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" } }, "inertial_box_dimensions_m": [ 0.026000000536441803, 0.026000000536441803, 0.04900000058114529 ], "center_of_mass_m": [ 0.0, 0.0, 0.004500000737607479 ], "blender_object": "GC7890B__sample_vial", "mesh_file": "meshes/sample_vial.obj", "mesh_objects": [ "GC7890B__sample_vial__amber_vial", "GC7890B__sample_vial__vial_cap", "GC7890B__sample_vial__septum_disc" ] }, { "id": "syringe", "origin_m": [ 0.39, -0.065, 0.102 ], "parent": "base_link", "joint_type": "fixed", "axis": [ 0, 0, 0 ], "limits": [ 0, 0 ], "limit_unit": "m", "limit_evidence": "not_applicable", "geometry_evidence": "photo_estimate", "mass_kg": 0.006, "mass_evidence": "engineering_assumption", "collisions": [ { "shape": "cylinder", "size_m": [ 0.004, 0.063 ], "origin_m": [ 0, 0, 0 ], "rpy_rad": [ 0, 0, 0 ] }, { "shape": "cylinder", "size_m": [ 0.00035, 0.043 ], "origin_m": [ 0, 0, -0.053 ], "rpy_rad": [ 0, 0, 0 ] }, { "shape": "cylinder", "size_m": [ 0.002, 0.01 ], "origin_m": [ 0, 0, -0.029 ], "rpy_rad": [ 0, 0, 0 ] }, { "shape": "box", "size_m": [ 0.018, 0.006, 0.002 ], "origin_m": [ 0, 0, 0.033 ], "rpy_rad": [ 0, 0, 0 ] } ], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "syringe", "name_zh": "手动进样针筒", "subsystem": "accessories", "function_zh": "计量与转移液体样品并将针头对准进样口。", "physical_meaning_zh": "针筒位姿、内容物体积和针头插入状态共同约束转移；为外围演示附件。", "representation": { "geometry_class": "generic_accessory", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "free", "graspable": true, "removable": false, "joint_type": "free", "access_zh": "根据当前动作和可达性处理接触。" }, "physical_quantities": [ { "name": "volume", "label_zh": "volume", "si_unit": "m3", "state_key": "syringe.volume", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null }, { "id": "grasp_or_place", "label_zh": "抓取和放置", "kind": "manipulation", "runtime_binding": null }, { "id": "aspirate", "label_zh": "从样品瓶吸取样品", "kind": "runtime_command", "runtime_binding": { "api": "GC.perform", "action": "aspirate", "kwargs": { "fraction": "number" } } }, { "id": "insert_syringe", "label_zh": "插入进样针", "kind": "runtime_command", "runtime_binding": { "api": "GC.perform", "action": "insert_syringe", "kwargs": {} } }, { "id": "retract_syringe", "label_zh": "退出进样针", "kind": "runtime_command", "runtime_binding": { "api": "GC.perform", "action": "retract_syringe", "kwargs": {} } } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "满足任务所定义的可达性与装配条件。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "syringe.volume", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "generic_accessory", "dynamics": "engineering_abstraction", "source_ids": [ "GC_OPERATION" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" } }, "inertial_box_dimensions_m": [ 0.017999999225139618, 0.008340000174939632, 0.10849999263882637 ], "center_of_mass_m": [ 0.0, 0.0, -0.020250005647540092 ], "blender_object": "GC7890B__syringe", "mesh_file": "meshes/syringe.obj", "mesh_objects": [ "GC7890B__syringe__barrel", "GC7890B__syringe__needle", "GC7890B__syringe__needle_hub", "GC7890B__syringe__finger_flange", "GC7890B__syringe__graduation", "GC7890B__syringe__graduation.001", "GC7890B__syringe__graduation.002", "GC7890B__syringe__graduation.003", "GC7890B__syringe__graduation.004", "GC7890B__syringe__graduation.005", "GC7890B__syringe__graduation.006", "GC7890B__syringe__graduation.007", "GC7890B__syringe__graduation.008", "GC7890B__syringe__graduation.009", "GC7890B__syringe__graduation.010" ] }, { "id": "plunger", "origin_m": [ 0, 0, 0.04 ], "parent": "syringe", "joint_type": "prismatic", "axis": [ 0, 0, 1 ], "limits": [ 0, 0.032 ], "limit_unit": "m", "limit_evidence": "engineering_assumption", "geometry_evidence": "photo_estimate", "mass_kg": 0.001, "mass_evidence": "engineering_assumption", "collisions": [ { "shape": "cylinder", "size_m": [ 0.0008, 0.071 ], "origin_m": [ 0, 0, 0 ], "rpy_rad": [ 0, 0, 0 ] }, { "shape": "cylinder", "size_m": [ 0.007, 0.002 ], "origin_m": [ 0, 0, 0.036 ], "rpy_rad": [ 0, 0, 0 ] } ], "interaction_anchor_local_m": [ 0, 0, 0 ], "semantics": { "id": "plunger", "name_zh": "针筒推杆", "subsystem": "accessories", "function_zh": "改变针筒内部有效容积。", "physical_meaning_zh": "推杆位移乘有效截面积对应排量；针头未连通目标时不能把位移当有效进样。", "representation": { "geometry_class": "generic_accessory", "precision_zh": "未验证的局部尺寸不作计量级真值。" }, "interaction": { "category": "prismatic", "graspable": false, "removable": false, "joint_type": "prismatic", "access_zh": "根据当前动作和可达性处理接触。" }, "physical_quantities": [ { "name": "displacement", "label_zh": "displacement", "si_unit": "m", "state_key": "plunger.displacement", "value": null, "value_evidence": "not_calibrated" } ], "actions": [ { "id": "observe", "label_zh": "观测外观或读取状态", "kind": "observe", "runtime_binding": null }, { "id": "depress_plunger", "label_zh": "推动推杆排样", "kind": "runtime_command", "runtime_binding": { "api": "GC.perform", "action": "depress_plunger", "kwargs": { "fraction": "number" } } } ], "preconditions": [ { "applies_to": "mutating_actions", "conditions_zh": [ "满足任务所定义的可达性与装配条件。" ], "basis": "simulation_task_policy", "manufacturer_interlock_claim": false } ], "observable_states": [ { "id": "plunger.displacement", "channel": "simulation_ground_truth", "visibility_zh": "默认是仿真真值，只有传感或界面映射后才对机器人可见。" } ], "evidence": { "function": "manufacturer_documented_or_general_physics", "geometry": "generic_accessory", "dynamics": "engineering_abstraction", "source_ids": [ "GC_OPERATION" ], "notes_zh": "一般物理意义与仿真动作是建模解释，非厂家校准曲线。" } }, "inertial_box_dimensions_m": [ 0.014000000432133675, 0.014000000432133675, 0.07249999791383743 ], "center_of_mass_m": [ 0.0, 0.0, 0.0007499977946281433 ], "blender_object": "GC7890B__plunger", "mesh_file": "meshes/plunger.obj", "mesh_objects": [ "GC7890B__plunger__rod", "GC7890B__plunger__thumb_disc" ] } ], "contact_policies": { "needle_septum": { "policy": "validated puncture event then temporary pair collision filtering", "owner": "host simulator", "preconditions": [ "needle aligned with cap corridor", "septum installed", "task injection state valid" ], "model_evidence": "task_rule" }, "septum_cap": { "default_attachment": "fixed threaded retainer", "maintenance": "unscrew then release attachment", "display_q_is_not_physical_joint": true }, "column": { "collision": "omitted for submillimeter flexible tube visual LOD", "host_requirement": "separate flexible tube or protected handling proxy if column manipulation is enabled" } }, "fluid_graph": [ { "from": "carrier_port", "to": "carrier_epc", "medium": "carrier", "model": "functional connectivity; routing geometry schematic" }, { "from": "carrier_epc", "to": "inlet_body", "medium": "carrier", "model": "functional connectivity; routing geometry schematic" }, { "from": "sample_vial", "to": "syringe", "medium": "liquid sample", "model": "functional connectivity; routing geometry schematic" }, { "from": "syringe", "to": "septum", "medium": "liquid sample", "model": "functional connectivity; routing geometry schematic" }, { "from": "septum", "to": "liner", "medium": "sample", "model": "functional connectivity; routing geometry schematic" }, { "from": "liner", "to": "column", "medium": "carrier + analytes", "model": "functional connectivity; routing geometry schematic" }, { "from": "liner", "to": "split_valve", "medium": "split flow", "model": "functional connectivity; routing geometry schematic" }, { "from": "split_valve", "to": "split_vent", "medium": "split discharge", "model": "functional connectivity; routing geometry schematic" }, { "from": "inlet_body", "to": "septum_purge", "medium": "septum purge", "model": "functional connectivity; routing geometry schematic" }, { "from": "column", "to": "fid_jet", "medium": "eluent", "model": "functional connectivity; routing geometry schematic" }, { "from": "hydrogen_port", "to": "hydrogen_epc", "medium": "hydrogen", "model": "functional connectivity; routing geometry schematic" }, { "from": "hydrogen_epc", "to": "fid_jet", "medium": "fuel", "model": "functional connectivity; routing geometry schematic" }, { "from": "air_port", "to": "air_epc", "medium": "air", "model": "functional connectivity; routing geometry schematic" }, { "from": "air_epc", "to": "fid_body", "medium": "oxidant", "model": "functional connectivity; routing geometry schematic" }, { "from": "makeup_port", "to": "makeup_epc", "medium": "makeup", "model": "functional connectivity; routing geometry schematic" }, { "from": "makeup_epc", "to": "fid_jet", "medium": "makeup", "model": "functional connectivity; routing geometry schematic" }, { "from": "fid_jet", "to": "fid_collector", "medium": "ionized combustion zone", "model": "functional connectivity; routing geometry schematic" }, { "from": "fid_body", "to": "exhaust", "medium": "combustion exhaust", "model": "functional connectivity; routing geometry schematic" } ] }