Spaces:
Running
Running
Release 1.1: refresh instrument data (capability counts, output templates, sources)
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- data/assets/instrument.agilent_7890b_ssl_fid.json +0 -0
- data/assets/instrument.agilent_gc8890b.json +0 -0
- data/assets/instrument.agilent_hplc1260.json +1 -1
- data/assets/instrument.agilent_hs8697.json +0 -0
- data/assets/instrument.alicat_mc_1slpm_rev6.json +1 -1
- data/assets/instrument.antonpaar_hit300.json +0 -0
- data/assets/instrument.antonpaar_monowave400.json +0 -0
- data/assets/instrument.antonpaar_poremaster60.json +0 -0
- data/assets/instrument.antonpaar_rst300.json +0 -0
- data/assets/instrument.antonpaar_surpass3.json +0 -0
- data/assets/instrument.antonpaar_trb.json +0 -0
- data/assets/instrument.azenta_automated_roll_heat_sealer_a4s.json +1 -1
- data/assets/instrument.azenta_intellixcap_s1_46_0001.json +1 -1
- data/assets/instrument.binder_vd56.json +0 -0
- data/assets/instrument.biolin_mediuml.json +0 -0
- data/assets/instrument.biolin_thetaflex.json +0 -0
- data/assets/instrument.biotage_extrahera_classic.json +0 -0
- data/assets/instrument.bronkhorst_p702cv_5bar_gauge_n2.json +1 -1
- data/assets/instrument.brooks_preciseflex_400.json +1 -1
- data/assets/instrument.buchi_lyovapor_l250_pro.json +0 -0
- data/assets/instrument.carbolite_tf1_12_60_300.json +0 -0
- data/assets/instrument.cytiva_biacoret200.json +0 -0
- data/assets/instrument.elga_purelab_flex3.json +1 -1
- data/assets/instrument.eppendorf_5910ri.json +0 -0
- data/assets/instrument.freeman_ft4powder.json +0 -0
- data/assets/instrument.fujifilm_dmp2850.json +0 -0
- data/assets/instrument.gamry_reference620.json +1 -1
- data/assets/instrument.glatt_miniglatt.json +0 -0
- data/assets/instrument.hach_dr6000.json +1 -1
- data/assets/instrument.hach_tl2300epa.json +0 -0
- data/assets/instrument.ika_rv10_digital_v.json +0 -0
- data/assets/instrument.inert_purelab_he_2gb.json +0 -0
- data/assets/instrument.ja_alphase.json +0 -0
- data/assets/instrument.jasco_cpl300.json +0 -0
- data/assets/instrument.jasco_fp8350.json +0 -0
- data/assets/instrument.jasco_ftir4700.json +1 -1
- data/assets/instrument.jasco_fvs6000.json +0 -0
- data/assets/instrument.jena_contraa800.json +0 -0
- data/assets/instrument.jena_multix.json +0 -0
- data/assets/instrument.julabo_corio_cd200f.json +1 -1
- data/assets/instrument.magritek_spinsolve80.json +1 -1
- data/assets/instrument.metrohm_899.json +1 -1
- data/assets/instrument.metrohm_914.json +1 -1
- data/assets/instrument.metrohm_omnis.json +1 -1
- data/assets/instrument.micromeritics_autochemiii.json +0 -0
- data/assets/instrument.microtrac_turbiscanlab.json +0 -0
- data/assets/instrument.miele_plw6111.json +0 -0
- data/assets/instrument.mt_quantos_q2_xpe206dr.json +0 -0
- data/assets/instrument.mt_xpr204e.json +0 -0
- data/assets/instrument.multiwave_7101.json +0 -0
data/assets/instrument.agilent_7890b_ssl_fid.json
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/assets/instrument.agilent_gc8890b.json
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/assets/instrument.agilent_hplc1260.json
CHANGED
|
@@ -1 +1 @@
|
|
| 1 |
-
{"tid":"instrument.agilent_hplc1260","asset_dir":"basic40_batch02/t3_analytical/agilent_hplc1260","name_zh":"高效液相色谱仪 Agilent | 1260 Infinity III LC","category":"色谱与电泳分离","description_zh":"CHEM-097标准外形模块堆叠教学物理资产;独立泵、进样器、柱温箱和检测器,提供装样、关门、方法、运行与合成色谱语义。","coordinate_system":{"status":"defined","length_unit":"m","angle_unit":"rad","handedness":"right","up_axis":"+Z","frame":"原点为整机台面投影中心;X向右、Y向后、Z向上,台面z=0。导出坐标转换详见geometry_manifest。"},"mass_kg":58.2,"size_m":[0.396,0.468,0.66],"bbox_min":[-0.198,-0.234,0.0],"bbox_max":[0.198,0.234,0.66],"manifest_dimensions_m":[0.396,0.468,0.66],"glb":"assets/basic40_batch02/t3_analytical/agilent_hplc1260/model.glb","glb_orientation":"gltf_y_up_rotated","usd":null,"urdf":"assets/basic40_batch02/t3_analytical/agilent_hplc1260/model.urdf","links":{"root":"/Geometry/root","injector_door":"/Geometry/root/injector_door"},"frames":{"pre_place":[0.0,0.0122,0.84],"place":[0.0,0.0122,0.71],"post_place":[0.0,0.0122,0.84],"joint_injector_door_joint":[-0.18,-0.21005,0.293]},"joints":[{"name":"injector_door_joint","type":"continuous","parent":"injector_module","child":"injector_door","axis":[0.0,0.0,-1.0],"lower":null,"upper":null,"effort":null,"mimic":null,"origin_m":[-0.18,-0.21005,0.293],"child_prim":"/Geometry/root/injector_door","child_bbox_min":[-0.18,-0.23065,0.2155],"child_bbox_max":[0.18,-0.20718,0.3705],"kind":"door"}],"controls":{"buttons":[],"knobs":[]},"slots":[{"name":"solvent_tray_11","link":"root","part":"solvent_tray","pos":[-0.11,0.0122,0.66],"rot":[0.0,0.0,0.0,1.0],"pos_link":[-0.11,0.0122,0.66],"rot_link":[0.0,0.0,0.0,1.0],"radius_m":0.04,"kind":"surface","fits":["bottle"],"anchor":"base","insert_axis":[0.0,0.0,1.0],"capture_m":0.03,"access":[],"modelled_occupant":false},{"name":"solvent_tray_21","link":"root","part":"solvent_tray","pos":[0.0,0.0122,0.66],"rot":[0.0,0.0,0.0,1.0],"pos_link":[0.0,0.0122,0.66],"rot_link":[0.0,0.0,0.0,1.0],"radius_m":0.04,"kind":"surface","fits":["bottle"],"anchor":"base","insert_axis":[0.0,0.0,1.0],"capture_m":0.03,"access":[],"modelled_occupant":false},{"name":"solvent_tray_31","link":"root","part":"solvent_tray","pos":[0.11,0.0122,0.66],"rot":[0.0,0.0,0.0,1.0],"pos_link":[0.11,0.0122,0.66],"rot_link":[0.0,0.0,0.0,1.0],"radius_m":0.04,"kind":"surface","fits":["bottle"],"anchor":"base","insert_axis":[0.0,0.0,1.0],"capture_m":0.03,"access":[],"modelled_occupant":false}],"hidden_parts":[],"readouts":[],"layout":{"front":[0.0,-1.0,0.0],"front_source":"convention","mount":"bench","weight_class":"two_person","mass_kg":58.2,"footprint_m":[0.396,0.468],"height_m":0.66,"clearance_m":{"front":0.25,"back":0.15,"left":0.05,"right":0.05,"top":0.1},"robot_standoff_m":0.35,"work_height_m":0.66,"primary_slot":"solvent_tray_11","access":[],"slot_count":3},"components":[{"id":"chassis","name_zh":"底盘","function_zh":"支撑模块堆叠并定义台面原点","physical_meaning_zh":"支承、定位模块堆叠,承接供电与机械载荷。","subsystem":null,"parent":"root","origin_m":[0.0,0.006465994752943516,0.0],"rpy_rad":[0,0,0],"objects":["hplc1260__chassis","hplc1260__chassis_mesh","o chassis"],"collisions":[{"shape":"box","origin_m":[0.0,0.0,0.02800000141606194],"rpy_rad":[0,0,0],"size_m":[0.3960000021457673,0.44836175088319036,0.024000001213767375]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set"],"bbox_m":null,"raw_keys":["bbox_local","blender_object","collisions","function_zh","geometry_evidence","id","inertia_kg_m2","inertia_per_unit_mass_m2","joint_axis","joint_type","mass_kg","mesh_file","mesh_object","name_zh","origin_m","parent","software_limits_rad"]},{"id":"feet","name_zh":"防滑支脚","function_zh":"台面接触支撑;摩擦与硬度未知","physical_meaning_zh":"支撑整机并定义台面接触位置。","subsystem":null,"parent":"root","origin_m":[0.0,0.006465994752943516,0.0],"rpy_rad":[0,0,0],"objects":["hplc1260__feet","hplc1260__feet_mesh","o feet"],"collisions":[{"shape":"cylinder","origin_m":[-0.16200000087781388,-0.17340486519200307,0.008000000404589125],"rpy_rad":[0,0,0],"radius_m":0.020000001011472812,"length_m":0.01600000080917825},{"shape":"cylinder","origin_m":[-0.16200000087781388,0.17340486519200307,0.008000000404589125],"rpy_rad":[0,0,0],"radius_m":0.020000001011472812,"length_m":0.01600000080917825},{"shape":"cylinder","origin_m":[0.16200000087781388,-0.17340486519200307,0.008000000404589125],"rpy_rad":[0,0,0],"radius_m":0.020000001011472812,"length_m":0.01600000080917825},{"shape":"cylinder","origin_m":[0.16200000087781388,0.17340486519200307,0.008000000404589125],"rpy_rad":[0,0,0],"radius_m":0.020000001011472812,"length_m":0.01600000080917825}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["bbox_local","blender_object","collisions","function_zh","geometry_evidence","id","inertia_kg_m2","inertia_per_unit_mass_m2","joint_axis","joint_type","mass_kg","mesh_file","mesh_object","name_zh","origin_m","parent","software_limits_rad"]},{"id":"pump_module","name_zh":"泵 / PUMP","function_zh":"流动相输送;软件流量范围依据清单","physical_meaning_zh":"保存流量与流动相梯度方法;不提供已校准流阻或真实泵压模型。","subsystem":null,"parent":"root","origin_m":[0.0,0.006465994752943516,0.0],"rpy_rad":[0,0,0],"objects":["hplc1260__pump_module","hplc1260__pump_module_mesh","o pump_module"],"collisions":[{"shape":"box","origin_m":[0.0,0.003832151716950345,0.11700000591711594],"rpy_rad":[0,0,0],"size_m":[0.3940000021349301,0.4349492198738641,0.14800000748489883]},{"shape":"box","origin_m":[0.0,-0.21651657200769447,0.11700000591711594],"rpy_rad":[0,0,0],"size_m":[0.3820000020699068,0.00766430343390069,0.13600000687801514]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["mobile_phase.set_available","chromatography.set_method","chromatography.measure","chromatography.stop"],"bbox_m":null,"raw_keys":["bbox_local","blender_object","collisions","function_zh","geometry_evidence","id","inertia_kg_m2","inertia_per_unit_mass_m2","joint_axis","joint_type","mass_kg","mesh_file","mesh_object","name_zh","origin_m","parent","software_limits_rad"]},{"id":"pump_controls","name_zh":"泵前部连接与控制","function_zh":"操作与管路连接位置示意","physical_meaning_zh":"表示泵模块的可见控制和管路布置。","subsystem":null,"parent":"pump_module","origin_m":[0.0,0.0,0.0],"rpy_rad":[0,0,0],"objects":["hplc1260__pump_controls","hplc1260__pump_controls_mesh","o pump_controls"],"collisions":[{"shape":"cylinder","origin_m":[0.04500000024383719,-0.22513891337083272,0.11600000586654231],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.012000000606883688,"length_m":0.010000000505736406},{"shape":"cylinder","origin_m":[0.04500000024383719,-0.23184517887549583,0.11600000586654231],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.005000000252868203,"length_m":0.009000000455162764},{"shape":"cylinder","origin_m":[0.09300000050393019,-0.22513891337083272,0.11600000586654231],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.012000000606883688,"length_m":0.010000000505736406},{"shape":"cylinder","origin_m":[0.09300000050393019,-0.23184517887549583,0.11600000586654231],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.005000000252868203,"length_m":0.009000000455162764},{"shape":"cylinder","origin_m":[0.1610000008723953,-0.22418087544159518,0.064000003236713],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.006000000303441844,"length_m":0.003000000151720922}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["bbox_local","blender_object","collisions","function_zh","geometry_evidence","id","inertia_kg_m2","inertia_per_unit_mass_m2","joint_axis","joint_type","mass_kg","mesh_file","mesh_object","name_zh","origin_m","parent","software_limits_rad"]},{"id":"injector_module","name_zh":"进样器模块","function_zh":"容纳样品架和教学进样位置","physical_meaning_zh":"容纳样品槽位并保存标准进样量设置。","subsystem":null,"parent":"root","origin_m":[0.0,0.006465994752943516,0.0],"rpy_rad":[0,0,0],"objects":["hplc1260__injector_module","hplc1260__injector_module_mesh","o injector_module"],"collisions":[{"shape":"box","origin_m":[0.0,0.004790189646187931,0.1990000100641545],"rpy_rad":[0,0,0],"size_m":[0.3940000021349301,0.4349492198738641,0.010000000505736406]},{"shape":"box","origin_m":[0.0,0.004790189646187931,0.38900001967314624],"rpy_rad":[0,0,0],"size_m":[0.3940000021349301,0.4349492198738641,0.010000000505736406]},{"shape":"box","origin_m":[-0.1910000010349534,0.004790189646187931,0.29400001486865035],"rpy_rad":[0,0,0],"size_m":[0.012000000065023251,0.4349492198738641,0.1800000091032553]},{"shape":"box","origin_m":[0.1910000010349534,0.004790189646187931,0.29400001486865035],"rpy_rad":[0,0,0],"size_m":[0.012000000065023251,0.4349492198738641,0.1800000091032553]},{"shape":"box","origin_m":[0.0,0.21268442029074414,0.29400001486865035],"rpy_rad":[0,0,0],"size_m":[0.3820000020699068,0.019160758584751723,0.1800000091032553]},{"shape":"box","origin_m":[0.0,-0.2146004961492193,0.3780000191168362],"rpy_rad":[0,0,0],"size_m":[0.3700000020048836,0.00766430343390069,0.022000001112620092]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["door.set_angle","sample.load","sample.unload","chromatography.set_method","chromatography.measure","chromatography.stop"],"bbox_m":null,"raw_keys":["bbox_local","blender_object","collisions","function_zh","geometry_evidence","id","inertia_kg_m2","inertia_per_unit_mass_m2","joint_axis","joint_type","mass_kg","mesh_file","mesh_object","name_zh","origin_m","parent","software_limits_rad"]},{"id":"sample_slot","name_zh":"样品架槽位","function_zh":"一个虚拟样品槽;其余孔为外观示意,不代表厂家容量","physical_meaning_zh":"定位一个虚拟样品瓶并关联已注册样品身份。","subsystem":null,"parent":"injector_module","origin_m":[0.0,0.0,0.0],"rpy_rad":[0,0,0],"objects":["hplc1260__sample_slot","hplc1260__sample_slot_mesh","o sample_slot"],"collisions":[{"shape":"box","origin_m":[0.0,-0.08430733777290758,0.2240000113284955],"rpy_rad":[0,0,0],"size_m":[0.3200000017339534,0.2078942306445562,0.019000000960899172]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["sample.load","sample.unload"],"bbox_m":null,"raw_keys":["bbox_local","blender_object","collisions","function_zh","geometry_evidence","id","inertia_kg_m2","inertia_per_unit_mass_m2","joint_axis","joint_type","mass_kg","mesh_file","mesh_object","name_zh","origin_m","parent","software_limits_rad"]},{"id":"sample_vial","name_zh":"示例样品瓶","function_zh":"供装样流程显隐的虚拟耗材,尺寸和材质均未标定","physical_meaning_zh":"显示样品槽装载状态;不表示已模拟实体液体转移或真实耗材容量。","subsystem":null,"parent":"injector_module","origin_m":[0.0,0.0,0.0],"rpy_rad":[0,0,0],"objects":["hplc1260__sample_vial","hplc1260__sample_vial_mesh","o sample_vial"],"collisions":[{"shape":"cylinder","origin_m":[-0.1200000006502325,-0.15807625832420172,0.2540000128457047],"rpy_rad":[0,0,0],"radius_m":0.008000000404589125,"length_m":0.0370000018712247},{"shape":"cylinder","origin_m":[-0.1200000006502325,-0.15807625832420172,0.27700001400889845],"rpy_rad":[0,0,0],"radius_m":0.009000000455162764,"length_m":0.009000000455162764}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["sample.load","sample.unload"],"bbox_m":null,"raw_keys":["bbox_local","blender_object","collisions","function_zh","geometry_evidence","id","inertia_kg_m2","inertia_per_unit_mass_m2","joint_axis","joint_type","mass_kg","mesh_file","mesh_object","name_zh","origin_m","parent","software_limits_rad"]},{"id":"injector_door","name_zh":"进样器门","function_zh":"绕左铰链开启以进入样品槽","physical_meaning_zh":"提供装样入口和关门测量互锁的可动关节。","subsystem":null,"parent":"injector_module","origin_m":[-0.18000000715255737,-0.21651656925678253,0.2930000126361847],"rpy_rad":[0,0,0],"objects":["hplc1260__injector_door","hplc1260__injector_door_mesh","o injector_door"],"collisions":[{"shape":"box","origin_m":[0.18000000097534877,0.0,0.0],"rpy_rad":[0,0,0],"size_m":[0.36000000195069753,0.005748227575425517,0.1550000078389143]},{"shape":"box","origin_m":[0.18000000097534877,-0.0019160758584751724,-0.07000000354015484],"rpy_rad":[0,0,0],"size_m":[0.36000000195069753,0.008622341363138275,0.015000000758604609]},{"shape":"box","origin_m":[0.18000000097534877,-0.0019160758584751724,0.07000000354015484],"rpy_rad":[0,0,0],"size_m":[0.36000000195069753,0.008622341363138275,0.015000000758604609]},{"shape":"box","origin_m":[0.008000000043348833,-0.0019160758584751724,0.0],"rpy_rad":[0,0,0],"size_m":[0.016000000086697667,0.008622341363138275,0.14000000708030969]},{"shape":"box","origin_m":[0.35200000190734865,-0.0019160758584751724,0.0],"rpy_rad":[0,0,0],"size_m":[0.016000000086697667,0.008622341363138275,0.14000000708030969]},{"shape":"box","origin_m":[0.3290000017827208,-0.011496455150851034,0.0],"rpy_rad":[0,0,0],"size_m":[0.012000000065023251,0.018202720655514135,0.05200000262982931]}],"joint":{"type":"continuous","axis":null,"limits":null,"limit_unit":null,"evidence":null},"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["door.set_angle"],"bbox_m":null,"raw_keys":["bbox_local","blender_object","collisions","function_zh","geometry_evidence","id","inertia_kg_m2","inertia_per_unit_mass_m2","joint_axis","joint_type","mass_kg","mesh_file","mesh_object","name_zh","origin_m","parent","software_limits_rad"]},{"id":"column_oven_module","name_zh":"柱温箱 / COLUMN","function_zh":"记录环境-10K至358.15K范围;标准外形内的教学组件,非厂家MCT实物配置","physical_meaning_zh":"保存温度方法与MCT配置能力边界;标准外形代理不认证精确MCT模块SKU。","subsystem":null,"parent":"root","origin_m":[0.0,0.006465994752943516,0.0],"rpy_rad":[0,0,0],"objects":["hplc1260__column_oven_module","hplc1260__column_oven_module_mesh","o column_oven_module"],"collisions":[{"shape":"box","origin_m":[0.0,0.003832151716950345,0.45650002308686694],"rpy_rad":[0,0,0],"size_m":[0.3940000021349301,0.4349492198738641,0.11500000581596866]},{"shape":"box","origin_m":[0.0,-0.21651657200769447,0.45650002308686694],"rpy_rad":[0,0,0],"size_m":[0.3820000020699068,0.00766430343390069,0.10300000520908498]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["chromatography.set_method","chromatography.measure"],"bbox_m":null,"raw_keys":["bbox_local","blender_object","collisions","function_zh","geometry_evidence","id","inertia_kg_m2","inertia_per_unit_mass_m2","joint_axis","joint_type","mass_kg","mesh_file","mesh_object","name_zh","origin_m","parent","software_limits_rad"]},{"id":"column_holder","name_zh":"柱支架","function_zh":"容纳一根教学柱;无已标定柱规格","physical_meaning_zh":"表示色谱柱的安装位置及与流路的关联。","subsystem":null,"parent":"column_oven_module","origin_m":[0.0,0.0,0.0],"rpy_rad":[0,0,0],"objects":["hplc1260__column_holder","hplc1260__column_holder_mesh","o column_holder"],"collisions":[{"shape":"cylinder","origin_m":[0.0,0.028741137877127582,0.4550000230110065],"rpy_rad":[0,1.5707963267948966,0],"radius_m":0.008000000404589125,"length_m":0.27000001365488296}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["bbox_local","blender_object","collisions","function_zh","geometry_evidence","id","inertia_kg_m2","inertia_per_unit_mass_m2","joint_axis","joint_type","mass_kg","mesh_file","mesh_object","name_zh","origin_m","parent","software_limits_rad"]},{"id":"detector_module","name_zh":"检测器 / DETECTOR","function_zh":"合成色谱信号输出;检测器具体SKU与波长范围未知","physical_meaning_zh":"保存检测波长方法,输出明确标为synthetic的色谱曲线。","subsystem":null,"parent":"root","origin_m":[0.0,0.006465994752943516,0.0],"rpy_rad":[0,0,0],"objects":["hplc1260__detector_module","hplc1260__detector_module_mesh","o detector_module"],"collisions":[{"shape":"box","origin_m":[0.0,0.003832151716950345,0.5745000290545565],"rpy_rad":[0,0,0],"size_m":[0.3940000021349301,0.4349492198738641,0.1110000056136741]},{"shape":"box","origin_m":[0.0,-0.21651657200769447,0.5745000290545565],"rpy_rad":[0,0,0],"size_m":[0.3820000020699068,0.00766430343390069,0.09900000500679042]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["chromatography.set_method","chromatography.measure","chromatography.stop","chromatography.get_chromatogram","chromatography.calibrate","chromatography.quantify","chromatography.purity","hardware.connect","robot.load_sample"],"bbox_m":null,"raw_keys":["bbox_local","blender_object","collisions","function_zh","geometry_evidence","id","inertia_kg_m2","inertia_per_unit_mass_m2","joint_axis","joint_type","mass_kg","mesh_file","mesh_object","name_zh","origin_m","parent","software_limits_rad"]},{"id":"solvent_tray","name_zh":"流动相托盘","function_zh":"储液瓶承托位置;本次不指定瓶数或容量","physical_meaning_zh":"表示流动相容器支承和虚拟流动相就绪状态。","subsystem":null,"parent":"root","origin_m":[0.0,0.006465994752943516,0.0],"rpy_rad":[0,0,0],"objects":["hplc1260__solvent_tray","hplc1260__solvent_tray_mesh","o solvent_tray"],"collisions":[{"shape":"box","origin_m":[0.0,0.006706265504663103,0.6350000321142618],"rpy_rad":[0,0,0],"size_m":[0.38600000209158125,0.4215366888645379,0.010000000505736406]},{"shape":"box","origin_m":[-0.1880000010186976,0.006706265504663103,0.6490000328222928],"rpy_rad":[0,0,0],"size_m":[0.012000000065023251,0.4215366888645379,0.022000001112620092]},{"shape":"box","origin_m":[0.1880000010186976,0.006706265504663103,0.6490000328222928],"rpy_rad":[0,0,0],"size_m":[0.012000000065023251,0.4215366888645379,0.022000001112620092]},{"shape":"box","origin_m":[0.0,-0.2002299272106555,0.6490000328222928],"rpy_rad":[0,0,0],"size_m":[0.3760000020373952,0.011496455150851034,0.022000001112620092]},{"shape":"box","origin_m":[0.0,0.21172638236150654,0.6490000328222928],"rpy_rad":[0,0,0],"size_m":[0.3760000020373952,0.011496455150851034,0.022000001112620092]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["mobile_phase.set_available"],"bbox_m":null,"raw_keys":["bbox_local","blender_object","collisions","function_zh","geometry_evidence","id","inertia_kg_m2","inertia_per_unit_mass_m2","joint_axis","joint_type","mass_kg","mesh_file","mesh_object","name_zh","origin_m","parent","software_limits_rad"]},{"id":"fluid_tubing","name_zh":"前部毛细管","function_zh":"示意泵-进样器-柱-检测器连接,流阻与管径性能未知","physical_meaning_zh":"表示泵、进样器、柱位和检测器的功能流路。","subsystem":null,"parent":"root","origin_m":[0.0,0.006465994752943516,0.0],"rpy_rad":[0,0,0],"objects":["hplc1260__fluid_tubing","hplc1260__fluid_tubing_mesh","o fluid_tubing"],"collisions":[{"shape":"cylinder","origin_m":[0.10950000643459239,-0.2380724153653223,0.12300000216744175],"rpy_rad":[0.21109385788440704,1.1614340543746948,0.13881178200244904],"radius_m":0.0010000000505736406,"length_m":0.03597221370402085},{"shape":"cylinder","origin_m":[0.1484999962747097,-0.23471929723148943,0.15000001354651088],"rpy_rad":[-0.24497878551483154,0.8290778398513794,-0.1082366332411766],"radius_m":0.0010000000505736406,"length_m":0.06103278690647067},{"shape":"cylinder","origin_m":[0.17450000440261584,-0.22801303241206847,0.21300001029534826],"rpy_rad":[-0.04647804796695709,0.08112896978855133,-0.001886732061393559],"radius_m":0.0010000000505736406,"length_m":0.08637709491291505},{"shape":"cylinder","origin_m":[0.17600000000000002,-0.22465988572648035,0.29250003386627715],"rpy_rad":[-0.041072871536016464,-0.05469382554292679,0.0011236541904509068],"radius_m":0.0010000000505736406,"length_m":0.07317101986203114},{"shape":"cylinder","origin_m":[0.17399999593604695,-0.22226479318752682,0.3770000231193786],"rpy_rad":[-0.020830200985074043,0.0,0.0],"radius_m":0.0012000000606883687,"length_m":0.09602085195056695},{"shape":"cylinder","origin_m":[0.16499999254941938,-0.22322284733416137,0.4405000432585247],"rpy_rad":[0.1283230483531952,-0.5224885940551758,-0.03435150161385536],"radius_m":0.0012000000606883687,"length_m":0.03606936461992796},{"shape":"cylinder","origin_m":[0.16400000541860413,-0.22322284733416137,0.47050001616550297],"rpy_rad":[-0.13706590235233307,0.500190258026123,-0.03506387770175934],"radius_m":0.0012000000606883687,"length_m":0.033361669030274314},{"shape":"cylinder","origin_m":[0.17200000677325514,-0.22130676759264747,0.5265000132755807],"rpy_rad":[0.0,-0.0,0.0],"radius_m":0.0012000000606883687,"length_m":0.08300000742057186}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["bbox_local","blender_object","collisions","function_zh","geometry_evidence","id","inertia_kg_m2","inertia_per_unit_mass_m2","joint_axis","joint_type","mass_kg","mesh_file","mesh_object","name_zh","origin_m","parent","software_limits_rad"]},{"id":"rear_ports","name_zh":"背部电源与数据接口","function_zh":"空间连接占位;针脚、额定值与协议未知","physical_meaning_zh":"表示电源与数据连接区域;接口尺寸和协议未认证。","subsystem":null,"parent":"root","origin_m":[0.0,0.006465994752943516,0.0],"rpy_rad":[0,0,0],"objects":["hplc1260__rear_ports","hplc1260__rear_ports_mesh","o rear_ports"],"collisions":[{"shape":"box","origin_m":[-0.1200000006502325,0.22418087544159518,0.08800000445048037],"rpy_rad":[0,0,0],"size_m":[0.03800000020590696,0.006706265504663103,0.023000001163193732]},{"shape":"box","origin_m":[-0.05500000029802323,0.22418087544159518,0.08800000445048037],"rpy_rad":[0,0,0],"size_m":[0.01900000010295348,0.006706265504663103,0.012000000606883688]},{"shape":"box","origin_m":[-0.1200000006502325,0.22418087544159518,0.3100000156778286],"rpy_rad":[0,0,0],"size_m":[0.03800000020590696,0.006706265504663103,0.023000001163193732]},{"shape":"box","origin_m":[-0.05500000029802323,0.22418087544159518,0.3100000156778286],"rpy_rad":[0,0,0],"size_m":[0.01900000010295348,0.006706265504663103,0.012000000606883688]},{"shape":"box","origin_m":[-0.1200000006502325,0.22418087544159518,0.4550000230110065],"rpy_rad":[0,0,0],"size_m":[0.03800000020590696,0.006706265504663103,0.023000001163193732]},{"shape":"box","origin_m":[-0.05500000029802323,0.22418087544159518,0.4550000230110065],"rpy_rad":[0,0,0],"size_m":[0.01900000010295348,0.006706265504663103,0.012000000606883688]},{"shape":"box","origin_m":[-0.1200000006502325,0.22418087544159518,0.5630000284729596],"rpy_rad":[0,0,0],"size_m":[0.03800000020590696,0.006706265504663103,0.023000001163193732]},{"shape":"box","origin_m":[-0.05500000029802323,0.22418087544159518,0.5630000284729596],"rpy_rad":[0,0,0],"size_m":[0.01900000010295348,0.006706265504663103,0.012000000606883688]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["bbox_local","blender_object","collisions","function_zh","geometry_evidence","id","inertia_kg_m2","inertia_per_unit_mass_m2","joint_axis","joint_type","mass_kg","mesh_file","mesh_object","name_zh","origin_m","parent","software_limits_rad"]},{"id":"status_display","name_zh":"状态灯","function_zh":"显示供电状态的理想化颜色,不是实测传感器","physical_meaning_zh":"以独立材质颜色指示本次仿真供电状态。","subsystem":null,"parent":"root","origin_m":[0.0,0.006465994752943516,0.0],"rpy_rad":[0,0,0],"objects":["hplc1260__status_display","hplc1260__status_display_mesh","o status_display"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set"],"bbox_m":null,"raw_keys":["bbox_local","blender_object","collisions","function_zh","geometry_evidence","id","inertia_kg_m2","inertia_per_unit_mass_m2","joint_axis","joint_type","mass_kg","mesh_file","mesh_object","name_zh","origin_m","parent","software_limits_rad"]}],"component_source":"geometry_manifest.json + asset.contract.json + collision_proxies.json","capabilities":{"power.set":{"function_zh":"设置仿真供电状态","kind":"device_command","availability":"implemented","component_ids":["chassis","status_display"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"implemented"},"input":["enabled"]},"door.set_angle":{"function_zh":"设置进样器门角度","kind":"device_command","availability":"implemented","component_ids":["injector_door","injector_module"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"implemented"},"input":["angle_rad"]},"sample.load":{"function_zh":"将已注册虚拟样品装入槽位","kind":"device_command","availability":"implemented","component_ids":["sample_slot","sample_vial","injector_module"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"implemented"},"input":["sample_id"]},"sample.unload":{"function_zh":"卸下槽位中的虚拟样品","kind":"device_command","availability":"implemented","component_ids":["sample_slot","sample_vial","injector_module"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"implemented"},"input":[]},"mobile_phase.set_available":{"function_zh":"设置虚拟流动相就绪状态","kind":"device_command","availability":"implemented","component_ids":["solvent_tray","pump_module"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"implemented"},"input":["available"]},"chromatography.set_method":{"function_zh":"设置流量、梯度、柱温、进样量、波长与积分方法","kind":"device_command","availability":"implemented","component_ids":["pump_module","injector_module","column_oven_module","detector_module"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"implemented"},"input":["flow_m3_s","injection_volume_m3","column_temperature_K","pressure_limit_Pa","wavelength_m","gradient","run_duration_s","sample_interval_s","integration_method"]},"chromatography.measure":{"function_zh":"启动合成色谱运行并按宿主时钟完成","kind":"device_command","availability":"implemented","component_ids":["pump_module","injector_module","column_oven_module","detector_module"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"implemented"},"input":[]},"chromatography.stop":{"function_zh":"取消当前合成运行并保留已采集数据","kind":"device_command","availability":"implemented","component_ids":["pump_module","injector_module","detector_module"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"implemented"},"input":[]},"chromatography.get_chromatogram":{"function_zh":"读取当前部分或最终合成色谱","kind":"query","availability":"implemented","component_ids":["detector_module"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"implemented"},"input":[]},"chromatography.calibrate":{"function_zh":"真实浓度校准(未实现)","kind":"analysis","availability":"unsupported","component_ids":["detector_module"],"implementation":{"process":"absent","scene":"absent","robot":"absent","hardware":"absent","host":"absent"},"input":[]},"chromatography.quantify":{"function_zh":"真实校准浓度计算(未实现)","kind":"analysis","availability":"unsupported","component_ids":["detector_module"],"implementation":{"process":"absent","scene":"absent","robot":"absent","hardware":"absent","host":"absent"},"input":[]},"chromatography.purity":{"function_zh":"真实纯度计算(未实现)","kind":"analysis","availability":"unsupported","component_ids":["detector_module"],"implementation":{"process":"absent","scene":"absent","robot":"absent","hardware":"absent","host":"absent"},"input":[]},"hardware.connect":{"function_zh":"真实硬件连接(未实现)","kind":"configuration","availability":"unsupported","component_ids":["detector_module"],"implementation":{"process":"absent","scene":"absent","robot":"absent","hardware":"absent","host":"absent"},"input":[]},"robot.load_sample":{"function_zh":"机器人装样(未实现)","kind":"robot_skill","availability":"unsupported","component_ids":["detector_module"],"implementation":{"process":"absent","scene":"absent","robot":"absent","hardware":"absent","host":"absent"},"input":[]}},"state_slots":{"power.enabled":{"meaning_zh":"仿真供电开关设定;不表示真实电压或电流。","unit":"1","access":"read_write","origin":"setpoint","component_ids":["chassis","status_display"],"write_via":"power.set"},"door.angle_rad":{"meaning_zh":"进样器门的权威运行角;0为闭门,正角经-q驱动模型向前打开。","unit":"rad","access":"read_write","origin":"scene","component_ids":["injector_door"],"write_via":"door.set_angle"},"door.closed":{"meaning_zh":"由门角<=1e-6rad派生的关门标志;容差为软件假设。","unit":"1","access":"read_only","origin":"derived","component_ids":["injector_door"],"write_via":null},"sample.loaded":{"meaning_zh":"虚拟样品槽是否已装入注册样品,并控制瓶网格显隐。","unit":"1","access":"read_only","origin":"scene","component_ids":["sample_slot","sample_vial"],"write_via":null},"sample.id":{"meaning_zh":"槽位样品标识;空槽为null。","unit":"1","access":"read_only","origin":"scene","component_ids":["sample_slot","sample_vial"],"write_via":null},"sample.truth":{"meaning_zh":"受信任宿主登记的调试真值;agent读取和返回均过滤。","unit":"1","access":"read_only","origin":"process_truth","component_ids":["sample_slot","sample_vial"],"write_via":null},"mobile_phase.available":{"meaning_zh":"虚拟流动相就绪标志;不代表储液体积、化学身份或实物流动。","unit":"1","access":"read_write","origin":"setpoint","component_ids":["solvent_tray","pump_module"],"write_via":"mobile_phase.set_available"},"method.configured":{"meaning_zh":"是否已完整校验并保存当前色谱方法。","unit":"1","access":"read_only","origin":"derived","component_ids":["pump_module","injector_module","column_oven_module","detector_module"],"write_via":null},"method.flow_m3_s":{"meaning_zh":"方法流量设定,SI体积流率;不作为已模拟或实测流量。","unit":"m3/s","access":"read_only","origin":"setpoint","component_ids":["pump_module","injector_module","column_oven_module","detector_module"],"write_via":null},"method.injection_volume_m3":{"meaning_zh":"方法进样体积设定;未模拟样品瓶体积消耗。","unit":"m3","access":"read_only","origin":"setpoint","component_ids":["pump_module","injector_module","column_oven_module","detector_module"],"write_via":null},"method.column_temperature_k":{"meaning_zh":"方法柱温目标;MCT环境条件及最高358.15K受校验,不表示已经达到该温度。","unit":"K","access":"read_only","origin":"setpoint","component_ids":["pump_module","injector_module","column_oven_module","detector_module"],"write_via":null},"method.pressure_limit_pa":{"meaning_zh":"方法压力上限设定,最多60000000Pa;无实际压力求解或已验证的物理超压互锁。","unit":"Pa","access":"read_only","origin":"setpoint","component_ids":["pump_module","injector_module","column_oven_module","detector_module"],"write_via":null},"method.wavelength_m":{"meaning_zh":"方法检测波长设定;真实检测器范围未知,当前仅存储正值。","unit":"m","access":"read_only","origin":"setpoint","component_ids":["pump_module","injector_module","column_oven_module","detector_module"],"write_via":null},"method.gradient":{"meaning_zh":"流动相B比例随时间的方法表,time_s为s、fraction_b无量纲;不求解混合和传输。","unit":"1","access":"read_only","origin":"setpoint","component_ids":["pump_module","injector_module","column_oven_module","detector_module"],"write_via":null},"method.run_duration_s":{"meaning_zh":"调用者提供的本次合成运行时长;不是厂家测量速度。","unit":"s","access":"read_only","origin":"setpoint","component_ids":["pump_module","injector_module","column_oven_module","detector_module"],"write_via":null},"method.sample_interval_s":{"meaning_zh":"本次合成���谱的时间轴间隔;受软件数据量上限约束。","unit":"s","access":"read_only","origin":"setpoint","component_ids":["pump_module","injector_module","column_oven_module","detector_module"],"write_via":null},"method.integration_method":{"meaning_zh":"当前实现的合成信号梯形积分规则;没有定量校准。","unit":"1","access":"read_only","origin":"setpoint","component_ids":["pump_module","injector_module","column_oven_module","detector_module"],"write_via":null},"column_oven.actual_temperature_k":{"meaning_zh":"实际柱温未建模,返回null;不能用目标温度冒充温度真值。","unit":"K","access":"read_only","origin":"derived","component_ids":["column_oven_module"],"write_via":null},"pump.actual_pressure_pa":{"meaning_zh":"实际泵压未建模,返回null;不能用600bar额定上限冒充实际压力。","unit":"Pa","access":"read_only","origin":"derived","component_ids":["pump_module"],"write_via":null},"run.status":{"meaning_zh":"本次运行状态idle/running/succeeded/cancelled;accepted仅表示开始运行。","unit":"1","access":"read_only","origin":"derived","component_ids":["pump_module","injector_module","column_oven_module","detector_module"],"write_via":null},"run.operation_id":{"meaning_zh":"当前实例运行标识;poll/cancel按操作所属身份约束。","unit":"1","access":"read_only","origin":"derived","component_ids":["pump_module","injector_module","column_oven_module","detector_module"],"write_via":null},"run.elapsed_s":{"meaning_zh":"由宿主绝对时间计算的已采集时长;查询不推进它。","unit":"s","access":"read_only","origin":"derived","component_ids":["pump_module","injector_module","column_oven_module","detector_module"],"write_via":null},"measurement.chromatogram":{"meaning_zh":"最后一次已开始运行的部分或最终合成色谱:时间s、无量纲任意信号、积分s;synthetic=true,纯度和校准浓度为null。","unit":"1","access":"read_only","origin":"derived","component_ids":["detector_module"],"write_via":null},"measurement.count":{"meaning_zh":"已完成到succeeded的运行次数;取消不增加计数。","unit":"1","access":"read_only","origin":"derived","component_ids":["detector_module"],"write_via":null}},"mechanisms":{"synthetic_chromatography":{"meaning_zh":"遵循装样、关门、方法、运行、返回色谱语义的合成过程;过程运行不等于真实LC流体、热或分离模型。","implementation":"numerical","equations":["s(t)=sum_j a_j*exp(-0.5*((t-c_j)/w_j)^2),c_j、w_j、a_j为明确标synthetic的任意教学峰参数,不是物理保留时间/峰宽。","A=sum_i (s_i+s_(i-1))*(t_i-t_(i-1))/2,合成无量纲信号的梯形积分单位为s;不推断真实纯度或浓度。","elapsed=min(host_time-start_time,method.run_duration_s);只有host_advance推进运行,read/poll不推进。"],"parameters":{"flow_minimum_m3_s":{"value":1.6666666666666667e-11,"unit":"m3/s","evidence":"documented","meaning_zh":"flow_minimum_m3_s"},"flow_maximum_m3_s":{"value":1.6666666666666668e-07,"unit":"m3/s","evidence":"documented","meaning_zh":"flow_maximum_m3_s"},"injection_volume_minimum_m3":{"value":1e-10,"unit":"m3","evidence":"documented","meaning_zh":"injection_volume_minimum_m3"},"injection_volume_maximum_m3":{"value":1e-07,"unit":"m3","evidence":"documented","meaning_zh":"injection_volume_maximum_m3"},"system_maximum_pressure_pa":{"value":60000000.0,"unit":"Pa","evidence":"documented","meaning_zh":"Whole-system ceiling; not a module pressure or predicted operating pressure."},"column_maximum_temperature_k":{"value":358.15,"unit":"K","evidence":"documented","meaning_zh":"column_maximum_temperature_K"},"column_minimum_temperature_offset_k":{"value":-10.0,"unit":"K","evidence":"documented","meaning_zh":"MCT catalog capability subject to ambient; model validates target only and does not establish exact MCT hardware configuration."},"wavelength_range_m":{"value":null,"unit":"m","evidence":"unknown","meaning_zh":"wavelength_range_m"},"actual_pressure_pa":{"value":null,"unit":"Pa","evidence":"unknown","meaning_zh":"actual_pressure_Pa"},"actual_temperature_k":{"value":null,"unit":"K","evidence":"unknown","meaning_zh":"actual_temperature_K"},"acquisition_duration_s":{"value":null,"unit":"s","evidence":"unknown","meaning_zh":"Run duration is supplied by caller; not an inferred vendor acquisition speed."},"door_maximum_angle_rad":{"value":1.5707963267948966,"unit":"rad","evidence":"assumption","meaning_zh":"door_maximum_angle_rad"},"door_loading_clearance_rad":{"value":1.0471975511965976,"unit":"rad","evidence":"assumption","meaning_zh":"door_loading_clearance_rad"},"door_closed_tolerance_rad":{"value":1e-06,"unit":"rad","evidence":"assumption","meaning_zh":"door_closed_tolerance_rad"},"default_host_ambient_k":{"value":298.15,"unit":"K","evidence":"assumption","meaning_zh":"default_host_ambient_K"},"maximum_run_duration_s":{"value":86400,"unit":"s","evidence":"assumption","meaning_zh":"maximum_run_duration_s"},"maximum_samples":{"value":10001,"unit":"1","evidence":"assumption","meaning_zh":"maximum_samples"},"default_gaussian_peaks":{"value":[[20.0,2.0,1.0],[40.0,3.0,0.7]],"unit":"s,s,1","evidence":"assumption","meaning_zh":"default_gaussian_peaks"}}}},"limitations":["full表示本次标准外形教学配置的全部已建功能组件已登记;并不表示厂家全套功能、精确模块SKU或动态真实性已完成。","396×660×468 mm标准堆叠与435×800×468 mm MCT配置尺寸分开记录。本模型采用标准外形,85°C/MCT能力保留其配置条件,不能据此认证标准几何含真实MCT模块。","四个功能模块单独建模;内部结构、面板、接口、样品瓶、托架和管路局部尺寸为仿真假设,非制造CAD。","整机与所有部件质量、密度、摩擦和真实惯量未知为null;仅给均匀包围盒每单位质量I/m系数。URDF无inertial,不能直接声称已完成动力学。","门采用连续URDF旋转关节以避免捏造effort/velocity;本软件0..π/2范围是教学假设,非厂商认证机械限位。","碰撞体仅使用box/cylinder/sphere基元;存在碰撞代理不等于已验证接触动力学或机器人可达性。","运行参数范围来自清单并换算SI;实际泵压力/温度、真实响应、噪声、校准浓度、真实纯度与故障概率未标定。","流量10mL/min与系统600bar是清单分别列出的上限,未建立联合性能包络;不宣称两个极值在同一运行条件下同时实现。","合成色谱必须标synthetic;不宣称进样体积守恒、梯度溶剂消耗或厂家检测性能。","准备动作保留上次运行波形,波形不会随新设定自动重算;取消保留部分数据,调用者须按运行记录关联样品与方法。","状态和命令按运行会话过滤;共享Python进程或文件系统不是安全隔离沙箱。read/poll不推进时间,异步运行由宿主管理时间。","机器人、真实硬件、碰撞接触动力学及物理性能标定均未运行。","官方III代系统手册已在线读取并记录版本;对应模块手册PDF归档与精确模块几何版本仍待补。下载尝试曾在审批长期挂起后被中止,本合同只按实际存在文件登记artifact,不把在线阅读写成已归档PDF。","All acquired signals are arbitrary synthetic Gaussian fixtures, unit 1; they are not calibrated absorbance, detector current, chemical identities or real sample response.","Flow, injection, gradient, wavelength and column-temperature settings are recorded and validated but do not parameterize the arbitrary fixture response.","No hydraulic, thermal, solvent transfer, injection-volume consumption, gradient mixing, equilibration, noise or fault-probability model.","Purity and calibrated concentration remain null; dedicated capabilities explicitly return unsupported.","Actual pressure and temperature remain null; pressure-limit settings alone do not prove a pressure safety interlock.","Host-owned time drives sampling; no implicit stepping in read, describe, poll or chromatogram retrieval.","Scene callback success needs independent evaluated-pose verification; no robot or hardware driver.","Access filtering is an API boundary, not protection against trusted Python-host introspection or filesystem access.","Request deduplication and operation ownership are per-instance, per-principal, in-memory only.","Synchronous callback failure leaves process uncommitted but may have unknown external scene side effects."],"sources":[],"checks":{"coverage":{"status":"bridged","implemented":["chromatography.get_chromatogram","chromatography.measure","chromatography.set_method","chromatography.stop","door.set_angle","mobile_phase.set_available","power.set","sample.load","sample.unload"],"unsupported":[],"note_zh":"桥接 basic40_runtime_analytical.AgilentHPLC1260Runtime(推进方式 host_advance_abs),24 个状态槽;与运行层镜像对比全同;受信设置需经 host.call;关节化 USD(1 个门/盖/阀等被动关节);1 个门/盖/升降关节与运行层双向同步;接口点 4 个(孔位、放置面);布局:台面、单人可搬、正面 −y、前方留空 0.25 m;面板为菜单/文字屏(待办)"}},"previews":["previews/agilent_hplc1260/preview_closed.webp","previews/agilent_hplc1260/preview_open.webp"],"files":[{"name":"asset.contract.json","path":"assets/basic40_batch02/t3_analytical/agilent_hplc1260/asset.contract.json","bytes":274689},{"name":"collision_proxies.json","path":"assets/basic40_batch02/t3_analytical/agilent_hplc1260/collision_proxies.json","bytes":18988},{"name":"geometry_manifest.json","path":"assets/basic40_batch02/t3_analytical/agilent_hplc1260/geometry_manifest.json","bytes":40336},{"name":"model.blend","path":"assets/basic40_batch02/t3_analytical/agilent_hplc1260/model.blend","bytes":593359},{"name":"model.glb","path":"assets/basic40_batch02/t3_analytical/agilent_hplc1260/model.glb","bytes":1975504},{"name":"model.urdf","path":"assets/basic40_batch02/t3_analytical/agilent_hplc1260/model.urdf","bytes":18591}],"completeness":{"components":15,"with_collisions":14,"with_objects":15,"with_function":15,"with_mass":0,"joints_matching_component":1,"joints":1,"has_contract":true,"has_layout":true,"has_glb":true,"checks_present":["articulation_check","coverage","contract_validation","runtime_validation","scene_validation"]},"slug":"agilent_hplc1260","chem_id":"CHEM-097","name_en":"HPLC system","maker":"Agilent","model":"1260 Infinity III LC","domain":"chromatography","domain_name":"Chromatography & Electrophoresis","path":"assets/basic40_batch02/t3_analytical/agilent_hplc1260","glb_up":"y","has_contract":true,"contract":"assets/basic40_batch02/t3_analytical/agilent_hplc1260/asset.contract.json","runtime":null}
|
|
|
|
| 1 |
+
{"tid":"instrument.agilent_hplc1260","asset_dir":"basic40_batch02/t3_analytical/agilent_hplc1260","name_zh":"高效液相色谱仪 Agilent | 1260 Infinity III LC","category":"色谱与电泳分离","description_zh":"CHEM-097标准外形模块堆叠教学物理资产;独立泵、进样器、柱温箱和检测器,提供装样、关门、方法、运行与合成色谱语义。","coordinate_system":{"status":"defined","length_unit":"m","angle_unit":"rad","handedness":"right","up_axis":"+Z","frame":"原点为整机台面投影中心;X向右、Y向后、Z向上,台面z=0。导出坐标转换详见geometry_manifest。"},"mass_kg":58.2,"size_m":[0.396,0.468,0.66],"bbox_min":[-0.198,-0.234,0.0],"bbox_max":[0.198,0.234,0.66],"manifest_dimensions_m":[0.396,0.468,0.66],"glb":"assets/basic40_batch02/t3_analytical/agilent_hplc1260/model.glb","glb_orientation":"gltf_y_up_rotated","usd":null,"urdf":"assets/basic40_batch02/t3_analytical/agilent_hplc1260/model.urdf","links":{"root":"/Geometry/root","injector_door":"/Geometry/root/injector_door"},"frames":{"pre_place":[0.0,0.0122,0.84],"place":[0.0,0.0122,0.71],"post_place":[0.0,0.0122,0.84],"joint_injector_door_joint":[-0.18,-0.21005,0.293]},"joints":[{"name":"injector_door_joint","type":"continuous","parent":"injector_module","child":"injector_door","axis":[0.0,0.0,-1.0],"lower":null,"upper":null,"effort":null,"mimic":null,"origin_m":[-0.18,-0.21005,0.293],"child_prim":"/Geometry/root/injector_door","child_bbox_min":[-0.18,-0.23065,0.2155],"child_bbox_max":[0.18,-0.20718,0.3705],"kind":"door"}],"controls":{"buttons":[],"knobs":[]},"slots":[{"name":"solvent_tray_11","link":"root","part":"solvent_tray","pos":[-0.11,0.0122,0.66],"rot":[0.0,0.0,0.0,1.0],"pos_link":[-0.11,0.0122,0.66],"rot_link":[0.0,0.0,0.0,1.0],"radius_m":0.04,"kind":"surface","fits":["bottle"],"anchor":"base","insert_axis":[0.0,0.0,1.0],"capture_m":0.03,"access":[],"modelled_occupant":false},{"name":"solvent_tray_21","link":"root","part":"solvent_tray","pos":[0.0,0.0122,0.66],"rot":[0.0,0.0,0.0,1.0],"pos_link":[0.0,0.0122,0.66],"rot_link":[0.0,0.0,0.0,1.0],"radius_m":0.04,"kind":"surface","fits":["bottle"],"anchor":"base","insert_axis":[0.0,0.0,1.0],"capture_m":0.03,"access":[],"modelled_occupant":false},{"name":"solvent_tray_31","link":"root","part":"solvent_tray","pos":[0.11,0.0122,0.66],"rot":[0.0,0.0,0.0,1.0],"pos_link":[0.11,0.0122,0.66],"rot_link":[0.0,0.0,0.0,1.0],"radius_m":0.04,"kind":"surface","fits":["bottle"],"anchor":"base","insert_axis":[0.0,0.0,1.0],"capture_m":0.03,"access":[],"modelled_occupant":false}],"hidden_parts":[],"readouts":[],"layout":{"front":[0.0,-1.0,0.0],"front_source":"convention","mount":"bench","weight_class":"two_person","mass_kg":58.2,"footprint_m":[0.396,0.468],"height_m":0.66,"clearance_m":{"front":0.25,"back":0.15,"left":0.05,"right":0.05,"top":0.1},"robot_standoff_m":0.35,"work_height_m":0.66,"primary_slot":"solvent_tray_11","access":[],"slot_count":3},"components":[{"id":"chassis","name_zh":"底盘","function_zh":"支撑模块堆叠并定义台面原点","physical_meaning_zh":"支承、定位模块堆叠,承接供电与机械载荷。","subsystem":null,"parent":"root","origin_m":[0.0,0.006465994752943516,0.0],"rpy_rad":[0,0,0],"objects":["hplc1260__chassis","hplc1260__chassis_mesh","o chassis"],"collisions":[{"shape":"box","origin_m":[0.0,0.0,0.02800000141606194],"rpy_rad":[0,0,0],"size_m":[0.3960000021457673,0.44836175088319036,0.024000001213767375]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set"],"bbox_m":null,"raw_keys":["bbox_local","blender_object","collisions","function_zh","geometry_evidence","id","inertia_kg_m2","inertia_per_unit_mass_m2","joint_axis","joint_type","mass_kg","mesh_file","mesh_object","name_zh","origin_m","parent","software_limits_rad"]},{"id":"feet","name_zh":"防滑支脚","function_zh":"台面接触支撑;摩擦与硬度未知","physical_meaning_zh":"支撑整机并定义台面接触位置。","subsystem":null,"parent":"root","origin_m":[0.0,0.006465994752943516,0.0],"rpy_rad":[0,0,0],"objects":["hplc1260__feet","hplc1260__feet_mesh","o feet"],"collisions":[{"shape":"cylinder","origin_m":[-0.16200000087781388,-0.17340486519200307,0.008000000404589125],"rpy_rad":[0,0,0],"radius_m":0.020000001011472812,"length_m":0.01600000080917825},{"shape":"cylinder","origin_m":[-0.16200000087781388,0.17340486519200307,0.008000000404589125],"rpy_rad":[0,0,0],"radius_m":0.020000001011472812,"length_m":0.01600000080917825},{"shape":"cylinder","origin_m":[0.16200000087781388,-0.17340486519200307,0.008000000404589125],"rpy_rad":[0,0,0],"radius_m":0.020000001011472812,"length_m":0.01600000080917825},{"shape":"cylinder","origin_m":[0.16200000087781388,0.17340486519200307,0.008000000404589125],"rpy_rad":[0,0,0],"radius_m":0.020000001011472812,"length_m":0.01600000080917825}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["bbox_local","blender_object","collisions","function_zh","geometry_evidence","id","inertia_kg_m2","inertia_per_unit_mass_m2","joint_axis","joint_type","mass_kg","mesh_file","mesh_object","name_zh","origin_m","parent","software_limits_rad"]},{"id":"pump_module","name_zh":"泵 / PUMP","function_zh":"流动相输送;软件流量范围依据清单","physical_meaning_zh":"保存流量与流动相梯度方法;不提供已校准流阻或真实泵压模型。","subsystem":null,"parent":"root","origin_m":[0.0,0.006465994752943516,0.0],"rpy_rad":[0,0,0],"objects":["hplc1260__pump_module","hplc1260__pump_module_mesh","o pump_module"],"collisions":[{"shape":"box","origin_m":[0.0,0.003832151716950345,0.11700000591711594],"rpy_rad":[0,0,0],"size_m":[0.3940000021349301,0.4349492198738641,0.14800000748489883]},{"shape":"box","origin_m":[0.0,-0.21651657200769447,0.11700000591711594],"rpy_rad":[0,0,0],"size_m":[0.3820000020699068,0.00766430343390069,0.13600000687801514]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["mobile_phase.set_available","chromatography.set_method","chromatography.measure","chromatography.stop"],"bbox_m":null,"raw_keys":["bbox_local","blender_object","collisions","function_zh","geometry_evidence","id","inertia_kg_m2","inertia_per_unit_mass_m2","joint_axis","joint_type","mass_kg","mesh_file","mesh_object","name_zh","origin_m","parent","software_limits_rad"]},{"id":"pump_controls","name_zh":"泵前部连接与控制","function_zh":"操作与管路连接位置示意","physical_meaning_zh":"表示泵模块的可见控制和管路布置。","subsystem":null,"parent":"pump_module","origin_m":[0.0,0.0,0.0],"rpy_rad":[0,0,0],"objects":["hplc1260__pump_controls","hplc1260__pump_controls_mesh","o pump_controls"],"collisions":[{"shape":"cylinder","origin_m":[0.04500000024383719,-0.22513891337083272,0.11600000586654231],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.012000000606883688,"length_m":0.010000000505736406},{"shape":"cylinder","origin_m":[0.04500000024383719,-0.23184517887549583,0.11600000586654231],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.005000000252868203,"length_m":0.009000000455162764},{"shape":"cylinder","origin_m":[0.09300000050393019,-0.22513891337083272,0.11600000586654231],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.012000000606883688,"length_m":0.010000000505736406},{"shape":"cylinder","origin_m":[0.09300000050393019,-0.23184517887549583,0.11600000586654231],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.005000000252868203,"length_m":0.009000000455162764},{"shape":"cylinder","origin_m":[0.1610000008723953,-0.22418087544159518,0.064000003236713],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.006000000303441844,"length_m":0.003000000151720922}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["bbox_local","blender_object","collisions","function_zh","geometry_evidence","id","inertia_kg_m2","inertia_per_unit_mass_m2","joint_axis","joint_type","mass_kg","mesh_file","mesh_object","name_zh","origin_m","parent","software_limits_rad"]},{"id":"injector_module","name_zh":"进样器模块","function_zh":"容纳样品架和教学进样位置","physical_meaning_zh":"容纳样品槽位并保存标准进样量设置。","subsystem":null,"parent":"root","origin_m":[0.0,0.006465994752943516,0.0],"rpy_rad":[0,0,0],"objects":["hplc1260__injector_module","hplc1260__injector_module_mesh","o injector_module"],"collisions":[{"shape":"box","origin_m":[0.0,0.004790189646187931,0.1990000100641545],"rpy_rad":[0,0,0],"size_m":[0.3940000021349301,0.4349492198738641,0.010000000505736406]},{"shape":"box","origin_m":[0.0,0.004790189646187931,0.38900001967314624],"rpy_rad":[0,0,0],"size_m":[0.3940000021349301,0.4349492198738641,0.010000000505736406]},{"shape":"box","origin_m":[-0.1910000010349534,0.004790189646187931,0.29400001486865035],"rpy_rad":[0,0,0],"size_m":[0.012000000065023251,0.4349492198738641,0.1800000091032553]},{"shape":"box","origin_m":[0.1910000010349534,0.004790189646187931,0.29400001486865035],"rpy_rad":[0,0,0],"size_m":[0.012000000065023251,0.4349492198738641,0.1800000091032553]},{"shape":"box","origin_m":[0.0,0.21268442029074414,0.29400001486865035],"rpy_rad":[0,0,0],"size_m":[0.3820000020699068,0.019160758584751723,0.1800000091032553]},{"shape":"box","origin_m":[0.0,-0.2146004961492193,0.3780000191168362],"rpy_rad":[0,0,0],"size_m":[0.3700000020048836,0.00766430343390069,0.022000001112620092]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["door.set_angle","sample.load","sample.unload","chromatography.set_method","chromatography.measure","chromatography.stop"],"bbox_m":null,"raw_keys":["bbox_local","blender_object","collisions","function_zh","geometry_evidence","id","inertia_kg_m2","inertia_per_unit_mass_m2","joint_axis","joint_type","mass_kg","mesh_file","mesh_object","name_zh","origin_m","parent","software_limits_rad"]},{"id":"sample_slot","name_zh":"样品架槽位","function_zh":"一个虚拟样品槽;其余孔为外观示意,不代表厂家容量","physical_meaning_zh":"定位一个虚拟样品瓶并关联已注册样品身份。","subsystem":null,"parent":"injector_module","origin_m":[0.0,0.0,0.0],"rpy_rad":[0,0,0],"objects":["hplc1260__sample_slot","hplc1260__sample_slot_mesh","o sample_slot"],"collisions":[{"shape":"box","origin_m":[0.0,-0.08430733777290758,0.2240000113284955],"rpy_rad":[0,0,0],"size_m":[0.3200000017339534,0.2078942306445562,0.019000000960899172]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["sample.load","sample.unload"],"bbox_m":null,"raw_keys":["bbox_local","blender_object","collisions","function_zh","geometry_evidence","id","inertia_kg_m2","inertia_per_unit_mass_m2","joint_axis","joint_type","mass_kg","mesh_file","mesh_object","name_zh","origin_m","parent","software_limits_rad"]},{"id":"sample_vial","name_zh":"示例样品瓶","function_zh":"供装样流程显隐的虚拟耗材,尺寸和材质均未标定","physical_meaning_zh":"显示样品槽装载状态;不表示已模拟实体液体转移或真实耗材容量。","subsystem":null,"parent":"injector_module","origin_m":[0.0,0.0,0.0],"rpy_rad":[0,0,0],"objects":["hplc1260__sample_vial","hplc1260__sample_vial_mesh","o sample_vial"],"collisions":[{"shape":"cylinder","origin_m":[-0.1200000006502325,-0.15807625832420172,0.2540000128457047],"rpy_rad":[0,0,0],"radius_m":0.008000000404589125,"length_m":0.0370000018712247},{"shape":"cylinder","origin_m":[-0.1200000006502325,-0.15807625832420172,0.27700001400889845],"rpy_rad":[0,0,0],"radius_m":0.009000000455162764,"length_m":0.009000000455162764}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["sample.load","sample.unload"],"bbox_m":null,"raw_keys":["bbox_local","blender_object","collisions","function_zh","geometry_evidence","id","inertia_kg_m2","inertia_per_unit_mass_m2","joint_axis","joint_type","mass_kg","mesh_file","mesh_object","name_zh","origin_m","parent","software_limits_rad"]},{"id":"injector_door","name_zh":"进样器门","function_zh":"绕左铰链开启以进入样品槽","physical_meaning_zh":"提供装样入口和关门测量互锁的可动关节。","subsystem":null,"parent":"injector_module","origin_m":[-0.18000000715255737,-0.21651656925678253,0.2930000126361847],"rpy_rad":[0,0,0],"objects":["hplc1260__injector_door","hplc1260__injector_door_mesh","o injector_door"],"collisions":[{"shape":"box","origin_m":[0.18000000097534877,0.0,0.0],"rpy_rad":[0,0,0],"size_m":[0.36000000195069753,0.005748227575425517,0.1550000078389143]},{"shape":"box","origin_m":[0.18000000097534877,-0.0019160758584751724,-0.07000000354015484],"rpy_rad":[0,0,0],"size_m":[0.36000000195069753,0.008622341363138275,0.015000000758604609]},{"shape":"box","origin_m":[0.18000000097534877,-0.0019160758584751724,0.07000000354015484],"rpy_rad":[0,0,0],"size_m":[0.36000000195069753,0.008622341363138275,0.015000000758604609]},{"shape":"box","origin_m":[0.008000000043348833,-0.0019160758584751724,0.0],"rpy_rad":[0,0,0],"size_m":[0.016000000086697667,0.008622341363138275,0.14000000708030969]},{"shape":"box","origin_m":[0.35200000190734865,-0.0019160758584751724,0.0],"rpy_rad":[0,0,0],"size_m":[0.016000000086697667,0.008622341363138275,0.14000000708030969]},{"shape":"box","origin_m":[0.3290000017827208,-0.011496455150851034,0.0],"rpy_rad":[0,0,0],"size_m":[0.012000000065023251,0.018202720655514135,0.05200000262982931]}],"joint":{"type":"continuous","axis":null,"limits":null,"limit_unit":null,"evidence":null},"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["door.set_angle"],"bbox_m":null,"raw_keys":["bbox_local","blender_object","collisions","function_zh","geometry_evidence","id","inertia_kg_m2","inertia_per_unit_mass_m2","joint_axis","joint_type","mass_kg","mesh_file","mesh_object","name_zh","origin_m","parent","software_limits_rad"]},{"id":"column_oven_module","name_zh":"柱温箱 / COLUMN","function_zh":"记录环境-10K至358.15K范围;标准外形内的教学组件,非厂家MCT实物配置","physical_meaning_zh":"保存温度方法与MCT配置能力边界;标准外形代理不认证精确MCT模块SKU。","subsystem":null,"parent":"root","origin_m":[0.0,0.006465994752943516,0.0],"rpy_rad":[0,0,0],"objects":["hplc1260__column_oven_module","hplc1260__column_oven_module_mesh","o column_oven_module"],"collisions":[{"shape":"box","origin_m":[0.0,0.003832151716950345,0.45650002308686694],"rpy_rad":[0,0,0],"size_m":[0.3940000021349301,0.4349492198738641,0.11500000581596866]},{"shape":"box","origin_m":[0.0,-0.21651657200769447,0.45650002308686694],"rpy_rad":[0,0,0],"size_m":[0.3820000020699068,0.00766430343390069,0.10300000520908498]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["chromatography.set_method","chromatography.measure"],"bbox_m":null,"raw_keys":["bbox_local","blender_object","collisions","function_zh","geometry_evidence","id","inertia_kg_m2","inertia_per_unit_mass_m2","joint_axis","joint_type","mass_kg","mesh_file","mesh_object","name_zh","origin_m","parent","software_limits_rad"]},{"id":"column_holder","name_zh":"柱支架","function_zh":"容纳一根教学柱;无已标定柱规格","physical_meaning_zh":"表示色谱柱的安装位置及与流路的关联。","subsystem":null,"parent":"column_oven_module","origin_m":[0.0,0.0,0.0],"rpy_rad":[0,0,0],"objects":["hplc1260__column_holder","hplc1260__column_holder_mesh","o column_holder"],"collisions":[{"shape":"cylinder","origin_m":[0.0,0.028741137877127582,0.4550000230110065],"rpy_rad":[0,1.5707963267948966,0],"radius_m":0.008000000404589125,"length_m":0.27000001365488296}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["bbox_local","blender_object","collisions","function_zh","geometry_evidence","id","inertia_kg_m2","inertia_per_unit_mass_m2","joint_axis","joint_type","mass_kg","mesh_file","mesh_object","name_zh","origin_m","parent","software_limits_rad"]},{"id":"detector_module","name_zh":"检测器 / DETECTOR","function_zh":"合成色谱信号输出;检测器具体SKU与波长范围未知","physical_meaning_zh":"保存检测波长方法,输出明确标为synthetic的色谱曲线。","subsystem":null,"parent":"root","origin_m":[0.0,0.006465994752943516,0.0],"rpy_rad":[0,0,0],"objects":["hplc1260__detector_module","hplc1260__detector_module_mesh","o detector_module"],"collisions":[{"shape":"box","origin_m":[0.0,0.003832151716950345,0.5745000290545565],"rpy_rad":[0,0,0],"size_m":[0.3940000021349301,0.4349492198738641,0.1110000056136741]},{"shape":"box","origin_m":[0.0,-0.21651657200769447,0.5745000290545565],"rpy_rad":[0,0,0],"size_m":[0.3820000020699068,0.00766430343390069,0.09900000500679042]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["chromatography.set_method","chromatography.measure","chromatography.stop","chromatography.get_chromatogram","chromatography.calibrate","chromatography.quantify","chromatography.purity","hardware.connect","robot.load_sample"],"bbox_m":null,"raw_keys":["bbox_local","blender_object","collisions","function_zh","geometry_evidence","id","inertia_kg_m2","inertia_per_unit_mass_m2","joint_axis","joint_type","mass_kg","mesh_file","mesh_object","name_zh","origin_m","parent","software_limits_rad"]},{"id":"solvent_tray","name_zh":"流动相托盘","function_zh":"储液瓶承托位置;本次不指定瓶数或容量","physical_meaning_zh":"表示流动相容器支承和虚拟流动相就绪状态。","subsystem":null,"parent":"root","origin_m":[0.0,0.006465994752943516,0.0],"rpy_rad":[0,0,0],"objects":["hplc1260__solvent_tray","hplc1260__solvent_tray_mesh","o solvent_tray"],"collisions":[{"shape":"box","origin_m":[0.0,0.006706265504663103,0.6350000321142618],"rpy_rad":[0,0,0],"size_m":[0.38600000209158125,0.4215366888645379,0.010000000505736406]},{"shape":"box","origin_m":[-0.1880000010186976,0.006706265504663103,0.6490000328222928],"rpy_rad":[0,0,0],"size_m":[0.012000000065023251,0.4215366888645379,0.022000001112620092]},{"shape":"box","origin_m":[0.1880000010186976,0.006706265504663103,0.6490000328222928],"rpy_rad":[0,0,0],"size_m":[0.012000000065023251,0.4215366888645379,0.022000001112620092]},{"shape":"box","origin_m":[0.0,-0.2002299272106555,0.6490000328222928],"rpy_rad":[0,0,0],"size_m":[0.3760000020373952,0.011496455150851034,0.022000001112620092]},{"shape":"box","origin_m":[0.0,0.21172638236150654,0.6490000328222928],"rpy_rad":[0,0,0],"size_m":[0.3760000020373952,0.011496455150851034,0.022000001112620092]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["mobile_phase.set_available"],"bbox_m":null,"raw_keys":["bbox_local","blender_object","collisions","function_zh","geometry_evidence","id","inertia_kg_m2","inertia_per_unit_mass_m2","joint_axis","joint_type","mass_kg","mesh_file","mesh_object","name_zh","origin_m","parent","software_limits_rad"]},{"id":"fluid_tubing","name_zh":"前部毛细管","function_zh":"示意泵-进样器-柱-检测器连接,流阻与管径性能未知","physical_meaning_zh":"表示泵、进样器、柱位和检测器的功能流路。","subsystem":null,"parent":"root","origin_m":[0.0,0.006465994752943516,0.0],"rpy_rad":[0,0,0],"objects":["hplc1260__fluid_tubing","hplc1260__fluid_tubing_mesh","o fluid_tubing"],"collisions":[{"shape":"cylinder","origin_m":[0.10950000643459239,-0.2380724153653223,0.12300000216744175],"rpy_rad":[0.21109385788440704,1.1614340543746948,0.13881178200244904],"radius_m":0.0010000000505736406,"length_m":0.03597221370402085},{"shape":"cylinder","origin_m":[0.1484999962747097,-0.23471929723148943,0.15000001354651088],"rpy_rad":[-0.24497878551483154,0.8290778398513794,-0.1082366332411766],"radius_m":0.0010000000505736406,"length_m":0.06103278690647067},{"shape":"cylinder","origin_m":[0.17450000440261584,-0.22801303241206847,0.21300001029534826],"rpy_rad":[-0.04647804796695709,0.08112896978855133,-0.001886732061393559],"radius_m":0.0010000000505736406,"length_m":0.08637709491291505},{"shape":"cylinder","origin_m":[0.17600000000000002,-0.22465988572648035,0.29250003386627715],"rpy_rad":[-0.041072871536016464,-0.05469382554292679,0.0011236541904509068],"radius_m":0.0010000000505736406,"length_m":0.07317101986203114},{"shape":"cylinder","origin_m":[0.17399999593604695,-0.22226479318752682,0.3770000231193786],"rpy_rad":[-0.020830200985074043,0.0,0.0],"radius_m":0.0012000000606883687,"length_m":0.09602085195056695},{"shape":"cylinder","origin_m":[0.16499999254941938,-0.22322284733416137,0.4405000432585247],"rpy_rad":[0.1283230483531952,-0.5224885940551758,-0.03435150161385536],"radius_m":0.0012000000606883687,"length_m":0.03606936461992796},{"shape":"cylinder","origin_m":[0.16400000541860413,-0.22322284733416137,0.47050001616550297],"rpy_rad":[-0.13706590235233307,0.500190258026123,-0.03506387770175934],"radius_m":0.0012000000606883687,"length_m":0.033361669030274314},{"shape":"cylinder","origin_m":[0.17200000677325514,-0.22130676759264747,0.5265000132755807],"rpy_rad":[0.0,-0.0,0.0],"radius_m":0.0012000000606883687,"length_m":0.08300000742057186}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["bbox_local","blender_object","collisions","function_zh","geometry_evidence","id","inertia_kg_m2","inertia_per_unit_mass_m2","joint_axis","joint_type","mass_kg","mesh_file","mesh_object","name_zh","origin_m","parent","software_limits_rad"]},{"id":"rear_ports","name_zh":"背部电源与数据接口","function_zh":"空间连接占位;针脚、额定值与协议未知","physical_meaning_zh":"表示电源与数据连接区域;接口尺寸和协议未认证。","subsystem":null,"parent":"root","origin_m":[0.0,0.006465994752943516,0.0],"rpy_rad":[0,0,0],"objects":["hplc1260__rear_ports","hplc1260__rear_ports_mesh","o rear_ports"],"collisions":[{"shape":"box","origin_m":[-0.1200000006502325,0.22418087544159518,0.08800000445048037],"rpy_rad":[0,0,0],"size_m":[0.03800000020590696,0.006706265504663103,0.023000001163193732]},{"shape":"box","origin_m":[-0.05500000029802323,0.22418087544159518,0.08800000445048037],"rpy_rad":[0,0,0],"size_m":[0.01900000010295348,0.006706265504663103,0.012000000606883688]},{"shape":"box","origin_m":[-0.1200000006502325,0.22418087544159518,0.3100000156778286],"rpy_rad":[0,0,0],"size_m":[0.03800000020590696,0.006706265504663103,0.023000001163193732]},{"shape":"box","origin_m":[-0.05500000029802323,0.22418087544159518,0.3100000156778286],"rpy_rad":[0,0,0],"size_m":[0.01900000010295348,0.006706265504663103,0.012000000606883688]},{"shape":"box","origin_m":[-0.1200000006502325,0.22418087544159518,0.4550000230110065],"rpy_rad":[0,0,0],"size_m":[0.03800000020590696,0.006706265504663103,0.023000001163193732]},{"shape":"box","origin_m":[-0.05500000029802323,0.22418087544159518,0.4550000230110065],"rpy_rad":[0,0,0],"size_m":[0.01900000010295348,0.006706265504663103,0.012000000606883688]},{"shape":"box","origin_m":[-0.1200000006502325,0.22418087544159518,0.5630000284729596],"rpy_rad":[0,0,0],"size_m":[0.03800000020590696,0.006706265504663103,0.023000001163193732]},{"shape":"box","origin_m":[-0.05500000029802323,0.22418087544159518,0.5630000284729596],"rpy_rad":[0,0,0],"size_m":[0.01900000010295348,0.006706265504663103,0.012000000606883688]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["bbox_local","blender_object","collisions","function_zh","geometry_evidence","id","inertia_kg_m2","inertia_per_unit_mass_m2","joint_axis","joint_type","mass_kg","mesh_file","mesh_object","name_zh","origin_m","parent","software_limits_rad"]},{"id":"status_display","name_zh":"状态灯","function_zh":"显示供电状态的理想化颜色,不是实测传感器","physical_meaning_zh":"以独立材质颜色指示本次仿真供电状态。","subsystem":null,"parent":"root","origin_m":[0.0,0.006465994752943516,0.0],"rpy_rad":[0,0,0],"objects":["hplc1260__status_display","hplc1260__status_display_mesh","o status_display"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set"],"bbox_m":null,"raw_keys":["bbox_local","blender_object","collisions","function_zh","geometry_evidence","id","inertia_kg_m2","inertia_per_unit_mass_m2","joint_axis","joint_type","mass_kg","mesh_file","mesh_object","name_zh","origin_m","parent","software_limits_rad"]}],"component_source":"geometry_manifest.json + asset.contract.json + collision_proxies.json","capabilities":{"power.set":{"function_zh":"设置仿真供电状态","kind":"device_command","availability":"implemented","component_ids":["chassis","status_display"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"implemented"},"input":["enabled"]},"door.set_angle":{"function_zh":"设置进样器门角度","kind":"device_command","availability":"implemented","component_ids":["injector_door","injector_module"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"implemented"},"input":["angle_rad"]},"sample.load":{"function_zh":"将已注册虚拟样品装入槽位","kind":"device_command","availability":"implemented","component_ids":["sample_slot","sample_vial","injector_module"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"implemented"},"input":["sample_id"]},"sample.unload":{"function_zh":"卸下槽位中的虚拟样品","kind":"device_command","availability":"implemented","component_ids":["sample_slot","sample_vial","injector_module"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"implemented"},"input":[]},"mobile_phase.set_available":{"function_zh":"设置虚拟流动相就绪状态","kind":"device_command","availability":"implemented","component_ids":["solvent_tray","pump_module"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"implemented"},"input":["available"]},"chromatography.set_method":{"function_zh":"设置流量、梯度、柱温、进样量、波长与积分方法","kind":"device_command","availability":"implemented","component_ids":["pump_module","injector_module","column_oven_module","detector_module"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"implemented"},"input":["flow_m3_s","injection_volume_m3","column_temperature_K","pressure_limit_Pa","wavelength_m","gradient","run_duration_s","sample_interval_s","integration_method"]},"chromatography.measure":{"function_zh":"启动合成色谱运行并按宿主时钟完成","kind":"device_command","availability":"implemented","component_ids":["pump_module","injector_module","column_oven_module","detector_module"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"implemented"},"input":[]},"chromatography.stop":{"function_zh":"取消当前合成运行并保留已采集数据","kind":"device_command","availability":"implemented","component_ids":["pump_module","injector_module","detector_module"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"implemented"},"input":[]},"chromatography.get_chromatogram":{"function_zh":"读取当前部分或最终合成色谱","kind":"query","availability":"implemented","component_ids":["detector_module"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"implemented"},"input":[]},"chromatography.calibrate":{"function_zh":"真实浓度校准(未实现)","kind":"analysis","availability":"unsupported","component_ids":["detector_module"],"implementation":{"process":"absent","scene":"absent","robot":"absent","hardware":"absent","host":"absent"},"input":[]},"chromatography.quantify":{"function_zh":"真实校准浓度计算(未实现)","kind":"analysis","availability":"unsupported","component_ids":["detector_module"],"implementation":{"process":"absent","scene":"absent","robot":"absent","hardware":"absent","host":"absent"},"input":[]},"chromatography.purity":{"function_zh":"真实纯度计算(未实现)","kind":"analysis","availability":"unsupported","component_ids":["detector_module"],"implementation":{"process":"absent","scene":"absent","robot":"absent","hardware":"absent","host":"absent"},"input":[]},"hardware.connect":{"function_zh":"真实硬件连接(未实现)","kind":"configuration","availability":"unsupported","component_ids":["detector_module"],"implementation":{"process":"absent","scene":"absent","robot":"absent","hardware":"absent","host":"absent"},"input":[]},"robot.load_sample":{"function_zh":"机器人装样(未实现)","kind":"robot_skill","availability":"unsupported","component_ids":["detector_module"],"implementation":{"process":"absent","scene":"absent","robot":"absent","hardware":"absent","host":"absent"},"input":[]}},"state_slots":{"power.enabled":{"meaning_zh":"仿真供电开关设定;不表示真实电压或电流。","unit":"1","access":"read_write","origin":"setpoint","component_ids":["chassis","status_display"],"write_via":"power.set"},"door.angle_rad":{"meaning_zh":"进样器门的权威运行角;0为闭门,正角经-q驱动模型向前打开。","unit":"rad","access":"read_write","origin":"scene","component_ids":["injector_door"],"write_via":"door.set_angle"},"door.closed":{"meaning_zh":"由门角<=1e-6rad派生的关门标志;容差为软件假设。","unit":"1","access":"read_only","origin":"derived","component_ids":["injector_door"],"write_via":null},"sample.loaded":{"meaning_zh":"虚拟样品槽是否已装入注册样品,并控制瓶网格显隐。","unit":"1","access":"read_only","origin":"scene","component_ids":["sample_slot","sample_vial"],"write_via":null},"sample.id":{"meaning_zh":"槽位样品标识;空槽为null。","unit":"1","access":"read_only","origin":"scene","component_ids":["sample_slot","sample_vial"],"write_via":null},"sample.truth":{"meaning_zh":"受信任宿主登记的调试真值;agent读取和返回均过滤。","unit":"1","access":"read_only","origin":"process_truth","component_ids":["sample_slot","sample_vial"],"write_via":null},"mobile_phase.available":{"meaning_zh":"虚拟流动相就绪标志;不代表储液体积、化学身份或实物流动。","unit":"1","access":"read_write","origin":"setpoint","component_ids":["solvent_tray","pump_module"],"write_via":"mobile_phase.set_available"},"method.configured":{"meaning_zh":"是否已完整校验并保存当前色谱方法。","unit":"1","access":"read_only","origin":"derived","component_ids":["pump_module","injector_module","column_oven_module","detector_module"],"write_via":null},"method.flow_m3_s":{"meaning_zh":"方法流量设定,SI体积流率;不作为已模拟或实测流量。","unit":"m3/s","access":"read_only","origin":"setpoint","component_ids":["pump_module","injector_module","column_oven_module","detector_module"],"write_via":null},"method.injection_volume_m3":{"meaning_zh":"方法进样体积设定;未模拟样品瓶体积消耗。","unit":"m3","access":"read_only","origin":"setpoint","component_ids":["pump_module","injector_module","column_oven_module","detector_module"],"write_via":null},"method.column_temperature_k":{"meaning_zh":"方法柱温目标;MCT环境条件及最高358.15K受校验,不表示已经达到该温度。","unit":"K","access":"read_only","origin":"setpoint","component_ids":["pump_module","injector_module","column_oven_module","detector_module"],"write_via":null},"method.pressure_limit_pa":{"meaning_zh":"方法压力上限设定,最多60000000Pa;无实际压力求解或已验证的物理超压互锁。","unit":"Pa","access":"read_only","origin":"setpoint","component_ids":["pump_module","injector_module","column_oven_module","detector_module"],"write_via":null},"method.wavelength_m":{"meaning_zh":"方法检测波长设定;真实检测器范围未知,当前仅存储正值。","unit":"m","access":"read_only","origin":"setpoint","component_ids":["pump_module","injector_module","column_oven_module","detector_module"],"write_via":null},"method.gradient":{"meaning_zh":"流动相B比例随时间的方法表,time_s为s、fraction_b无量纲;不求解混合和传输。","unit":"1","access":"read_only","origin":"setpoint","component_ids":["pump_module","injector_module","column_oven_module","detector_module"],"write_via":null},"method.run_duration_s":{"meaning_zh":"调用者提供的本次合成运行时长;不是厂家测量速度。","unit":"s","access":"read_only","origin":"setpoint","component_ids":["pump_module","injector_module","column_oven_module","detector_module"],"write_via":null},"method.sample_interval_s":{"meaning_zh":"本次合成色谱的时间轴间隔;受软件数据量上限约束。","unit":"s","access":"read_only","origin":"setpoint","component_ids":["pump_module","injector_module","column_oven_module","detector_module"],"write_via":null},"method.integration_method":{"meaning_zh":"当前实现的合成信号梯形积分规则;没有定量校准。","unit":"1","access":"read_only","origin":"setpoint","component_ids":["pump_module","injector_module","column_oven_module","detector_module"],"write_via":null},"column_oven.actual_temperature_k":{"meaning_zh":"实际柱温未建模,返回null;不能用目标温度冒充温度真值。","unit":"K","access":"read_only","origin":"derived","component_ids":["column_oven_module"],"write_via":null},"pump.actual_pressure_pa":{"meaning_zh":"实际泵压未建模,返回null;不能用600bar额定上限冒充实际压力。","unit":"Pa","access":"read_only","origin":"derived","component_ids":["pump_module"],"write_via":null},"run.status":{"meaning_zh":"本次运行状态idle/running/succeeded/cancelled;accepted仅表示开始运行。","unit":"1","access":"read_only","origin":"derived","component_ids":["pump_module","injector_module","column_oven_module","detector_module"],"write_via":null},"run.operation_id":{"meaning_zh":"当前实例运行标识;poll/cancel按操作所属身份约束。","unit":"1","access":"read_only","origin":"derived","component_ids":["pump_module","injector_module","column_oven_module","detector_module"],"write_via":null},"run.elapsed_s":{"meaning_zh":"由宿主绝对时间计算的已采集时长;查询不推进它。","unit":"s","access":"read_only","origin":"derived","component_ids":["pump_module","injector_module","column_oven_module","detector_module"],"write_via":null},"measurement.chromatogram":{"meaning_zh":"最后一次已开始运行的部分或最终合成色谱:时间s、无量纲任意信号、积分s;synthetic=true,纯度和校准浓度为null。","unit":"1","access":"read_only","origin":"derived","component_ids":["detector_module"],"write_via":null},"measurement.count":{"meaning_zh":"已完成到succeeded的运行次数;取消不增加计数。","unit":"1","access":"read_only","origin":"derived","component_ids":["detector_module"],"write_via":null}},"mechanisms":{"synthetic_chromatography":{"meaning_zh":"遵循装样、关门、方法、运行、返回色谱语义的合成过程;过程运行不等于真实LC流体、热或分离模型。","implementation":"numerical","equations":["s(t)=sum_j a_j*exp(-0.5*((t-c_j)/w_j)^2),c_j、w_j、a_j为明确标synthetic的任意教学峰参数,不是物理保留时间/峰宽。","A=sum_i (s_i+s_(i-1))*(t_i-t_(i-1))/2,合成无量纲信号的梯形积分单位为s;不推断真实纯度或浓度。","elapsed=min(host_time-start_time,method.run_duration_s);只有host_advance推进运行,read/poll不推进。"],"parameters":{"flow_minimum_m3_s":{"value":1.6666666666666667e-11,"unit":"m3/s","evidence":"documented","meaning_zh":"flow_minimum_m3_s"},"flow_maximum_m3_s":{"value":1.6666666666666668e-07,"unit":"m3/s","evidence":"documented","meaning_zh":"flow_maximum_m3_s"},"injection_volume_minimum_m3":{"value":1e-10,"unit":"m3","evidence":"documented","meaning_zh":"injection_volume_minimum_m3"},"injection_volume_maximum_m3":{"value":1e-07,"unit":"m3","evidence":"documented","meaning_zh":"injection_volume_maximum_m3"},"system_maximum_pressure_pa":{"value":60000000.0,"unit":"Pa","evidence":"documented","meaning_zh":"Whole-system ceiling; not a module pressure or predicted operating pressure."},"column_maximum_temperature_k":{"value":358.15,"unit":"K","evidence":"documented","meaning_zh":"column_maximum_temperature_K"},"column_minimum_temperature_offset_k":{"value":-10.0,"unit":"K","evidence":"documented","meaning_zh":"MCT catalog capability subject to ambient; model validates target only and does not establish exact MCT hardware configuration."},"wavelength_range_m":{"value":null,"unit":"m","evidence":"unknown","meaning_zh":"wavelength_range_m"},"actual_pressure_pa":{"value":null,"unit":"Pa","evidence":"unknown","meaning_zh":"actual_pressure_Pa"},"actual_temperature_k":{"value":null,"unit":"K","evidence":"unknown","meaning_zh":"actual_temperature_K"},"acquisition_duration_s":{"value":null,"unit":"s","evidence":"unknown","meaning_zh":"Run duration is supplied by caller; not an inferred vendor acquisition speed."},"door_maximum_angle_rad":{"value":1.5707963267948966,"unit":"rad","evidence":"assumption","meaning_zh":"door_maximum_angle_rad"},"door_loading_clearance_rad":{"value":1.0471975511965976,"unit":"rad","evidence":"assumption","meaning_zh":"door_loading_clearance_rad"},"door_closed_tolerance_rad":{"value":1e-06,"unit":"rad","evidence":"assumption","meaning_zh":"door_closed_tolerance_rad"},"default_host_ambient_k":{"value":298.15,"unit":"K","evidence":"assumption","meaning_zh":"default_host_ambient_K"},"maximum_run_duration_s":{"value":86400,"unit":"s","evidence":"assumption","meaning_zh":"maximum_run_duration_s"},"maximum_samples":{"value":10001,"unit":"1","evidence":"assumption","meaning_zh":"maximum_samples"},"default_gaussian_peaks":{"value":[[20.0,2.0,1.0],[40.0,3.0,0.7]],"unit":"s,s,1","evidence":"assumption","meaning_zh":"default_gaussian_peaks"}}}},"limitations":["full表示本次标准外形教学配置的全部已建功能组件已登记;并不表示厂家全套功能、精确模块SKU或动态真实性已完成。","396×660×468 mm标准堆叠与435×800×468 mm MCT配置尺寸分开记录。本模型采用标准外形,85°C/MCT能力保留其配置条件,不能据此认证标准几何含真实MCT模块。","四个功能模块单独建模;内部结构、面板、接口、样品瓶、托架和管路局部尺寸为仿真假设,非制造CAD。","整机与所有部件质量、密度、摩擦和真实惯量未知为null;仅给均匀包围盒每单位质量I/m系数。URDF无inertial,不能直接声称已完成动力学。","门采用连续URDF旋转关节以避免捏造effort/velocity;本软件0..π/2范围是教学假设,非厂商认证机械限位。","碰撞体仅使用box/cylinder/sphere基元;存在碰撞代理不等于已验证接触动力学或机器人可达性。","运行参数范围来自清单并换算SI;实际泵压力/温度、真实响应、噪声、校准浓度、真实纯度与故障概率未标定。","流量10mL/min与系统600bar是清单分别列出的上限,未建立联合性能包络;不宣称两个极值在同一运行条件下同时实现。","合成色谱必须标synthetic;不宣称进样体积守恒、梯度溶剂消耗或厂家检测性能。","准备动作保留上次运行波形,波形不会随新设定自动重算;取消保留部分数据,调用者须按运行记录关联样品与方法。","状态和命令按运行会话过滤;共享Python进程或文件系统不是安全隔离沙箱。read/poll不推进时间,异步运行由宿主管理时间。","机器人、真实硬件、碰撞接触动力学及物理性能标定均未运行。","官方III代系统手册已在线读取并记录版本;对应模块手册PDF归档与精确模块几何版本仍待补。下载尝试曾在审批长期挂起后被中止,本合同只按实际存在文件登记artifact,不把在线阅读写成已归档PDF。","All acquired signals are arbitrary synthetic Gaussian fixtures, unit 1; they are not calibrated absorbance, detector current, chemical identities or real sample response.","Flow, injection, gradient, wavelength and column-temperature settings are recorded and validated but do not parameterize the arbitrary fixture response.","No hydraulic, thermal, solvent transfer, injection-volume consumption, gradient mixing, equilibration, noise or fault-probability model.","Purity and calibrated concentration remain null; dedicated capabilities explicitly return unsupported.","Actual pressure and temperature remain null; pressure-limit settings alone do not prove a pressure safety interlock.","Host-owned time drives sampling; no implicit stepping in read, describe, poll or chromatogram retrieval.","Scene callback success needs independent evaluated-pose verification; no robot or hardware driver.","Access filtering is an API boundary, not protection against trusted Python-host introspection or filesystem access.","Request deduplication and operation ownership are per-instance, per-principal, in-memory only.","Synchronous callback failure leaves process uncommitted but may have unknown external scene side effects."],"sources":[],"checks":{"coverage":{"status":"bridged","implemented":["chromatography.get_chromatogram","chromatography.measure","chromatography.set_method","chromatography.stop","door.set_angle","mobile_phase.set_available","power.set","sample.load","sample.unload"],"unsupported":[],"note_zh":"桥接 basic40_runtime_analytical.AgilentHPLC1260Runtime(推进方式 host_advance_abs),24 个状态槽;与运行层镜像对比全同;受信设置需经 host.call;关节化 USD(1 个门/盖/阀等被动关节);1 个门/盖/升降关节与运行层双向同步;接口点 4 个(孔位、放置面);布局:台面、单人可搬、正面 −y、前方留空 0.25 m;面板为菜单/文字屏(待办)"}},"previews":["previews/agilent_hplc1260/preview_closed.webp","previews/agilent_hplc1260/preview_open.webp"],"files":[{"name":"asset.contract.json","path":"assets/basic40_batch02/t3_analytical/agilent_hplc1260/asset.contract.json","bytes":320703},{"name":"collision_proxies.json","path":"assets/basic40_batch02/t3_analytical/agilent_hplc1260/collision_proxies.json","bytes":18988},{"name":"geometry_manifest.json","path":"assets/basic40_batch02/t3_analytical/agilent_hplc1260/geometry_manifest.json","bytes":40336},{"name":"model.blend","path":"assets/basic40_batch02/t3_analytical/agilent_hplc1260/model.blend","bytes":593359},{"name":"model.glb","path":"assets/basic40_batch02/t3_analytical/agilent_hplc1260/model.glb","bytes":1975504},{"name":"model.urdf","path":"assets/basic40_batch02/t3_analytical/agilent_hplc1260/model.urdf","bytes":18591}],"completeness":{"components":15,"with_collisions":14,"with_objects":15,"with_function":15,"with_mass":0,"joints_matching_component":1,"joints":1,"has_contract":true,"has_layout":true,"has_glb":true,"checks_present":["articulation_check","coverage","contract_validation","runtime_validation","scene_validation"]},"slug":"agilent_hplc1260","chem_id":"CHEM-097","name_en":"HPLC system","maker":"Agilent","model":"1260 Infinity III LC","domain":"chromatography","domain_name":"Chromatography & Electrophoresis","path":"assets/basic40_batch02/t3_analytical/agilent_hplc1260","glb_up":"y","has_contract":true,"contract":"assets/basic40_batch02/t3_analytical/agilent_hplc1260/asset.contract.json","runtime":null}
|
data/assets/instrument.agilent_hs8697.json
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/assets/instrument.alicat_mc_1slpm_rev6.json
CHANGED
|
@@ -1 +1 @@
|
|
| 1 |
-
{"tid":"instrument.alicat_mc_1slpm_rev6","asset_dir":"basic40_batch02/t5_automation/alicat_mc","name_zh":"气体质量流量控制器(Alicat MC,1 SLPM,标准精度,Rev6)","category":"自动化与气液供给","description_zh":"CHEM-180:按指定清单的 Alicat Scientific MC 1 SLPM 满量程、标准精度、Rev6 规格建造。本合同完整登记本批外观组件与进出气拓扑;full 仅表示所选配置组件覆盖,不代表厂商全部气体数据库、PID、真实阀特性或硬件已实现。","coordinate_system":{"status":"defined","length_unit":"m","angle_unit":"rad","handedness":"right","up_axis":"+Z","frame":"asset_root=alicat_mc__root:原点在整机台面投影中心、台面z=0;X沿91.1mm气路宽度,+X由进气至出气;+Y向后;+Z向上。端口轴和艺术细节属本次建模约定。"},"mass_kg":0.5,"size_m":[0.0911,0.0267,0.1033],"bbox_min":[-0.0455,-0.0134,-0.0],"bbox_max":[0.0456,0.0133,0.1033],"manifest_dimensions_m":[0.0911,0.0267,0.1033],"glb":"assets/basic40_batch02/t5_automation/alicat_mc/model.glb","glb_orientation":"already_z_up","usd":null,"urdf":"assets/basic40_batch02/t5_automation/alicat_mc/model.urdf","links":{"base_link":"/Geometry/base_link","btn_control_pad_key_0_0936_0_link":"/Geometry/base_link/btn_control_pad_key_0_0936_0_link","btn_control_pad_key_0_0936_1_link":"/Geometry/base_link/btn_control_pad_key_0_0936_1_link","btn_control_pad_key_0_0936_2_link":"/Geometry/base_link/btn_control_pad_key_0_0936_2_link","btn_control_pad_key_0_0436_0_link":"/Geometry/base_link/btn_control_pad_key_0_0436_0_link","btn_control_pad_key_0_0436_1_link":"/Geometry/base_link/btn_control_pad_key_0_0436_1_link","btn_control_pad_key_0_0436_2_link":"/Geometry/base_link/btn_control_pad_key_0_0436_2_link","btn_control_pad_backlight_key_link":"/Geometry/base_link/btn_control_pad_backlight_key_link"},"frames":{"pre_place":[0.0,0.0,0.2833],"place":[0.0,0.0,0.1533],"post_place":[0.0,0.0,0.2833],"joint_btn_control_pad_key_0_0936_0":[-0.001,-0.01312,0.0936],"joint_btn_control_pad_key_0_0936_1":[0.01525,-0.01312,0.0936],"joint_btn_control_pad_key_0_0936_2":[0.0315,-0.01312,0.0936],"joint_btn_control_pad_key_0_0436_0":[-0.001,-0.01312,0.0436],"joint_btn_control_pad_key_0_0436_1":[0.01525,-0.01312,0.0436],"joint_btn_control_pad_key_0_0436_2":[0.0315,-0.01312,0.0436],"joint_btn_control_pad_backlight_key":[0.01525,-0.01312,0.034]},"joints":[{"name":"btn_control_pad_key_0_0936_0","type":"prismatic","parent":"control_pad","child":"btn_control_pad_key_0_0936_0_link","axis":[-0.0,1.0,0.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[-0.001,-0.01312,0.0936],"child_prim":"/Geometry/base_link/btn_control_pad_key_0_0936_0_link","child_bbox_min":[-0.0077,-0.01326,0.09045],"child_bbox_max":[0.0057,-0.01298,0.09675],"kind":"button"},{"name":"btn_control_pad_key_0_0936_1","type":"prismatic","parent":"control_pad","child":"btn_control_pad_key_0_0936_1_link","axis":[-0.0,1.0,-0.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[0.01525,-0.01312,0.0936],"child_prim":"/Geometry/base_link/btn_control_pad_key_0_0936_1_link","child_bbox_min":[0.00855,-0.01326,0.09045],"child_bbox_max":[0.02195,-0.01298,0.09675],"kind":"button"},{"name":"btn_control_pad_key_0_0936_2","type":"prismatic","parent":"control_pad","child":"btn_control_pad_key_0_0936_2_link","axis":[-0.0,1.0,-0.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[0.0315,-0.01312,0.0936],"child_prim":"/Geometry/base_link/btn_control_pad_key_0_0936_2_link","child_bbox_min":[0.0248,-0.01326,0.09045],"child_bbox_max":[0.0382,-0.01298,0.09675],"kind":"button"},{"name":"btn_control_pad_key_0_0436_0","type":"prismatic","parent":"control_pad","child":"btn_control_pad_key_0_0436_0_link","axis":[-0.0,1.0,0.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[-0.001,-0.01312,0.0436],"child_prim":"/Geometry/base_link/btn_control_pad_key_0_0436_0_link","child_bbox_min":[-0.0077,-0.01326,0.04045],"child_bbox_max":[0.0057,-0.01298,0.04675],"kind":"button"},{"name":"btn_control_pad_key_0_0436_1","type":"prismatic","parent":"control_pad","child":"btn_control_pad_key_0_0436_1_link","axis":[-0.0,1.0,-0.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[0.01525,-0.01312,0.0436],"child_prim":"/Geometry/base_link/btn_control_pad_key_0_0436_1_link","child_bbox_min":[0.00855,-0.01326,0.04045],"child_bbox_max":[0.02195,-0.01298,0.04675],"kind":"button"},{"name":"btn_control_pad_key_0_0436_2","type":"prismatic","parent":"control_pad","child":"btn_control_pad_key_0_0436_2_link","axis":[-0.0,1.0,0.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[0.0315,-0.01312,0.0436],"child_prim":"/Geometry/base_link/btn_control_pad_key_0_0436_2_link","child_bbox_min":[0.0248,-0.01326,0.04045],"child_bbox_max":[0.0382,-0.01298,0.04675],"kind":"button"},{"name":"btn_control_pad_backlight_key","type":"prismatic","parent":"control_pad","child":"btn_control_pad_backlight_key_link","axis":[-0.0,1.0,0.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[0.01525,-0.01312,0.034],"child_prim":"/Geometry/base_link/btn_control_pad_backlight_key_link","child_bbox_min":[0.00025,-0.01326,0.03135],"child_bbox_max":[0.03025,-0.01298,0.03665],"kind":"button"}],"controls":{"buttons":["btn_control_pad_key_0_0936_0","btn_control_pad_key_0_0936_1","btn_control_pad_key_0_0936_2","btn_control_pad_key_0_0436_0","btn_control_pad_key_0_0436_1","btn_control_pad_key_0_0436_2"],"knobs":[]},"slots":[],"hidden_parts":[],"readouts":[{"name":"flow","part":"alicat_mc__display_screen__lcd_reading","prim":"/Geometry/base_link/readout_flow","link":"base_link","digits":4,"decimals":0,"unit":"sccm","center":[0.0153,-0.0134,0.0688],"up":[0.0,-0.0,1.0],"source":{"bridge":["measurement.standard_flow_m3_s","flow.setpoint_m3_s"],"scale":60000000.0},"blank_channel":null,"on":[0.05,0.06,0.05],"off":[0.62,0.68,0.55],"size_m":[0.0114,0.0022],"normal":[0.0,-1.0,-0.0]}],"layout":{"front":[0.0,-1.0,0.0],"front_source":"controls","mount":"bench","weight_class":"robot_portable","mass_kg":0.5,"footprint_m":[0.0911,0.0267],"height_m":0.1033,"clearance_m":{"front":0.25,"back":0.1,"left":0.05,"right":0.05,"top":0.1},"robot_standoff_m":0.35,"work_height_m":0.1033,"primary_slot":null,"access":[],"slot_count":0},"components":[{"id":"flow_body","name_zh":"气路基体","function_zh":"容纳气体通过的基体与端口连接。","physical_meaning_zh":"连接内部测量区和控制阀的被动承压外观体;真实流阻、容积及材料未知。","subsystem":null,"parent":"root","origin_m":[0,0,0.0072],"rpy_rad":[0,0,0],"objects":["alicat_mc__flow_body"],"collisions":[],"joint":{"type":"fixed","axis":null,"limits":null,"state_id":null,"accessor":null},"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"drawing-proportioned assumption inside manufacturer envelope","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["bbox_asset_m","geometry_evidence","id","inertia_kg_m2","joint","mass_evidence","mass_kg","mesh_objects","object","origin_m","parent"]},{"id":"sensor_block","name_zh":"传感组件外形","function_zh":"承载流量、压力和温度的合成观测对应组件。","physical_meaning_zh":"合成读数由宿主与过程代理给出;非实测传感器,内部流道未重建。","subsystem":null,"parent":"root","origin_m":[0.0155,0,0.0184],"rpy_rad":[0,0,0],"objects":["alicat_mc__sensor_block"],"collisions":[],"joint":{"type":"fixed","axis":null,"limits":null,"state_id":null,"accessor":null},"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"drawing-proportioned assumption inside manufacturer envelope","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["gas.select","gas.set_reference_conditions","flow.zero","flow.reset_total","flow.read"],"bbox_m":null,"raw_keys":["bbox_asset_m","geometry_evidence","id","inertia_kg_m2","joint","mass_evidence","mass_kg","mesh_objects","object","origin_m","parent"]},{"id":"valve_housing","name_zh":"控制阀外壳","function_zh":"承载气体流量控制阀的外形与功能登记。","physical_meaning_zh":"原厂标准阀功能为常闭;内部机构、行程和失电关闭动态未实现。","subsystem":null,"parent":"root","origin_m":[-0.032,0,0.0358],"rpy_rad":[0,0,0],"objects":["alicat_mc__valve_housing"],"collisions":[],"joint":{"type":"fixed","axis":null,"limits":null,"state_id":null,"accessor":null},"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"drawing-proportioned assumption inside manufacturer envelope","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["flow.set_setpoint","control.set_pid"],"bbox_m":null,"raw_keys":["bbox_asset_m","geometry_evidence","id","inertia_kg_m2","joint","mass_evidence","mass_kg","mesh_objects","object","origin_m","parent"]},{"id":"display_housing","name_zh":"显示控制外壳","function_zh":"承载显示器、控制区及电子模块。","physical_meaning_zh":"刚性封装与支撑;散热、电路及电子元件未建模。","subsystem":null,"parent":"root","origin_m":[0.01525,0,0.06135],"rpy_rad":[0,0,0],"objects":["alicat_mc__display_housing"],"collisions":[],"joint":{"type":"fixed","axis":null,"limits":null,"state_id":null,"accessor":null},"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"drawing-proportioned assumption inside manufacturer envelope","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["bbox_asset_m","geometry_evidence","id","inertia_kg_m2","joint","mass_evidence","mass_kg","mesh_objects","object","origin_m","parent"]},{"id":"display_screen","name_zh":"显示屏","function_zh":"显示区域的可辨识外观。","physical_meaning_zh":"屏幕为静态视觉示意,尚无运行层到屏幕的跨层同步。","subsystem":null,"parent":"root","origin_m":[0.01525,-0.01266,0.068],"rpy_rad":[0,0,0],"objects":["alicat_mc__display_screen"],"collisions":[],"joint":{"type":"fixed","axis":null,"limits":null,"state_id":null,"accessor":null},"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"drawing-proportioned assumption inside manufacturer envelope","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["bbox_asset_m","geometry_evidence","id","inertia_kg_m2","joint","mass_evidence","mass_kg","mesh_objects","object","origin_m","parent"]},{"id":"control_pad","name_zh":"控制按键组","function_zh":"对应目标流量、气体选择、参考状态和归零操作的外观。","physical_meaning_zh":"外观按钮固定;按键触感、位移和接触动作未实现。","subsystem":null,"parent":"root","origin_m":[0.01525,-0.0128,0.067],"rpy_rad":[0,0,0],"objects":["alicat_mc__control_pad"],"collisions":[],"joint":{"type":"fixed","axis":null,"limits":null,"state_id":null,"accessor":null},"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"drawing-proportioned assumption inside manufacturer envelope","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["gas.select","gas.set_reference_conditions","flow.set_setpoint","flow.zero","flow.reset_total","control.set_pid"],"bbox_m":null,"raw_keys":["bbox_asset_m","geometry_evidence","id","inertia_kg_m2","joint","mass_evidence","mass_kg","mesh_objects","object","origin_m","parent"]},{"id":"gas_inlet","name_zh":"进气端口","function_zh":"将宿主上游气路节点连接到本机进气口。","physical_meaning_zh":"1/8 NPT female名义工艺接口;具体螺纹、密封压缩和软管接触未模拟。","subsystem":null,"parent":"root","origin_m":[-0.04555,0,0.0089],"rpy_rad":[0,0,0],"objects":["alicat_mc__gas_inlet"],"collisions":[],"joint":{"type":"fixed","axis":null,"limits":null,"state_id":null,"accessor":null},"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"drawing-proportioned assumption inside manufacturer envelope","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["bbox_asset_m","geometry_evidence","id","inertia_kg_m2","joint","mass_evidence","mass_kg","mesh_objects","object","origin_m","parent"]},{"id":"gas_outlet","name_zh":"出气端口","function_zh":"将本机出口连接到宿主下游气路节点。","physical_meaning_zh":"1/8 NPT female名义工艺接口;真实流量与库存转移须由气路宿主计算。","subsystem":null,"parent":"root","origin_m":[0.04555,0,0.0089],"rpy_rad":[0,0,0],"objects":["alicat_mc__gas_outlet"],"collisions":[],"joint":{"type":"fixed","axis":null,"limits":null,"state_id":null,"accessor":null},"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"drawing-proportioned assumption inside manufacturer envelope","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["bbox_asset_m","geometry_evidence","id","inertia_kg_m2","joint","mass_evidence","mass_kg","mesh_objects","object","origin_m","parent"]},{"id":"electrical_connector","name_zh":"电气与数据连接区","function_zh":"容纳仪器电源/控制通信连接的外观位置。","physical_meaning_zh":"外部供电由仿真开关表示;针脚、电压、协议和真实硬件驱动未实现。","subsystem":null,"parent":"root","origin_m":[0.01525,0,0.1022],"rpy_rad":[0,0,0],"objects":["alicat_mc__electrical_connector"],"collisions":[],"joint":{"type":"fixed","axis":null,"limits":null,"state_id":null,"accessor":null},"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"drawing-proportioned assumption inside manufacturer envelope","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set"],"bbox_m":null,"raw_keys":["bbox_asset_m","geometry_evidence","id","inertia_kg_m2","joint","mass_evidence","mass_kg","mesh_objects","object","origin_m","parent"]},{"id":"mounting_base","name_zh":"安装支撑部","function_zh":"支撑整机落在台面并提供安装外形。","physical_meaning_zh":"刚性外形,摩擦、紧固预载及安装承载限值未知。","subsystem":null,"parent":"root","origin_m":[0,0,0.001],"rpy_rad":[0,0,0],"objects":["alicat_mc__mounting_base"],"collisions":[],"joint":{"type":"fixed","axis":null,"limits":null,"state_id":null,"accessor":null},"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"drawing-proportioned assumption inside manufacturer envelope","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["bbox_asset_m","geometry_evidence","id","inertia_kg_m2","joint","mass_evidence","mass_kg","mesh_objects","object","origin_m","parent"]},{"id":"labels","name_zh":"标识及流向文字","function_zh":"识别型号、方向与主要控制区。","physical_meaning_zh":"文字为建模说明与外观标识,不代表运行测量值。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["alicat_mc__labels"],"collisions":[],"joint":{"type":"fixed","axis":null,"limits":null,"state_id":null,"accessor":null},"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"drawing-proportioned assumption inside manufacturer envelope","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["bbox_asset_m","geometry_evidence","id","inertia_kg_m2","joint","mass_evidence","mass_kg","mesh_objects","object","origin_m","parent"]}],"component_source":"geometry_manifest.json + asset.contract.json + collision_proxies.json","capabilities":{"power.set":{"function_zh":"设置仿真供电;断电令测量不可用且归零失效,未假设失电阀位。","kind":"device_command","availability":"implemented","component_ids":["electrical_connector"],"implementation":{"process":"verified","host":"verified","scene":"absent","robot":"absent","hardware":"absent"},"input":["enabled"]},"gas.select":{"function_zh":"零目标下选用宿主登记气体;尚未接气路或宿主确认无流;清除归零和累计量区间。","kind":"configuration","availability":"implemented","component_ids":["control_pad","sensor_block"],"implementation":{"process":"verified","host":"verified","scene":"absent","robot":"absent","hardware":"absent"},"input":["gas_id"]},"gas.set_reference_conditions":{"function_zh":"零目标下设置标准体积的参考温压;尚未接气路或宿主确认无流;清除归零和累计量区间。","kind":"configuration","availability":"implemented","component_ids":["control_pad","sensor_block"],"implementation":{"process":"verified","host":"verified","scene":"absent","robot":"absent","hardware":"absent"},"input":["temperature_K","pressure_Pa"]},"flow.set_setpoint":{"function_zh":"写入0或0.01–100%FS目标;成功不代表达到目标或平衡。","kind":"device_command","availability":"implemented","component_ids":["control_pad","valve_housing"],"implementation":{"process":"verified","host":"verified","scene":"absent","robot":"absent","hardware":"absent"},"input":["flow_rate_m3_s"]},"flow.zero":{"function_zh":"只在宿主提供无流、平衡与有效边界条件时记录一次合成归零;不推进时间。","kind":"device_command","availability":"implemented","component_ids":["control_pad","sensor_block"],"implementation":{"process":"verified","host":"verified","scene":"absent","robot":"absent","hardware":"absent"},"input":[]},"flow.reset_total":{"function_zh":"清零仿真累计标准体积的显示区间,不转移或删除气体。","kind":"device_command","availability":"implemented","component_ids":["control_pad","sensor_block"],"implementation":{"process":"verified","host":"verified","scene":"absent","robot":"absent","hardware":"absent"},"input":[]},"flow.read":{"function_zh":"读取当前估计观测,不推进时间。","kind":"query","availability":"implemented","component_ids":["sensor_block"],"implementation":{"process":"verified","host":"verified","scene":"absent","robot":"absent","hardware":"absent"},"input":[]},"control.set_pid":{"function_zh":"PID及真实阀曲线没有实现;没有编造增益单位或参数结构。","kind":"device_command","availability":"unsupported","component_ids":["control_pad","valve_housing"],"implementation":{"process":"absent","host":"absent","scene":"absent","robot":"absent","hardware":"absent"},"input":[]}},"state_slots":{"power.enabled":{"meaning_zh":"仿真供电开关;不代表电气硬件。","unit":"1","access":"read_write","origin":"setpoint","component_ids":["electrical_connector"],"write_via":"power.set"},"gas.selected_id":{"meaning_zh":"宿主登记并给出兼容性证据的气体标识。","unit":"1","access":"read_write","origin":"setpoint","component_ids":["sensor_block"],"write_via":"gas.select"},"gas.reference_temperature_k":{"meaning_zh":"标准体积参考温度;默认298.15K。","unit":"K","access":"read_only","origin":"setpoint","component_ids":["sensor_block"],"write_via":null},"gas.reference_pressure_pa":{"meaning_zh":"标准体积参考绝压;默认101325Pa。","unit":"Pa","access":"read_only","origin":"setpoint","component_ids":["sensor_block"],"write_via":null},"flow.setpoint_m3_s":{"meaning_zh":"标准体积流量目标;0为关闭目标,正目标范围0.01–100%FS。","unit":"m^3/s","access":"read_write","origin":"setpoint","component_ids":["valve_housing","control_pad"],"write_via":"flow.set_setpoint"},"flow.zeroed":{"meaning_zh":"合成归零记录;需要宿主确认无流与平衡。","unit":"1","access":"read_only","origin":"derived","component_ids":["sensor_block"],"write_via":null},"ports.upstream_node_id":{"meaning_zh":"实例连接的上游气路节点标识。","unit":"1","access":"read_only","origin":"scene","component_ids":["gas_inlet"],"write_via":null},"ports.downstream_node_id":{"meaning_zh":"实例连接的下游气路节点标识。","unit":"1","access":"read_only","origin":"scene","component_ids":["gas_outlet"],"write_via":null},"simulation.dynamic_model_configured":{"meaning_zh":"宿主是否提供显式一阶时间常数与证据。","unit":"1","access":"read_only","origin":"derived","component_ids":["sensor_block"],"write_via":null},"measurement.standard_flow_m3_s":{"meaning_zh":"合成标准体积流量观测;quality=estimated,不是独立实测。","unit":"m^3/s","access":"read_only","origin":"derived","component_ids":["sensor_block"],"write_via":null},"measurement.actual_flow_m3_s":{"meaning_zh":"按宿主气温和上游绝压进行理想气体换算的实际体积流量代理。","unit":"m^3/s","access":"read_only","origin":"derived","component_ids":["sensor_block"],"write_via":null},"measurement.mass_flow_kg_s":{"meaning_zh":"由标准流量与已知摩尔质量换算的质量流率;未知气体摩尔质量时为null。","unit":"kg/s","access":"read_only","origin":"derived","component_ids":["sensor_block"],"write_via":null},"measurement.pressure_pa":{"meaning_zh":"上游绝压边界代理,不是压力传感器实测。","unit":"Pa","access":"read_only","origin":"derived","component_ids":["sensor_block"],"write_via":null},"measurement.temperature_k":{"meaning_zh":"宿主气温代理,不是温度传感器实测。","unit":"K","access":"read_only","origin":"derived","component_ids":["sensor_block"],"write_via":null},"measurement.total_standard_volume_m3":{"meaning_zh":"本累计区间已积分的标准体积当前值;不代表宿主已完成气体库存转移。","unit":"m^3","access":"read_only","origin":"derived","component_ids":["sensor_block"],"write_via":null},"measurement.standard_accuracy_bound_m3_s":{"meaning_zh":"归零且宿主确认平衡时计算max(0.006|Q|,0.001FS);是规格界限表达,不是实测误差。","unit":"m^3/s","access":"read_only","origin":"derived","component_ids":["sensor_block"],"write_via":null},"measurement.accuracy_conditions_met":{"meaning_zh":"合成模型中归零及宿主平衡条件成立标志;不是固定等待时长判据。","unit":"1","access":"read_only","origin":"derived","component_ids":["sensor_block"],"write_via":null},"truth.standard_flow_m3_s":{"meaning_zh":"宿主合成过程的标准体积流量真值,限debug/evaluator。","unit":"m^3/s","access":"read_only","origin":"process_truth","component_ids":["sensor_block"],"write_via":null},"truth.total_standard_volume_m3":{"meaning_zh":"宿主合成过程的积分标准体积真值,限debug/evaluator。","unit":"m^3","access":"read_only","origin":"process_truth","component_ids":["sensor_block"],"write_via":null},"truth.upstream_pressure_pa":{"meaning_zh":"宿主提供上游绝压,限debug/evaluator。","unit":"Pa","access":"read_only","origin":"process_truth","component_ids":["sensor_block"],"write_via":null},"truth.downstream_pressure_pa":{"meaning_zh":"宿主提供下游绝压,限debug/evaluator。","unit":"Pa","access":"read_only","origin":"process_truth","component_ids":["sensor_block"],"write_via":null},"truth.temperature_k":{"meaning_zh":"宿主提供气体温度,限debug/evaluator。","unit":"K","access":"read_only","origin":"process_truth","component_ids":["sensor_block"],"write_via":null},"truth.equilibrium":{"meaning_zh":"宿主明确声明平衡,不由固定时间自动推出。","unit":"1","access":"read_only","origin":"process_truth","component_ids":["sensor_block"],"write_via":null},"truth.no_flow":{"meaning_zh":"宿主明确声明无流,未知流量不能代替此条件。","unit":"1","access":"read_only","origin":"process_truth","component_ids":["sensor_block"],"write_via":null},"truth.response_time_constant_s":{"meaning_zh":"宿主显式假设的一阶tau;缺省null,不默认采用30ms。","unit":"s","access":"read_only","origin":"process_truth","component_ids":["sensor_block"],"write_via":null}},"mechanisms":{"synthetic_flow_process":{"meaning_zh":"有明确宿主气路边界与显式tau后的一阶合成流量过程;不求解真实压差流动或PID。","implementation":"lumped","equations":["Q_next = Q_target + (Q_old-Q_target)*exp(-dt/tau),仅有明确tau、归零、有效温压与正向压差等前提时推进。","ΔV_std = Q_old*dt + (Q_target-Q_old)*(dt-tau*(1-exp(-dt/tau)));累计量是积分账面值,不是宿主物质转移事务。","Q_actual = Q_std*(T/T_ref)*(P_ref/P_upstream),理想气体、上游压力代理。","mass_flow = Q_std*P_ref*M/(R*T_ref),M未知时返回null。","accuracy_bound = max(0.006*abs(Q),0.001*FS),仅合成归零且宿主明确平衡时提供。"],"parameters":{"full_scale_standard_flow_m3_s":{"value":1.6666666666666667e-05,"unit":"m^3/s","evidence":"documented","meaning_zh":"full_scale_standard_flow_m3_s"},"minimum_positive_control_m3_s":{"value":1.666666666666667e-09,"unit":"m^3/s","evidence":"documented","meaning_zh":"minimum_positive_control_m3_s"},"fastest_control_t63_s":{"value":0.03,"unit":"s","evidence":"documented","meaning_zh":"配置与调整相关的最快T63,非稳定时间且不设为默认tau"},"default_reference_temperature_k":{"value":298.15,"unit":"K","evidence":"documented","meaning_zh":"default_reference_temperature_K"},"default_reference_pressure_pa":{"value":101325.0,"unit":"Pa","evidence":"documented","meaning_zh":"default_reference_pressure_Pa"},"default_dynamic_time_constant_s":{"value":null,"unit":"s","evidence":"unknown","meaning_zh":"default_dynamic_time_constant_s"},"gas_molar_mass_kg_mol":{"value":null,"unit":"kg/mol","evidence":"unknown","meaning_zh":"gas_molar_mass_kg_mol"},"valve_travel_m":{"value":null,"unit":"m","evidence":"unknown","meaning_zh":"valve_travel_m"},"pid_gains":{"value":null,"unit":"1","evidence":"unknown","meaning_zh":"实际参数结构及单位未知;1仅为此未知占位项的合同单位"},"operating_absolute_pressure_range":{"value":[79289.708871432,1103161.16690688],"unit":"Pa","evidence":"documented","meaning_zh":"工作绝压范围11.5–160PSIA,精确单位换算;并非压差。"},"operating_temperature_range":{"value":[263.15,333.15],"unit":"K","evidence":"documented","meaning_zh":"工作温度−10至60°C。"},"standard_accuracy_relative_reading":{"value":0.006,"unit":"1","evidence":"documented","meaning_zh":"标准精度读数比例项,须与FS项取较大绝对误差。"},"standard_accuracy_relative_full_scale":{"value":0.001,"unit":"1","evidence":"documented","meaning_zh":"标准精度FS比例项,需归零与平衡条件。"},"full_scale_air_pressure_drop":{"value":10342.135939752,"unit":"Pa","evidence":"documented","meaning_zh":"1SLPM满量程空气排大气时压降1.5PSID;不是所有气体、流量和背压下通用值。"},"documented_gas_count":{"value":98,"unit":"1","evidence":"documented","meaning_zh":"厂家可选气体数量;本批未复制数据库。"},"documented_mixture_definitions_maximum":{"value":20,"unit":"1","evidence":"documented","meaning_zh":"厂家混气定义数量上限;本批未实现混气数据库。"},"gas_viscosity":{"value":null,"unit":"Pa*s","evidence":"unknown","meaning_zh":"气体黏度未知,未虚构98种气体性质。"},"compressibility_factor":{"value":null,"unit":"1","evidence":"unknown","meaning_zh":"真实气体压缩因子未知;换算采用理想气体假设。"},"physical_settling_time":{"value":null,"unit":"s","evidence":"unknown","meaning_zh":"物理稳定时间未知,不从30ms T63编造。"}}},"gas_network_topology":{"meaning_zh":"上游节点→进气口→传感区→常闭调节阀→出气口→下游节点的功能拓扑。串联路径是模块接口抽象,非制造商内部流道结构复刻。","implementation":"qualitative","equations":[],"parameters":{}}},"limitations":["仅为合成过程与接口实现,无硬件驱动、机器人或真实阀动作。","气体兼容性由可信宿主登记;厂家98种气体和20个混气定义的数据库未实现。未知摩尔质量及性质保持null。","动态没有缺省时间常数。宿主必须给出明确假设及证据;最快T63 30 ms不是稳定时间,也不自动作为tau。","简化一阶模型仅在有效供压/背压和温度条件下使用。阀特性、压降曲线、PID、真实稳定判据和非理想气体性质未实现。","模型读数均为estimated;压力使用上游边界代理,温度使用宿主气温代理。不是实测传感器或厂家精度验证。","精度界限仅在归零且宿主声明平衡时计算 max(0.006|Q|,0.001FS);不生成误差分布,不从固定时长推断平衡。","标准流量和累计标准体积使用当前参考条件;改气体/参考条件使归零和读数失效并开启新累计量区间。","参考条件配置采用仿真定义:1 SLPM数值量程按当前参考条件解释;不声称复现厂商改变标准温压后内部标度处理。","气路节点引用由宿主保管。本适配器不做气源库存、守恒物质转移或压力网络求解,后续气路宿主需接入这些过程。","重放去重仅当前宿主内存有效,不声称跨重启恰好一次。API过滤不是Python或文件系统隔离。","所有外露部件采用刚性固定装配。无可靠内部阀行程,不制造可动关节;按钮位移与真实触碰未实现。","外形遵守91.1×26.7×103.3mm标称尺寸;局部艺术细节、端口端面x位置及法线方向为建模假设,不是加工图。","整机质量约0.5kg;URDF只有聚合根使用该质量与均匀盒近似惯量,单部件mass/inertia均null,不能重复计重。","URDF碰撞体只采用盒、柱、球基元;文件结构或Blender姿态验证不等于物理接触、稳定放置、碰撞或摩���性能验证。","静态显示屏和流向标识不与运行观测自动同步。GLB/OBJ为场景交换输出;本批未声称任何引擎中的物理求解兼容性。","整机搬运的attach/release由宿主约束事件负责;事件在合同中声明,未实现抓取、附着、释放或机器人动作。","合同稳定状态ID使用小写;真实运行API保留温度K和压力Pa后缀。请按runtime_state_id_map映射或使用read_binding,不能直接把规范ID当作真实API参数。"],"sources":[],"checks":{"coverage":{"status":"bridged","implemented":["flow.read","flow.reset_total","flow.set_setpoint","flow.zero","gas.select","gas.set_reference_conditions","power.set"],"unsupported":["control.set_pid"],"note_zh":"桥接 basic40_runtime_automation.AlicatMCRuntime(推进方式 host_step_dt),25 个状态槽;与运行层镜像对比全同;受信设置需经 host.call;关节化 USD(7 个按键(碰到即触发));接口点 0 个(无);布局:台面、机器人可搬、正面 −y、前方留空 0.25 m;面板读数 flow(4)"}},"previews":["previews/alicat_mc_1slpm_rev6/preview_front.webp","previews/alicat_mc_1slpm_rev6/preview_inlet.webp","previews/alicat_mc_1slpm_rev6/preview_perspective.webp"],"files":[{"name":"asset.contract.json","path":"assets/basic40_batch02/t5_automation/alicat_mc/asset.contract.json","bytes":213423},{"name":"collision_proxies.json","path":"assets/basic40_batch02/t5_automation/alicat_mc/collision_proxies.json","bytes":1513},{"name":"geometry_manifest.json","path":"assets/basic40_batch02/t5_automation/alicat_mc/geometry_manifest.json","bytes":13710},{"name":"model.blend","path":"assets/basic40_batch02/t5_automation/alicat_mc/model.blend","bytes":200026},{"name":"model.glb","path":"assets/basic40_batch02/t5_automation/alicat_mc/model.glb","bytes":515748},{"name":"model.urdf","path":"assets/basic40_batch02/t5_automation/alicat_mc/model.urdf","bytes":4759}],"completeness":{"components":11,"with_collisions":0,"with_objects":11,"with_function":11,"with_mass":0,"joints_matching_component":0,"joints":7,"has_contract":true,"has_layout":true,"has_glb":true,"checks_present":["articulation_check","coverage","validation_summary","contract_validation","runtime_validation","scene_validation"]},"slug":"alicat_mc_1slpm_rev6","chem_id":"CHEM-180","name_en":"Gas mass-flow controller","maker":"Alicat Scientific","model":"MC, 1 SLPM full scale, Rev6","domain":"automation","domain_name":"Automation & Gas/Liquid Supply","path":"assets/basic40_batch02/t5_automation/alicat_mc","glb_up":"z","has_contract":true,"contract":"assets/basic40_batch02/t5_automation/alicat_mc/asset.contract.json","runtime":"scripts/basic40_runtime_automation.py"}
|
|
|
|
| 1 |
+
{"tid":"instrument.alicat_mc_1slpm_rev6","asset_dir":"basic40_batch02/t5_automation/alicat_mc","name_zh":"气体质量流量控制器(Alicat MC,1 SLPM,标准精度,Rev6)","category":"自动化与气液供给","description_zh":"CHEM-180:按指定清单的 Alicat Scientific MC 1 SLPM 满量程、标准精度、Rev6 规格建造。本合同完整登记本批外观组件与进出气拓扑;full 仅表示所选配置组件覆盖,不代表厂商全部气体数据库、PID、真实阀特性或硬件已实现。","coordinate_system":{"status":"defined","length_unit":"m","angle_unit":"rad","handedness":"right","up_axis":"+Z","frame":"asset_root=alicat_mc__root:原点在整机台面投影中心、台面z=0;X沿91.1mm气路宽度,+X由进气至出气;+Y向后;+Z向上。端口轴和艺术细节属本次建模约定。"},"mass_kg":0.5,"size_m":[0.0911,0.0267,0.1033],"bbox_min":[-0.0455,-0.0134,-0.0],"bbox_max":[0.0456,0.0133,0.1033],"manifest_dimensions_m":[0.0911,0.0267,0.1033],"glb":"assets/basic40_batch02/t5_automation/alicat_mc/model.glb","glb_orientation":"already_z_up","usd":null,"urdf":"assets/basic40_batch02/t5_automation/alicat_mc/model.urdf","links":{"base_link":"/Geometry/base_link","btn_control_pad_key_0_0936_0_link":"/Geometry/base_link/btn_control_pad_key_0_0936_0_link","btn_control_pad_key_0_0936_1_link":"/Geometry/base_link/btn_control_pad_key_0_0936_1_link","btn_control_pad_key_0_0936_2_link":"/Geometry/base_link/btn_control_pad_key_0_0936_2_link","btn_control_pad_key_0_0436_0_link":"/Geometry/base_link/btn_control_pad_key_0_0436_0_link","btn_control_pad_key_0_0436_1_link":"/Geometry/base_link/btn_control_pad_key_0_0436_1_link","btn_control_pad_key_0_0436_2_link":"/Geometry/base_link/btn_control_pad_key_0_0436_2_link","btn_control_pad_backlight_key_link":"/Geometry/base_link/btn_control_pad_backlight_key_link"},"frames":{"pre_place":[0.0,0.0,0.2833],"place":[0.0,0.0,0.1533],"post_place":[0.0,0.0,0.2833],"joint_btn_control_pad_key_0_0936_0":[-0.001,-0.01312,0.0936],"joint_btn_control_pad_key_0_0936_1":[0.01525,-0.01312,0.0936],"joint_btn_control_pad_key_0_0936_2":[0.0315,-0.01312,0.0936],"joint_btn_control_pad_key_0_0436_0":[-0.001,-0.01312,0.0436],"joint_btn_control_pad_key_0_0436_1":[0.01525,-0.01312,0.0436],"joint_btn_control_pad_key_0_0436_2":[0.0315,-0.01312,0.0436],"joint_btn_control_pad_backlight_key":[0.01525,-0.01312,0.034]},"joints":[{"name":"btn_control_pad_key_0_0936_0","type":"prismatic","parent":"control_pad","child":"btn_control_pad_key_0_0936_0_link","axis":[-0.0,1.0,0.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[-0.001,-0.01312,0.0936],"child_prim":"/Geometry/base_link/btn_control_pad_key_0_0936_0_link","child_bbox_min":[-0.0077,-0.01326,0.09045],"child_bbox_max":[0.0057,-0.01298,0.09675],"kind":"button"},{"name":"btn_control_pad_key_0_0936_1","type":"prismatic","parent":"control_pad","child":"btn_control_pad_key_0_0936_1_link","axis":[-0.0,1.0,-0.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[0.01525,-0.01312,0.0936],"child_prim":"/Geometry/base_link/btn_control_pad_key_0_0936_1_link","child_bbox_min":[0.00855,-0.01326,0.09045],"child_bbox_max":[0.02195,-0.01298,0.09675],"kind":"button"},{"name":"btn_control_pad_key_0_0936_2","type":"prismatic","parent":"control_pad","child":"btn_control_pad_key_0_0936_2_link","axis":[-0.0,1.0,-0.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[0.0315,-0.01312,0.0936],"child_prim":"/Geometry/base_link/btn_control_pad_key_0_0936_2_link","child_bbox_min":[0.0248,-0.01326,0.09045],"child_bbox_max":[0.0382,-0.01298,0.09675],"kind":"button"},{"name":"btn_control_pad_key_0_0436_0","type":"prismatic","parent":"control_pad","child":"btn_control_pad_key_0_0436_0_link","axis":[-0.0,1.0,0.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[-0.001,-0.01312,0.0436],"child_prim":"/Geometry/base_link/btn_control_pad_key_0_0436_0_link","child_bbox_min":[-0.0077,-0.01326,0.04045],"child_bbox_max":[0.0057,-0.01298,0.04675],"kind":"button"},{"name":"btn_control_pad_key_0_0436_1","type":"prismatic","parent":"control_pad","child":"btn_control_pad_key_0_0436_1_link","axis":[-0.0,1.0,-0.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[0.01525,-0.01312,0.0436],"child_prim":"/Geometry/base_link/btn_control_pad_key_0_0436_1_link","child_bbox_min":[0.00855,-0.01326,0.04045],"child_bbox_max":[0.02195,-0.01298,0.04675],"kind":"button"},{"name":"btn_control_pad_key_0_0436_2","type":"prismatic","parent":"control_pad","child":"btn_control_pad_key_0_0436_2_link","axis":[-0.0,1.0,0.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[0.0315,-0.01312,0.0436],"child_prim":"/Geometry/base_link/btn_control_pad_key_0_0436_2_link","child_bbox_min":[0.0248,-0.01326,0.04045],"child_bbox_max":[0.0382,-0.01298,0.04675],"kind":"button"},{"name":"btn_control_pad_backlight_key","type":"prismatic","parent":"control_pad","child":"btn_control_pad_backlight_key_link","axis":[-0.0,1.0,0.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[0.01525,-0.01312,0.034],"child_prim":"/Geometry/base_link/btn_control_pad_backlight_key_link","child_bbox_min":[0.00025,-0.01326,0.03135],"child_bbox_max":[0.03025,-0.01298,0.03665],"kind":"button"}],"controls":{"buttons":["btn_control_pad_key_0_0936_0","btn_control_pad_key_0_0936_1","btn_control_pad_key_0_0936_2","btn_control_pad_key_0_0436_0","btn_control_pad_key_0_0436_1","btn_control_pad_key_0_0436_2"],"knobs":[]},"slots":[],"hidden_parts":[],"readouts":[{"name":"flow","part":"alicat_mc__display_screen__lcd_reading","prim":"/Geometry/base_link/readout_flow","link":"base_link","digits":4,"decimals":0,"unit":"sccm","center":[0.0153,-0.0134,0.0688],"up":[0.0,-0.0,1.0],"source":{"bridge":["measurement.standard_flow_m3_s","flow.setpoint_m3_s"],"scale":60000000.0},"blank_channel":null,"on":[0.05,0.06,0.05],"off":[0.62,0.68,0.55],"size_m":[0.0114,0.0022],"normal":[0.0,-1.0,-0.0]}],"layout":{"front":[0.0,-1.0,0.0],"front_source":"controls","mount":"bench","weight_class":"robot_portable","mass_kg":0.5,"footprint_m":[0.0911,0.0267],"height_m":0.1033,"clearance_m":{"front":0.25,"back":0.1,"left":0.05,"right":0.05,"top":0.1},"robot_standoff_m":0.35,"work_height_m":0.1033,"primary_slot":null,"access":[],"slot_count":0},"components":[{"id":"flow_body","name_zh":"气路基体","function_zh":"容纳气体通过的基体与端口连接。","physical_meaning_zh":"连接内部测量区和控制阀的被动承压外观体;真实流阻、容积及材料未知。","subsystem":null,"parent":"root","origin_m":[0,0,0.0072],"rpy_rad":[0,0,0],"objects":["alicat_mc__flow_body"],"collisions":[],"joint":{"type":"fixed","axis":null,"limits":null,"state_id":null,"accessor":null},"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"drawing-proportioned assumption inside manufacturer envelope","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["bbox_asset_m","geometry_evidence","id","inertia_kg_m2","joint","mass_evidence","mass_kg","mesh_objects","object","origin_m","parent"]},{"id":"sensor_block","name_zh":"传感组件外形","function_zh":"承载流量、压力和温度的合成观测对应组件。","physical_meaning_zh":"合成读数由宿主与过程代理给出;非实测传感器,内部流道未重���。","subsystem":null,"parent":"root","origin_m":[0.0155,0,0.0184],"rpy_rad":[0,0,0],"objects":["alicat_mc__sensor_block"],"collisions":[],"joint":{"type":"fixed","axis":null,"limits":null,"state_id":null,"accessor":null},"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"drawing-proportioned assumption inside manufacturer envelope","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["gas.select","gas.set_reference_conditions","flow.zero","flow.reset_total","flow.read"],"bbox_m":null,"raw_keys":["bbox_asset_m","geometry_evidence","id","inertia_kg_m2","joint","mass_evidence","mass_kg","mesh_objects","object","origin_m","parent"]},{"id":"valve_housing","name_zh":"控制阀外壳","function_zh":"承载气体流量控制阀的外形与功能登记。","physical_meaning_zh":"原厂标准阀功能为常闭;内部机构、行程和失电关闭动态未实现。","subsystem":null,"parent":"root","origin_m":[-0.032,0,0.0358],"rpy_rad":[0,0,0],"objects":["alicat_mc__valve_housing"],"collisions":[],"joint":{"type":"fixed","axis":null,"limits":null,"state_id":null,"accessor":null},"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"drawing-proportioned assumption inside manufacturer envelope","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["flow.set_setpoint","control.set_pid"],"bbox_m":null,"raw_keys":["bbox_asset_m","geometry_evidence","id","inertia_kg_m2","joint","mass_evidence","mass_kg","mesh_objects","object","origin_m","parent"]},{"id":"display_housing","name_zh":"显示控制外壳","function_zh":"承载显示器、控制区及电子模块。","physical_meaning_zh":"刚性封装与支撑;散热、电路及电子元件未建模。","subsystem":null,"parent":"root","origin_m":[0.01525,0,0.06135],"rpy_rad":[0,0,0],"objects":["alicat_mc__display_housing"],"collisions":[],"joint":{"type":"fixed","axis":null,"limits":null,"state_id":null,"accessor":null},"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"drawing-proportioned assumption inside manufacturer envelope","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["bbox_asset_m","geometry_evidence","id","inertia_kg_m2","joint","mass_evidence","mass_kg","mesh_objects","object","origin_m","parent"]},{"id":"display_screen","name_zh":"显示屏","function_zh":"显示区域的可辨识外观。","physical_meaning_zh":"屏幕为静态视觉示意,尚无运行层到屏幕的跨层同步。","subsystem":null,"parent":"root","origin_m":[0.01525,-0.01266,0.068],"rpy_rad":[0,0,0],"objects":["alicat_mc__display_screen"],"collisions":[],"joint":{"type":"fixed","axis":null,"limits":null,"state_id":null,"accessor":null},"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"drawing-proportioned assumption inside manufacturer envelope","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["bbox_asset_m","geometry_evidence","id","inertia_kg_m2","joint","mass_evidence","mass_kg","mesh_objects","object","origin_m","parent"]},{"id":"control_pad","name_zh":"控制按键组","function_zh":"对应目标流量、气体选择、参考状态和归零操作的外观。","physical_meaning_zh":"外观按钮固定;按键触感、位移和接触动作未实现。","subsystem":null,"parent":"root","origin_m":[0.01525,-0.0128,0.067],"rpy_rad":[0,0,0],"objects":["alicat_mc__control_pad"],"collisions":[],"joint":{"type":"fixed","axis":null,"limits":null,"state_id":null,"accessor":null},"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"drawing-proportioned assumption inside manufacturer envelope","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["gas.select","gas.set_reference_conditions","flow.set_setpoint","flow.zero","flow.reset_total","control.set_pid"],"bbox_m":null,"raw_keys":["bbox_asset_m","geometry_evidence","id","inertia_kg_m2","joint","mass_evidence","mass_kg","mesh_objects","object","origin_m","parent"]},{"id":"gas_inlet","name_zh":"进气端口","function_zh":"将宿主上游气路节点连接到本机进气口。","physical_meaning_zh":"1/8 NPT female名义工艺接口;具体螺纹、密封压缩和软管接触未模拟。","subsystem":null,"parent":"root","origin_m":[-0.04555,0,0.0089],"rpy_rad":[0,0,0],"objects":["alicat_mc__gas_inlet"],"collisions":[],"joint":{"type":"fixed","axis":null,"limits":null,"state_id":null,"accessor":null},"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"drawing-proportioned assumption inside manufacturer envelope","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["bbox_asset_m","geometry_evidence","id","inertia_kg_m2","joint","mass_evidence","mass_kg","mesh_objects","object","origin_m","parent"]},{"id":"gas_outlet","name_zh":"出气端口","function_zh":"将本机出口连接到宿主下游气路节点。","physical_meaning_zh":"1/8 NPT female名义工艺接口;真实流量与库存转移须由气路宿主计算。","subsystem":null,"parent":"root","origin_m":[0.04555,0,0.0089],"rpy_rad":[0,0,0],"objects":["alicat_mc__gas_outlet"],"collisions":[],"joint":{"type":"fixed","axis":null,"limits":null,"state_id":null,"accessor":null},"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"drawing-proportioned assumption inside manufacturer envelope","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["bbox_asset_m","geometry_evidence","id","inertia_kg_m2","joint","mass_evidence","mass_kg","mesh_objects","object","origin_m","parent"]},{"id":"electrical_connector","name_zh":"电气与数据连接区","function_zh":"容纳仪器电源/控制通信连接的外观位置。","physical_meaning_zh":"外部供电由仿真开关表示;针脚、电压、协议和真实硬件驱动未实现。","subsystem":null,"parent":"root","origin_m":[0.01525,0,0.1022],"rpy_rad":[0,0,0],"objects":["alicat_mc__electrical_connector"],"collisions":[],"joint":{"type":"fixed","axis":null,"limits":null,"state_id":null,"accessor":null},"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"drawing-proportioned assumption inside manufacturer envelope","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set"],"bbox_m":null,"raw_keys":["bbox_asset_m","geometry_evidence","id","inertia_kg_m2","joint","mass_evidence","mass_kg","mesh_objects","object","origin_m","parent"]},{"id":"mounting_base","name_zh":"安装支撑部","function_zh":"支撑整机落在台面并提供安装外形。","physical_meaning_zh":"刚性外形,摩擦、紧固预载及安装承载限值未知。","subsystem":null,"parent":"root","origin_m":[0,0,0.001],"rpy_rad":[0,0,0],"objects":["alicat_mc__mounting_base"],"collisions":[],"joint":{"type":"fixed","axis":null,"limits":null,"state_id":null,"accessor":null},"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"drawing-proportioned assumption inside manufacturer envelope","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["bbox_asset_m","geometry_evidence","id","inertia_kg_m2","joint","mass_evidence","mass_kg","mesh_objects","object","origin_m","parent"]},{"id":"labels","name_zh":"标识及流向文字","function_zh":"识别型号、方向与主要控制区。","physical_meaning_zh":"文字为建模说明与外观标识,不代表运行测量值。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["alicat_mc__labels"],"collisions":[],"joint":{"type":"fixed","axis":null,"limits":null,"state_id":null,"accessor":null},"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"drawing-proportioned assumption inside manufacturer envelope","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["bbox_asset_m","geometry_evidence","id","inertia_kg_m2","joint","mass_evidence","mass_kg","mesh_objects","object","origin_m","parent"]}],"component_source":"geometry_manifest.json + asset.contract.json + collision_proxies.json","capabilities":{"power.set":{"function_zh":"设置仿真供电;断电令测量不可用且归零失效,未假设失电阀位。","kind":"device_command","availability":"implemented","component_ids":["electrical_connector"],"implementation":{"process":"verified","host":"verified","scene":"absent","robot":"absent","hardware":"absent"},"input":["enabled"]},"gas.select":{"function_zh":"零目标下选用宿主登记气体;尚未接气路或宿主确认无流;清除归零和累计量区间。","kind":"configuration","availability":"implemented","component_ids":["control_pad","sensor_block"],"implementation":{"process":"verified","host":"verified","scene":"absent","robot":"absent","hardware":"absent"},"input":["gas_id"]},"gas.set_reference_conditions":{"function_zh":"零目标下设置标准体积的参考温压;尚未接气路或宿主确认无流;清除归零和累计量区间。","kind":"configuration","availability":"implemented","component_ids":["control_pad","sensor_block"],"implementation":{"process":"verified","host":"verified","scene":"absent","robot":"absent","hardware":"absent"},"input":["temperature_K","pressure_Pa"]},"flow.set_setpoint":{"function_zh":"写入0或0.01–100%FS目标;成功不代表达到目标或平衡。","kind":"device_command","availability":"implemented","component_ids":["control_pad","valve_housing"],"implementation":{"process":"verified","host":"verified","scene":"absent","robot":"absent","hardware":"absent"},"input":["flow_rate_m3_s"]},"flow.zero":{"function_zh":"只在宿主提供无流、平衡与有效边界条件时记录一次合成归零;不推进时间。","kind":"device_command","availability":"implemented","component_ids":["control_pad","sensor_block"],"implementation":{"process":"verified","host":"verified","scene":"absent","robot":"absent","hardware":"absent"},"input":[]},"flow.reset_total":{"function_zh":"清零仿真累计标准体积的显示区间,不转移或删除气体。","kind":"device_command","availability":"implemented","component_ids":["control_pad","sensor_block"],"implementation":{"process":"verified","host":"verified","scene":"absent","robot":"absent","hardware":"absent"},"input":[]},"flow.read":{"function_zh":"读取当前估计观测,不推进时间。","kind":"query","availability":"implemented","component_ids":["sensor_block"],"implementation":{"process":"verified","host":"verified","scene":"absent","robot":"absent","hardware":"absent"},"input":[]},"control.set_pid":{"function_zh":"PID及真实阀曲线没有实现;没有编造增益单位或参数结构。","kind":"device_command","availability":"unsupported","component_ids":["control_pad","valve_housing"],"implementation":{"process":"absent","host":"absent","scene":"absent","robot":"absent","hardware":"absent"},"input":[]}},"state_slots":{"power.enabled":{"meaning_zh":"仿真供电开关;不代表电气硬件。","unit":"1","access":"read_write","origin":"setpoint","component_ids":["electrical_connector"],"write_via":"power.set"},"gas.selected_id":{"meaning_zh":"宿主登记并给出兼容性证据的气体标识。","unit":"1","access":"read_write","origin":"setpoint","component_ids":["sensor_block"],"write_via":"gas.select"},"gas.reference_temperature_k":{"meaning_zh":"标准体积参考温度;默认298.15K。","unit":"K","access":"read_only","origin":"setpoint","component_ids":["sensor_block"],"write_via":null},"gas.reference_pressure_pa":{"meaning_zh":"标准体积参考绝压;默认101325Pa。","unit":"Pa","access":"read_only","origin":"setpoint","component_ids":["sensor_block"],"write_via":null},"flow.setpoint_m3_s":{"meaning_zh":"标准体积流量目标;0为关闭目标,正目标范围0.01–100%FS。","unit":"m^3/s","access":"read_write","origin":"setpoint","component_ids":["valve_housing","control_pad"],"write_via":"flow.set_setpoint"},"flow.zeroed":{"meaning_zh":"合成归零记录;需要宿主确认无流与平衡。","unit":"1","access":"read_only","origin":"derived","component_ids":["sensor_block"],"write_via":null},"ports.upstream_node_id":{"meaning_zh":"实例连接的上游气路节点标识。","unit":"1","access":"read_only","origin":"scene","component_ids":["gas_inlet"],"write_via":null},"ports.downstream_node_id":{"meaning_zh":"实例连接的下游气路节点标识。","unit":"1","access":"read_only","origin":"scene","component_ids":["gas_outlet"],"write_via":null},"simulation.dynamic_model_configured":{"meaning_zh":"宿主是否提供显式一阶时间常数与证据。","unit":"1","access":"read_only","origin":"derived","component_ids":["sensor_block"],"write_via":null},"measurement.standard_flow_m3_s":{"meaning_zh":"合成标准体积流量观测;quality=estimated,不是独立实测。","unit":"m^3/s","access":"read_only","origin":"derived","component_ids":["sensor_block"],"write_via":null},"measurement.actual_flow_m3_s":{"meaning_zh":"按宿主气温和上游绝压进行理想气体换算的实际体积流量代理。","unit":"m^3/s","access":"read_only","origin":"derived","component_ids":["sensor_block"],"write_via":null},"measurement.mass_flow_kg_s":{"meaning_zh":"由标准流量与已知摩尔质量换算的质量流率;未知气体摩尔质量时为null。","unit":"kg/s","access":"read_only","origin":"derived","component_ids":["sensor_block"],"write_via":null},"measurement.pressure_pa":{"meaning_zh":"上游绝压边界代理,不是压力传感器实测。","unit":"Pa","access":"read_only","origin":"derived","component_ids":["sensor_block"],"write_via":null},"measurement.temperature_k":{"meaning_zh":"宿主气温代理,不是温度传感器实测。","unit":"K","access":"read_only","origin":"derived","component_ids":["sensor_block"],"write_via":null},"measurement.total_standard_volume_m3":{"meaning_zh":"本累计区间已积分的标准体积当前值;不代表宿主已完成气体库存转移。","unit":"m^3","access":"read_only","origin":"derived","component_ids":["sensor_block"],"write_via":null},"measurement.standard_accuracy_bound_m3_s":{"meaning_zh":"归零且宿主确认平衡时计算max(0.006|Q|,0.001FS);是规格���限表达,不是实测误差。","unit":"m^3/s","access":"read_only","origin":"derived","component_ids":["sensor_block"],"write_via":null},"measurement.accuracy_conditions_met":{"meaning_zh":"合成模型中归零及宿主平衡条件成立标志;不是固定等待时长判据。","unit":"1","access":"read_only","origin":"derived","component_ids":["sensor_block"],"write_via":null},"truth.standard_flow_m3_s":{"meaning_zh":"宿主合成过程的标准体积流量真值,限debug/evaluator。","unit":"m^3/s","access":"read_only","origin":"process_truth","component_ids":["sensor_block"],"write_via":null},"truth.total_standard_volume_m3":{"meaning_zh":"宿主合成过程的积分标准体积真值,限debug/evaluator。","unit":"m^3","access":"read_only","origin":"process_truth","component_ids":["sensor_block"],"write_via":null},"truth.upstream_pressure_pa":{"meaning_zh":"宿主提供上游绝压,限debug/evaluator。","unit":"Pa","access":"read_only","origin":"process_truth","component_ids":["sensor_block"],"write_via":null},"truth.downstream_pressure_pa":{"meaning_zh":"宿主提供下游绝压,限debug/evaluator。","unit":"Pa","access":"read_only","origin":"process_truth","component_ids":["sensor_block"],"write_via":null},"truth.temperature_k":{"meaning_zh":"宿主提供气体温度,限debug/evaluator。","unit":"K","access":"read_only","origin":"process_truth","component_ids":["sensor_block"],"write_via":null},"truth.equilibrium":{"meaning_zh":"宿主明确声明平衡,不由固定时间自动推出。","unit":"1","access":"read_only","origin":"process_truth","component_ids":["sensor_block"],"write_via":null},"truth.no_flow":{"meaning_zh":"宿主明确声明无流,未知流量不能代替此条件。","unit":"1","access":"read_only","origin":"process_truth","component_ids":["sensor_block"],"write_via":null},"truth.response_time_constant_s":{"meaning_zh":"宿主显式假设的一阶tau;缺省null,不默认采用30ms。","unit":"s","access":"read_only","origin":"process_truth","component_ids":["sensor_block"],"write_via":null}},"mechanisms":{"synthetic_flow_process":{"meaning_zh":"有明确宿主气路边界与显式tau后的一阶合成流量过程;不求解真实压差流动或PID。","implementation":"lumped","equations":["Q_next = Q_target + (Q_old-Q_target)*exp(-dt/tau),仅有明确tau、归零、有效温压与正向压差等前提时推进。","ΔV_std = Q_old*dt + (Q_target-Q_old)*(dt-tau*(1-exp(-dt/tau)));累计量是积分账面值,不是宿主物质转移事务。","Q_actual = Q_std*(T/T_ref)*(P_ref/P_upstream),理想气体、上游压力代理。","mass_flow = Q_std*P_ref*M/(R*T_ref),M未知时返回null。","accuracy_bound = max(0.006*abs(Q),0.001*FS),仅合成归零且宿主明确平衡时提供。"],"parameters":{"full_scale_standard_flow_m3_s":{"value":1.6666666666666667e-05,"unit":"m^3/s","evidence":"documented","meaning_zh":"full_scale_standard_flow_m3_s"},"minimum_positive_control_m3_s":{"value":1.666666666666667e-09,"unit":"m^3/s","evidence":"documented","meaning_zh":"minimum_positive_control_m3_s"},"fastest_control_t63_s":{"value":0.03,"unit":"s","evidence":"documented","meaning_zh":"配置与调整相关的最快T63,非稳定时间且不设为默认tau"},"default_reference_temperature_k":{"value":298.15,"unit":"K","evidence":"documented","meaning_zh":"default_reference_temperature_K"},"default_reference_pressure_pa":{"value":101325.0,"unit":"Pa","evidence":"documented","meaning_zh":"default_reference_pressure_Pa"},"default_dynamic_time_constant_s":{"value":null,"unit":"s","evidence":"unknown","meaning_zh":"default_dynamic_time_constant_s"},"gas_molar_mass_kg_mol":{"value":null,"unit":"kg/mol","evidence":"unknown","meaning_zh":"gas_molar_mass_kg_mol"},"valve_travel_m":{"value":null,"unit":"m","evidence":"unknown","meaning_zh":"valve_travel_m"},"pid_gains":{"value":null,"unit":"1","evidence":"unknown","meaning_zh":"实际参数结构及单位未知;1仅为此未知占位项的合同单位"},"operating_absolute_pressure_range":{"value":[79289.708871432,1103161.16690688],"unit":"Pa","evidence":"documented","meaning_zh":"工作绝压范围11.5–160PSIA,精确单位换算;并非压差。"},"operating_temperature_range":{"value":[263.15,333.15],"unit":"K","evidence":"documented","meaning_zh":"工作温度−10至60°C。"},"standard_accuracy_relative_reading":{"value":0.006,"unit":"1","evidence":"documented","meaning_zh":"标准精度读数比例项,须与FS项取较大绝对误差。"},"standard_accuracy_relative_full_scale":{"value":0.001,"unit":"1","evidence":"documented","meaning_zh":"标准精度FS比例项,需归零与平衡条件。"},"full_scale_air_pressure_drop":{"value":10342.135939752,"unit":"Pa","evidence":"documented","meaning_zh":"1SLPM满量程空气排大气时压降1.5PSID;不是所有气体、流量和背压下通用值。"},"documented_gas_count":{"value":98,"unit":"1","evidence":"documented","meaning_zh":"厂家可选气体数量;本批未复制数据库。"},"documented_mixture_definitions_maximum":{"value":20,"unit":"1","evidence":"documented","meaning_zh":"厂家混气定义数量上限;本批未实现混气数据库。"},"gas_viscosity":{"value":null,"unit":"Pa*s","evidence":"unknown","meaning_zh":"气体黏度未知,未虚构98种气体性质。"},"compressibility_factor":{"value":null,"unit":"1","evidence":"unknown","meaning_zh":"真实气体压缩因子未知;换算采用理想气体假设。"},"physical_settling_time":{"value":null,"unit":"s","evidence":"unknown","meaning_zh":"物理稳定时间未知,不从30ms T63编造。"}}},"gas_network_topology":{"meaning_zh":"上游节点→进气口→传感区→常闭调节阀→出气口→下游节点的功能拓扑。串联路径是模块接口抽象,非制造商内部流道结构复刻。","implementation":"qualitative","equations":[],"parameters":{}}},"limitations":["仅为合成过程与接口实现,无硬件驱动、机器人或真实阀动作。","气体兼容性由可信宿主登记;厂家98种气体和20个混气定义的数据库未实现。未知摩尔质量及性质保持null。","动态没有缺省时间常数。宿主必须给出明确假设及证据;最快T63 30 ms不是稳定时间,也不自动作为tau。","简化一阶模型仅在有效供压/背压和温度条件下使用。阀特性、压降曲线、PID、真实稳定判据和非理想气体性质未实现。","模型读数均为estimated;压力使用上游边界代理,温度使用宿主气温代理。不是实测传感器或厂家精度验证。","精度界限仅在归零且宿主声明平衡时计算 max(0.006|Q|,0.001FS);不生成误差分布,不从固定时长推断平衡。","标准流量和累计标准体积使用当前参考条件;改气体/参考条件使归零和读数失效并开启新累计量区间。","参考条件配置采用仿真定义:1 SLPM数值量程按当前参考条件解释;不声称复现厂商改变标准温压后内部标度处理。","气路节点引用由宿主保管。本适配器不做气源库存、守恒物质转移或压力网络求解,后续气路宿主需接入这些过程。","重放去重仅当前宿主内存有效,不声称跨重启恰好一次。API过滤不是Python或文件系统隔离。","所有外露部件采用刚性固定装配。无可靠内部阀行程,不制造可动关节;按钮位移与真实触碰未实现。","外形遵守91.1×26.7×103.3mm标称尺寸;局部艺术细节、端口端面x位置及法线方向为建模假设,不是加工图。","整机质量约0.5kg;URDF只有聚合根使用该质量与均匀盒近似惯量,单部件mass/inertia均null,不能重复计重。","URDF碰撞体只采用盒、柱、球基元;文件结构或Blender姿态验证不等于物理接触、稳定放置、碰撞或摩擦性能验证。","静态显示屏和流向标识不与运行观测自动同步。GLB/OBJ为场景交换输出;本批未声称任何引擎中的物理求解兼容性。","整机搬运的attach/release由宿主约束事件负责;事件在合同中声明,未实现抓取、附着、释放或机器人动作。","合同稳定状态ID使用小写;真实运行API保留温度K和压力Pa后缀。请按runtime_state_id_map映射或使用read_binding,不能直接把规范ID当作真实API参数。"],"sources":[],"checks":{"coverage":{"status":"bridged","implemented":["flow.read","flow.reset_total","flow.set_setpoint","flow.zero","gas.select","gas.set_reference_conditions","power.set"],"unsupported":["control.set_pid"],"note_zh":"桥接 basic40_runtime_automation.AlicatMCRuntime(推进方式 host_step_dt),25 个状态槽;与运行层镜像对比全同;受信设置需经 host.call;关节化 USD(7 个按键(碰到即触发));接口点 0 个(无);布局:台面、机器人可搬、正面 −y、前方留空 0.25 m;面板读数 flow(4)"}},"previews":["previews/alicat_mc_1slpm_rev6/preview_front.webp","previews/alicat_mc_1slpm_rev6/preview_inlet.webp","previews/alicat_mc_1slpm_rev6/preview_perspective.webp"],"files":[{"name":"asset.contract.json","path":"assets/basic40_batch02/t5_automation/alicat_mc/asset.contract.json","bytes":262852},{"name":"collision_proxies.json","path":"assets/basic40_batch02/t5_automation/alicat_mc/collision_proxies.json","bytes":1513},{"name":"geometry_manifest.json","path":"assets/basic40_batch02/t5_automation/alicat_mc/geometry_manifest.json","bytes":13710},{"name":"model.blend","path":"assets/basic40_batch02/t5_automation/alicat_mc/model.blend","bytes":200026},{"name":"model.glb","path":"assets/basic40_batch02/t5_automation/alicat_mc/model.glb","bytes":515748},{"name":"model.urdf","path":"assets/basic40_batch02/t5_automation/alicat_mc/model.urdf","bytes":4759}],"completeness":{"components":11,"with_collisions":0,"with_objects":11,"with_function":11,"with_mass":0,"joints_matching_component":0,"joints":7,"has_contract":true,"has_layout":true,"has_glb":true,"checks_present":["articulation_check","coverage","validation_summary","contract_validation","runtime_validation","scene_validation"]},"slug":"alicat_mc_1slpm_rev6","chem_id":"CHEM-180","name_en":"Gas mass-flow controller","maker":"Alicat Scientific","model":"MC, 1 SLPM full scale, Rev6","domain":"automation","domain_name":"Automation & Gas/Liquid Supply","path":"assets/basic40_batch02/t5_automation/alicat_mc","glb_up":"z","has_contract":true,"contract":"assets/basic40_batch02/t5_automation/alicat_mc/asset.contract.json","runtime":"scripts/basic40_runtime_automation.py"}
|
data/assets/instrument.antonpaar_hit300.json
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/assets/instrument.antonpaar_monowave400.json
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/assets/instrument.antonpaar_poremaster60.json
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/assets/instrument.antonpaar_rst300.json
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/assets/instrument.antonpaar_surpass3.json
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/assets/instrument.antonpaar_trb.json
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/assets/instrument.azenta_automated_roll_heat_sealer_a4s.json
CHANGED
|
@@ -1 +1 @@
|
|
| 1 |
-
{"tid":"instrument.azenta_automated_roll_heat_sealer_a4s","asset_dir":"basic40_batch02/t5_automation/azenta_heat_sealer","name_zh":"自动微孔板热封膜机","category":"自动化与气液供给","description_zh":"CHEM-176 Azenta Life Sciences Automated Roll Heat Sealer(原a4S)。完整登记本次模型功能组件,提供压合展示与有明确宿主边界的封膜计时模型;不宣称完整复现所有厂家功能。","coordinate_system":{"status":"defined","length_unit":"m","angle_unit":"rad","handedness":"right","up_axis":"+Z","frame":"asset_root;原点为标称台面投影中心、台面z=0,+X向右,+Y向后。glb显式保留Z-up,导入器须尊重此约定。"},"mass_kg":27.0,"size_m":[0.2312,0.5075,0.403],"bbox_min":[-0.1152,-0.2535,0.0],"bbox_max":[0.116,0.254,0.403],"manifest_dimensions_m":null,"glb":"assets/basic40_batch02/t5_automation/azenta_heat_sealer/model.glb","glb_orientation":"gltf_y_up_rotated","usd":null,"urdf":"assets/basic40_batch02/t5_automation/azenta_heat_sealer/model.urdf","links":{"asset_root":"/Geometry/asset_root","press_head":"/Geometry/asset_root/press_head"},"frames":{"pre_place":[0.0004,0.0003,0.583],"place":[0.0004,0.0003,0.453],"post_place":[0.0004,0.0003,0.583],"joint_press_joint":[0.0,0.0,0.0]},"joints":[{"name":"press_joint","type":"prismatic","parent":"asset_root","child":"press_head","axis":[0.0,0.0,-1.0],"lower":0.0,"upper":0.074,"effort":0.0,"mimic":null,"origin_m":[0.0,0.0,0.0],"child_prim":"/Geometry/asset_root/press_head","child_bbox_min":[-0.0435,-0.228,0.105],"child_bbox_max":[0.0435,-0.096,0.176],"kind":"other"}],"controls":{"buttons":[],"knobs":[]},"slots":[{"name":"plate","link":"asset_root","part":"plate_adapter","pos":[0.0,-0.162,0.028],"rot":[0.0,0.0,0.0,1.0],"pos_link":[0.0,-0.162,0.028],"rot_link":[0.0,0.0,0.0,1.0],"radius_m":0.048,"kind":"plate_slot","fits":["plate_96"],"anchor":"base","insert_axis":[0.0,0.0,1.0],"capture_m":0.03,"access":[],"modelled_occupant":false}],"hidden_parts":[],"readouts":[{"name":"temp","part":"ahs__status_display__03","prim":"/Geometry/asset_root/readout_temp","link":"asset_root","digits":3,"decimals":0,"unit":"C","center":[-0.0479,-0.0783,0.2181],"up":[0.0,0.0,1.0],"source":{"bridge":["measurement.temperature_K","thermal.setpoint_K"],"offset":-273.15},"blank_channel":null,"on":[0.05,0.06,0.05],"off":[0.62,0.68,0.55],"size_m":[0.0395,0.0063],"normal":[-0.0,-1.0,0.0]}],"layout":{"front":[0.0,-1.0,0.0],"front_source":"convention","mount":"bench","weight_class":"two_person","mass_kg":27.0,"footprint_m":[0.2312,0.5075],"height_m":0.403,"clearance_m":{"front":0.25,"back":0.15,"left":0.05,"right":0.05,"top":0.1},"robot_standoff_m":0.35,"work_height_m":0.028,"primary_slot":"plate","access":[],"slot_count":1},"components":[{"id":"base","name_zh":"底座","function_zh":"支撑设备与托盘","physical_meaning_zh":"支撑设备与托盘;几何简化的功能组件,内部尺寸未实测。","subsystem":null,"parent":"assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["ahs__base__00"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate and engineering assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.11500000208616257,-0.2535000145435333,0.007000000216066837],[0.11500000208616257,0.2535000145435333,0.021000001579523087]],"raw_keys":["bbox_m","evidence","inertia_kg_m2","mass_kg","mesh","objects","physical_property_note"]},{"id":"feet","name_zh":"支脚","function_zh":"接触实验台","physical_meaning_zh":"接触实验台;几何简化的功能组件,内部尺寸未实测。","subsystem":null,"parent":"assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["ahs__feet__00","ahs__feet__01","ahs__feet__02","ahs__feet__03"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate and engineering assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.10599999874830246,-0.22999998927116394,0.0],[0.10599999874830246,0.22999998927116394,0.007000000216066837]],"raw_keys":["bbox_m","evidence","inertia_kg_m2","mass_kg","mesh","objects","physical_property_note"]},{"id":"body","name_zh":"机壳","function_zh":"承载并遮护内部部件","physical_meaning_zh":"承载并遮护内部部件;几何简化的功能组件,内部尺寸未实测。","subsystem":null,"parent":"assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["ahs__body__00","ahs__body__01","ahs__body__02","ahs__body__03","ahs__body__04","ahs__body__05","ahs__body__06","ahs__body__07","ahs__body__08","ahs__body__09","ahs__body__10","ahs__body__11","ahs__body__12","ahs__body__13","ahs__body__14","ahs__body__15","ahs__body__16","ahs__body__17","ahs__body__18","ahs__body__19","ahs__body__20","ahs__body__21","ahs__body__22","ahs__body__23","ahs__body__24","ahs__body__25"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate and engineering assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.1151999980211258,-0.15649999678134918,0.021000001579523087],[0.1151999980211258,0.25349998474121094,0.2759999930858612]],"raw_keys":["bbox_m","evidence","inertia_kg_m2","mass_kg","mesh","objects","physical_property_note"]},{"id":"front_fascia","name_zh":"前面板","function_zh":"容纳显示与样品入口","physical_meaning_zh":"容纳显示与样品入口;几何简化的功能组件,内部尺寸未实测。","subsystem":null,"parent":"assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["ahs__front_fascia__00","ahs__front_fascia__01","ahs__front_fascia__02","ahs__front_fascia__03"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate and engineering assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.1080000028014183,-0.09200000762939453,0.1264999955892563],[0.1080000028014183,-0.03999999910593033,0.26899999380111694]],"raw_keys":["bbox_m","evidence","inertia_kg_m2","mass_kg","mesh","objects","physical_property_note"]},{"id":"status_display","name_zh":"触控显示区域","function_zh":"提供运行和设定的可视区域;本次文字为静态示意","physical_meaning_zh":"提供运行和设定的可视区域;本次文字为静态示意;几何简化的功能组件,内部尺寸未实测。","subsystem":null,"parent":"assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["ahs__status_display__00","ahs__status_display__01","ahs__status_display__02","ahs__status_display__03","ahs__status_display__04","ahs__status_display__05"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate and engineering assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["sealing.poll","sealing.read"],"bbox_m":[[-0.07850000262260437,-0.07800000160932541,0.18599998950958252],[0.026499997824430466,-0.07399999350309372,0.25]],"raw_keys":["bbox_m","evidence","inertia_kg_m2","mass_kg","mesh","objects","physical_property_note"]},{"id":"power_data_panel","name_zh":"电源与数据面板","function_zh":"连接电源和宿主数据接口","physical_meaning_zh":"连接电源和宿主数据接口;几何简化的功能组件,内部尺寸未实测。","subsystem":null,"parent":"assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["ahs__power_data_panel__00","ahs__power_data_panel__01","ahs__power_data_panel__02","ahs__power_data_panel__03","ahs__power_data_panel__04"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate and engineering assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set"],"bbox_m":[[-0.04749999940395355,-0.07850000262260437,0.04599999636411667],[0.0820000022649765,0.2540000081062317,0.18299999833106995]],"raw_keys":["bbox_m","evidence","inertia_kg_m2","mass_kg","mesh","objects","physical_property_note"]},{"id":"plate_carriage","name_zh":"板托盘","function_zh":"承载纵向放置的微孔板","physical_meaning_zh":"承载纵向���置的微孔板;几何简化的功能组件,内部尺寸未实测。","subsystem":null,"parent":"assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["ahs__plate_carriage__00"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate and engineering assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.05299999937415123,-0.25049999356269836,0.020999999716877937],[0.05299999937415123,-0.07750000804662704,0.027000000700354576]],"raw_keys":["bbox_m","evidence","inertia_kg_m2","mass_kg","mesh","objects","physical_property_note"]},{"id":"guide_rails","name_zh":"导向结构","function_zh":"限制托盘与压合展示空间","physical_meaning_zh":"限制托盘与压合展示空间;几何简化的功能组件,内部尺寸未实测。","subsystem":null,"parent":"assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["ahs__guide_rails__00","ahs__guide_rails__01"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate and engineering assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["scene.set_press_displacement"],"bbox_m":[[-0.05350000038743019,-0.25,0.02499999850988388],[0.05350000038743019,-0.07600000500679016,0.032999999821186066]],"raw_keys":["bbox_m","evidence","inertia_kg_m2","mass_kg","mesh","objects","physical_property_note"]},{"id":"plate_adapter","name_zh":"板适配器","function_zh":"与宿主选择的板高配置对接","physical_meaning_zh":"与宿主选择的板高配置对接;几何简化的功能组件,内部尺寸未实测。","subsystem":null,"parent":"assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["ahs__plate_adapter__00"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate and engineering assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["configuration.set"],"bbox_m":[[-0.04800000041723251,-0.2330000102519989,0.026000000536441803],[0.04800000041723251,-0.09099999815225601,0.02800000086426735]],"raw_keys":["bbox_m","evidence","inertia_kg_m2","mass_kg","mesh","objects","physical_property_note"]},{"id":"external_plate","name_zh":"外部微孔板示例","function_zh":"承载样品并接收封膜","physical_meaning_zh":"承载样品并接收封膜;几何简化的功能组件,内部尺寸未实测。","subsystem":null,"parent":"assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["ahs__external_plate__00","ahs__external_plate__01","ahs__external_plate__02","ahs__external_plate__03","ahs__external_plate__04","ahs__external_plate__05","ahs__external_plate__06","ahs__external_plate__07","ahs__external_plate__08","ahs__external_plate__09","ahs__external_plate__10","ahs__external_plate__11","ahs__external_plate__12","ahs__external_plate__13","ahs__external_plate__14","ahs__external_plate__15","ahs__external_plate__16","ahs__external_plate__17","ahs__external_plate__18","ahs__external_plate__19","ahs__external_plate__20","ahs__external_plate__21","ahs__external_plate__22","ahs__external_plate__23","ahs__external_plate__24","ahs__external_plate__25","ahs__external_plate__26","ahs__external_plate__27","ahs__external_plate__28","ahs__external_plate__29","ahs__external_plate__30","ahs__external_plate__31","ahs__external_plate__32","ahs__external_plate__33","ahs__external_plate__34","ahs__external_plate__35","ahs__external_plate__36","ahs__external_plate__37","ahs__external_plate__38","ahs__external_plate__39","ahs__external_plate__40","ahs__external_plate__41","ahs__external_plate__42","ahs__external_plate__43","ahs__external_plate__44","ahs__external_plate__45","ahs__external_plate__46","ahs__external_plate__47","ahs__external_plate__48","ahs__external_plate__49","ahs__external_plate__50","ahs__external_plate__51","ahs__external_plate__52","ahs__external_plate__53","ahs__external_plate__54","ahs__external_plate__55","ahs__external_plate__56","ahs__external_plate__57","ahs__external_plate__58","ahs__external_plate__59","ahs__external_plate__60","ahs__external_plate__61","ahs__external_plate__62","ahs__external_plate__63","ahs__external_plate__64","ahs__external_plate__65","ahs__external_plate__66","ahs__external_plate__67","ahs__external_plate__68","ahs__external_plate__69","ahs__external_plate__70","ahs__external_plate__71","ahs__external_plate__72","ahs__external_plate__73","ahs__external_plate__74","ahs__external_plate__75","ahs__external_plate__76","ahs__external_plate__77","ahs__external_plate__78","ahs__external_plate__79","ahs__external_plate__80","ahs__external_plate__81","ahs__external_plate__82","ahs__external_plate__83","ahs__external_plate__84","ahs__external_plate__85","ahs__external_plate__86","ahs__external_plate__87","ahs__external_plate__88","ahs__external_plate__89","ahs__external_plate__90","ahs__external_plate__91","ahs__external_plate__92","ahs__external_plate__93","ahs__external_plate__94","ahs__external_plate__95","ahs__external_plate__96"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate and engineering assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["sealing.start"],"bbox_m":[[-0.03999999910593033,-0.22300000488758087,0.02800000086426735],[0.03999999910593033,-0.10099999606609344,0.04320000112056732]],"raw_keys":["bbox_m","evidence","inertia_kg_m2","mass_kg","mesh","objects","physical_property_note"]},{"id":"press_head","name_zh":"加热压合头","function_zh":"将热接触面压至板上方","physical_meaning_zh":"将热接触面压至板上方;几何简化的功能组件,内部尺寸未实测。","subsystem":null,"parent":"assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["ahs__press_head__00","ahs__press_head__01","ahs__press_head__02","ahs__press_head__03"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate and engineering assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["thermal.set_temperature","scene.set_press_displacement","sealing.start","sealing.cancel","sealing.set_pressure"],"bbox_m":[[-0.04349999874830246,-0.2280000001192093,0.10499999672174454],[0.04349999874830246,-0.09600000083446503,0.17599999904632568]],"raw_keys":["bbox_m","evidence","inertia_kg_m2","mass_kg","mesh","objects","physical_property_note"]},{"id":"roll_support","name_zh":"膜卷支架","function_zh":"承载膜卷,厂家有两位置但坐标未知","physical_meaning_zh":"承载膜卷,厂家有两位置但坐标未知;几何简化的功能组件,内部尺寸未实测。","subsystem":null,"parent":"assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["ahs__roll_support__00","ahs__roll_support__01","ahs__roll_support__02"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate and engineering assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["configuration.set"],"bbox_m":[[-0.0625,0.01900000125169754,0.27300000190734863],[0.0625,0.08100000023841858,0.3490000069141388]],"raw_keys":["bbox_m","evidence","inertia_kg_m2","mass_kg","mesh","objects","physical_property_note"]},{"id":"film_roll","name_zh":"兼容膜卷示例","function_zh":"提供75–85毫米宽热封膜","physical_meaning_zh":"提供75–85毫米宽热封膜;几何简化的功能组件,内部尺寸未实测。","subsystem":null,"parent":"assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["ahs__film_roll__00","ahs__film_roll__01","ahs__film_roll__02"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate and engineering assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.04100000113248825,-0.013000000268220901,0.2770000100135803],[0.04100000113248825,0.11300000548362732,0.40299999713897705]],"raw_keys":["bbox_m","evidence","inertia_kg_m2","mass_kg","mesh","objects","physical_property_note"]},{"id":"feed_rollers","name_zh":"膜导辊","function_zh":"引导膜路径","physical_meaning_zh":"引导膜路径;几何简化的功能组件,内部尺寸未实测。","subsystem":null,"parent":"assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["ahs__feed_rollers__00"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate and engineering assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.04699999839067459,-0.03400000184774399,0.27300000190734863],[0.04699999839067459,-0.01600000075995922,0.29100000858306885]],"raw_keys":["bbox_m","evidence","inertia_kg_m2","mass_kg","mesh","objects","physical_property_note"]},{"id":"film_path","name_zh":"膜路径示例","function_zh":"从卷料到压合位置的拓扑示意","physical_meaning_zh":"从卷料到压合位置的拓扑示意;几何简化的功能组件,内部尺寸未实测。","subsystem":null,"parent":"assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["ahs__film_path__00"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate and engineering assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["sealing.start"],"bbox_m":[[-0.03999999910593033,-0.025321563705801964,0.28168952465057373],[0.03999999910593033,0.00832156278192997,0.2923104763031006]],"raw_keys":["bbox_m","evidence","inertia_kg_m2","mass_kg","mesh","objects","physical_property_note"]},{"id":"cutter","name_zh":"切膜组件示例","function_zh":"表示薄膜切断功能,刀刃与切割过程未求解","physical_meaning_zh":"表示薄膜切断功能,刀刃与切割过程未求解;几何简化的功能组件,内部尺寸未实测。","subsystem":null,"parent":"assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["ahs__cutter__00"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate and engineering assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.05400000140070915,-0.0430000014603138,0.2705000042915344],[0.05400000140070915,-0.03099999949336052,0.27950000762939453]],"raw_keys":["bbox_m","evidence","inertia_kg_m2","mass_kg","mesh","objects","physical_property_note"]},{"id":"assembly","name_zh":"整机装配","function_zh":"提供整个热封工作站的装配参考与承载","physical_meaning_zh":"质量属于不含膜卷的完整仪器,不是机壳或压头质量。","subsystem":null,"parent":null,"origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["ahs__root"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":null,"material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":[]}],"component_source":"geometry_manifest.json + asset.contract.json + collision_proxies.json","capabilities":{"power.set":{"function_zh":"设置仿真供电;断电取消封膜并保留压头、时间和已消耗膜。","kind":"device_command","availability":"implemented","component_ids":["power_data_panel"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":["enabled"]},"thermal.set_temperature":{"function_zh":"写入封膜温度目标;只在宿主推进时才更新已配置的温度过程。","kind":"device_command","availability":"implemented","component_ids":["press_head"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":["temperature_K"]},"configuration.set":{"function_zh":"选择时间和宿主已装载的板适配器、膜卷位置标识。","kind":"configuration","availability":"implemented","component_ids":["plate_adapter","roll_support"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":["press_time_s","plate_adapter_id","film_roll_position_id"]},"scene.set_press_displacement":{"function_zh":"宿主确认压合展示关节;装板时不能穿过几何接触平面。","kind":"configuration","availability":"implemented","component_ids":["press_head","guide_rails"],"implementation":{"process":"not_applicable","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["displacement_m"]},"sealing.start":{"function_zh":"开始计时封膜,立即消耗1次膜配额;accepted不表示密封完成。","kind":"device_command","availability":"implemented","component_ids":["press_head","film_path","external_plate"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":[]},"sealing.poll":{"function_zh":"读取当前身份拥有的任务进度,不推进宿主时钟。","kind":"query","availability":"implemented","component_ids":["status_display"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":["operation_id"]},"sealing.cancel":{"function_zh":"取消运行,保留时间、膜消耗和压合位置。","kind":"device_command","availability":"implemented","component_ids":["press_head"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":["operation_id"]},"sealing.read":{"function_zh":"读取估计温度、膜余量和当前封膜状态,不推进时间。","kind":"query","availability":"implemented","component_ids":["status_display"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":[]},"sealing.set_pressure":{"function_zh":"压力并非任意可编程;没有压力设置实现或虚构参数。","kind":"device_command","availability":"unsupported","component_ids":["press_head"],"implementation":{"process":"absent","scene":"absent","robot":"absent","hardware":"absent","host":"absent"},"input":[]}},"state_slots":{"power.enabled":{"meaning_zh":"仿真供电设定;不驱动真实电源。","unit":"1","access":"read_write","origin":"setpoint","component_ids":["power_data_panel"],"write_via":"power.set"},"thermal.setpoint_k":{"meaning_zh":"373.15–468.15 K 封膜目标;初始null,设置成功不代表过程已达到。","unit":"K","access":"read_write","origin":"setpoint","component_ids":["press_head"],"write_via":"thermal.set_temperature"},"measurement.temperature_k":{"meaning_zh":"宿主温度或显式线性热模型的理想化观测代理;quality=estimated,未供电或未提供初值时null。","unit":"K","access":"read_only","origin":"derived","component_ids":["press_head"],"write_via":null},"thermal.target_reached":{"meaning_zh":"模型温度代理与目标差不超过1e-9 K的数值相等判据;不是厂家±1K均匀性或实测温控稳定判据。","unit":"1","access":"read_only","origin":"derived","component_ids":["press_head"],"write_via":null},"simulation.thermal_rate_configured":{"meaning_zh":"可信宿主已显式提供正热速率及证据的标记。","unit":"1","access":"read_only","origin":"derived","component_ids":["press_head"],"write_via":null},"configuration.press_time_s":{"meaning_zh":"0.1–10 s压合持续时间;初始null,须经configuration.set完整配置。","unit":"s","access":"read_only","origin":"setpoint","component_ids":["press_head"],"write_via":null},"configuration.plate_adapter_id":{"meaning_zh":"与宿主已装板相匹配的适配器标识;没有虚构厂家适配器枚举。","unit":"1","access":"read_only","origin":"setpoint","component_ids":["plate_adapter"],"write_via":null},"configuration.film_roll_position_id":{"meaning_zh":"与宿主已装膜卷匹配的位置标识;真实坐标未知,不驱动膜卷机械移动。","unit":"1","access":"read_only","origin":"setpoint","component_ids":["roll_support"],"write_via":null},"plate.loaded":{"meaning_zh":"宿主登记存在于该实例工位的外部微孔板;不构成自动上板动作。","unit":"1","access":"read_only","origin":"scene","component_ids":["external_plate","plate_carriage"],"write_via":null},"plate.plate_id":{"meaning_zh":"当前宿主外部板ID;没有板时null。","unit":"1","access":"read_only","origin":"scene","component_ids":["external_plate"],"write_via":null},"plate.height_m":{"meaning_zh":"宿主明确提供的板高,范围0.003–0.060 m;宿主须配置同高度场景fixture。","unit":"m","access":"read_only","origin":"scene","component_ids":["external_plate"],"write_via":null},"plate.attachment_constraint_id":{"meaning_zh":"宿主True确认attach事件后登记的世界约束ID;release确认后清空;机器人层未实现。","unit":"1","access":"read_only","origin":"scene","component_ids":["external_plate"],"write_via":null},"plate.simulated_sealed":{"meaning_zh":"当前板满足抽象封膜时间/温度/接触条件的模拟状态;不证明强度、气密或耐溶剂。","unit":"1","access":"read_only","origin":"derived","component_ids":["external_plate"],"write_via":null},"film.roll_id":{"meaning_zh":"当前兼容膜卷的宿主ID,初始null。","unit":"1","access":"read_only","origin":"scene","component_ids":["film_roll"],"write_via":null},"film.width_m":{"meaning_zh":"宿主提供的兼容膜宽0.075–0.085 m,初始null;没有隐含材料或质量。","unit":"m","access":"read_only","origin":"scene","component_ids":["film_roll"],"write_via":null},"film.remaining_seals":{"meaning_zh":"宿主显式给定的剩余封膜配额0–5000;初始null;每次accepted即减1,失败或取消不返还。","unit":"1","access":"read_only","origin":"derived","component_ids":["film_roll"],"write_via":null},"scene.press_displacement_m":{"meaning_zh":"压合展示关节位移q,单位m、正方向向下;q=0..0.074是几何假设,非厂家行程。","unit":"m","access":"read_write","origin":"scene","component_ids":["press_head"],"write_via":"scene.set_press_displacement"},"sealing.status":{"meaning_zh":"当前板最近一轮模拟封膜状态;idle/running/succeeded/cancelled/failed。","unit":"1","access":"read_only","origin":"derived","component_ids":["press_head","external_plate"],"write_via":null},"sealing.elapsed_s":{"meaning_zh":"当前轮已累计的有效压合时间,单位s;取消或失温失败保留部分值。","unit":"s","access":"read_only","origin":"derived","component_ids":["press_head"],"write_via":null},"sealing.progress":{"meaning_zh":"elapsed_s/本轮press_time_s的无量纲进度;不代表真实粘接完成比例。","unit":"1","access":"read_only","origin":"derived","component_ids":["press_head"],"write_via":null},"truth.temperature_k":{"meaning_zh":"仅debug/evaluator可读的合成过程温度;初始null,不冒充实测。","unit":"K","access":"read_only","origin":"process_truth","component_ids":["press_head"],"write_via":null},"truth.thermal_rate_k_s":{"meaning_zh":"仅debug/evaluator可读的宿主显式线性接近速率;初始null,不从整机质量或均匀性推断。","unit":"K/s","access":"read_only","origin":"process_truth","component_ids":["press_head"],"write_via":null}},"mechanisms":{"thermal_process":{"meaning_zh":"宿主显式初值和速率驱动的集中线性温度代理;未校准热物理模型。","implementation":"lumped","equations":["供电开启且T、Tset、r均非null时:T_next=T+sign(Tset-T)*min(abs(Tset-T),r*dt)。否则不自行补温度或速率。","measurement.temperature_K=T(仅供电时),quality=estimated;未供电或无T时null。","thermal.target_reached=power.enabled and T,Tset已配置 and abs(T-Tset)<=1e-9 K;1e-9仅为数值比较容差。"],"parameters":{"temperature_range":{"value":[373.15,468.15],"unit":"K","evidence":"documented","meaning_zh":"用户表封膜范围100–195°C换算为SI。"},"block_uniformity":{"value":1.0,"unit":"K","evidence":"documented","meaning_zh":"厂家加热块均匀性±1°C;不是目标误差、升温速率或本模型就绪阈值。"},"thermal_rate":{"value":null,"unit":"K/s","evidence":"unknown","meaning_zh":"宿主每实例提供正有限线性速率及证据;没有厂家响应曲线或默认系数。"},"initial_temperature":{"value":null,"unit":"K","evidence":"unknown","meaning_zh":"宿主显式温度初值;未知时保持null。"},"numeric_equality_tolerance":{"value":1e-09,"unit":"K","evidence":"assumption","meaning_zh":"浮点相等的实现容差,非物理温度精度。"},"heater_power":{"value":null,"unit":"W","evidence":"unknown","meaning_zh":"整机与加热器功率未在用户表明确,未补值。"},"heat_capacity":{"value":null,"unit":"J/K","evidence":"unknown","meaning_zh":"未知加热块热容;不得由整机27kg冒充加热块参数。"}}},"sealing_process":{"meaning_zh":"将几何接触、温度模型就绪、持续时间和膜配额组合为抽象封膜状态;没有密封材料力学。","implementation":"qualitative","equations":["q_contact=0.077m-plate.height_m;压头底面z=0.105m-q;板顶z=0.028m+plate.height_m。这些均为本资产几何假设。","sealing.start被接受时remaining_seals_next=remaining_seals-1,elapsed=0,progress=0,status=running;不能使未完成板提前sealed。","运行中保持温度代理达到目标时,elapsed_next=min(press_time_s,elapsed+dt),progress=elapsed/press_time_s。","elapsed达到本轮press_time_s则status=succeeded且当前板simulated_sealed=True;取消、断电或失温保留已用时间、消耗膜和q,未完成板为False。"],"parameters":{"press_time_range":{"value":[0.1,10.0],"unit":"s","evidence":"documented","meaning_zh":"用户表压合时间范围。"},"plate_height_range":{"value":[0.003,0.06],"unit":"m","evidence":"documented","meaning_zh":"用户表板高范围;宿主场景必须具备相符板高度。"},"film_width_range":{"value":[0.075,0.085],"unit":"m","evidence":"documented","meaning_zh":"用户表兼容膜宽范围。"},"maximum_seals_per_roll":{"value":5000,"unit":"1","evidence":"documented","meaning_zh":"一卷最多5000次为上限;不表示默认实际剩余量。"},"press_display_travel":{"value":[0,0.074],"unit":"m","evidence":"assumption","meaning_zh":"本模型压合展示行程;没有厂家关节行程数据。"},"plate_seat_z":{"value":0.028,"unit":"m","evidence":"assumption","meaning_zh":"台面局部板座顶面的模型位置。"},"platen_home_bottom_z":{"value":0.105,"unit":"m","evidence":"assumption","meaning_zh":"压头底面零位模型位置。"},"press_pressure":{"value":null,"unit":"Pa","evidence":"unknown","meaning_zh":"表内未提供实际压合压力,且不支持任意编程。"},"seal_strength":{"value":null,"unit":"Pa","evidence":"unknown","meaning_zh":"未知膜与板材料粘接强度。"},"leak_rate":{"value":null,"unit":"m^3/s","evidence":"unknown","meaning_zh":"未知泄漏规律;没有气密质量推断。"},"film_feed_distance":{"value":null,"unit":"m","evidence":"unknown","meaning_zh":"每轮实际进膜距离未知,仅记一次可用封膜配额。"}}}},"limitations":["温度100–195°C、时间0.1–10s、板高3–60mm、膜宽75–85mm来自CHEM-176三表;SI接口采用K、s、m。","热初始值和热速率没有缺省值;温度推进只采用宿主���确给定且附证据的线性接近设定值模型,无热容、功率、冷却曲线或PID推断。","measurement.temperature_K为理想化过程代理且quality=estimated;target_reached只比较模型目标,不是实测稳定性或厂家互锁。±1K均匀性只作为规格,不作为目标公差。","压合q=0..0.074m、压头底z=.105-q、板顶z=.028+height和接触q=.077-height均是几何假设,非厂家行程或接触力学。","一卷最多5000次是上限;宿主须提供实际剩余次数,默认null。每次已接受封膜消耗1次膜配额;取消或失败不退回膜。未推断膜长度或实际进给距离。","film_roll_position_id与plate_adapter_id引用宿主装载的兼容配置;真实位置坐标和厂家适配器枚举未知,不生成任意假坐标。","simulated_sealed仅表示配置、温度代理、压合接触与持续时间条件满足,不预测粘接强度、泄漏、耐溶剂性或真实密封质量。压力不可任意编程且未建模。","scene_adapter与attach/release需宿主True确认;robot与hardware absent,未实现接触抓取、力控制或实际输送。","去重仅当前宿主内存有效;API身份过滤不是Python、文件系统或进程安全隔离。取消保留已经消耗时间、膜与压头位置。","外形依据标称尺寸与公开外观简化;尺寸是否包含膜卷来源未明,本模型采用无卷本体口径假设。内部压头外露用于功能可见性,不是厂家拆机复原。","URDF只有整机包围盒惯量;各组件质量、摩擦、接触刚度、热容和真实行程未知。属于可动运动学资产,未验证动力学接触。","默认本体及示例板/膜的OBJ坐标为装配零位;URDF使用相同坐标与向下关节,不可当成各部件质心坐标。","膜进给/切断、托盘内外自动输送、触摸屏动态显示未联动,封膜API只在已确认接触的压头位置累计时间。","性能范围来自清单;公开图只支持粗外形,所有内部零件、膜卷直径、接头位置均为假设。","封膜逻辑假定板在名义座位对准,仅检查板高和压合q。宿主若移动或旋转板,需自行核对实际空间重叠;本次场景验证只覆盖名义座位。","示例96孔板的孔位是无碰撞视觉标记,不包含实际孔腔、样品体积或液体自由表面;宿主管理样品内容。"],"sources":[],"checks":{"coverage":{"status":"bridged","implemented":["configuration.set","power.set","scene.set_press_displacement","sealing.cancel","sealing.poll","sealing.read","sealing.start","thermal.set_temperature"],"unsupported":["sealing.set_pressure"],"note_zh":"桥接 basic40_runtime_automation.AzentaHeatSealerRuntime(推进方式 host_step_dt_world),22 个状态槽;与运行层镜像对比全同;受信设置需经 host.call;关节化 USD(1 个按键(碰到即触发));1 个关节跟随运行层状态;接口点 1 个(板位);布局:台面、单人可搬、正面 −y、前方留空 0.25 m;面板读数 temp(3)"}},"previews":["previews/azenta_automated_roll_heat_sealer_a4s/preview_front.webp","previews/azenta_automated_roll_heat_sealer_a4s/preview_pressed.webp","previews/azenta_automated_roll_heat_sealer_a4s/preview_rear.webp"],"files":[{"name":"asset.contract.json","path":"assets/basic40_batch02/t5_automation/azenta_heat_sealer/asset.contract.json","bytes":221285},{"name":"collision_proxies.json","path":"assets/basic40_batch02/t5_automation/azenta_heat_sealer/collision_proxies.json","bytes":8111},{"name":"geometry_manifest.json","path":"assets/basic40_batch02/t5_automation/azenta_heat_sealer/geometry_manifest.json","bytes":16776},{"name":"model.blend","path":"assets/basic40_batch02/t5_automation/azenta_heat_sealer/model.blend","bytes":183997},{"name":"model.glb","path":"assets/basic40_batch02/t5_automation/azenta_heat_sealer/model.glb","bytes":2061532},{"name":"model.urdf","path":"assets/basic40_batch02/t5_automation/azenta_heat_sealer/model.urdf","bytes":11873},{"name":"scene_adapter.py","path":"assets/basic40_batch02/t5_automation/azenta_heat_sealer/scene_adapter.py","bytes":3829}],"completeness":{"components":17,"with_collisions":15,"with_objects":17,"with_function":17,"with_mass":0,"joints_matching_component":1,"joints":1,"has_contract":true,"has_layout":true,"has_glb":true,"checks_present":["articulation_check","coverage","contract_validation","runtime_validation","scene_validation"]},"slug":"azenta_automated_roll_heat_sealer_a4s","chem_id":"CHEM-176","name_en":"Automated microplate heat sealer","maker":"Azenta Life Sciences","model":"Automated Roll Heat Sealer (a4S)","domain":"automation","domain_name":"Automation & Gas/Liquid Supply","path":"assets/basic40_batch02/t5_automation/azenta_heat_sealer","glb_up":"z","has_contract":true,"contract":"assets/basic40_batch02/t5_automation/azenta_heat_sealer/asset.contract.json","runtime":"scripts/basic40_runtime_automation.py"}
|
|
|
|
| 1 |
+
{"tid":"instrument.azenta_automated_roll_heat_sealer_a4s","asset_dir":"basic40_batch02/t5_automation/azenta_heat_sealer","name_zh":"自��微孔板热封膜机","category":"自动化与气液供给","description_zh":"CHEM-176 Azenta Life Sciences Automated Roll Heat Sealer(原a4S)。完整登记本次模型功能组件,提供压合展示与有明确宿主边界的封膜计时模型;不宣称完整复现所有厂家功能。","coordinate_system":{"status":"defined","length_unit":"m","angle_unit":"rad","handedness":"right","up_axis":"+Z","frame":"asset_root;原点为标称台面投影中心、台面z=0,+X向右,+Y向后。glb显式保留Z-up,导入器须尊重此约定。"},"mass_kg":27.0,"size_m":[0.2312,0.5075,0.403],"bbox_min":[-0.1152,-0.2535,0.0],"bbox_max":[0.116,0.254,0.403],"manifest_dimensions_m":null,"glb":"assets/basic40_batch02/t5_automation/azenta_heat_sealer/model.glb","glb_orientation":"gltf_y_up_rotated","usd":null,"urdf":"assets/basic40_batch02/t5_automation/azenta_heat_sealer/model.urdf","links":{"asset_root":"/Geometry/asset_root","press_head":"/Geometry/asset_root/press_head"},"frames":{"pre_place":[0.0004,0.0003,0.583],"place":[0.0004,0.0003,0.453],"post_place":[0.0004,0.0003,0.583],"joint_press_joint":[0.0,0.0,0.0]},"joints":[{"name":"press_joint","type":"prismatic","parent":"asset_root","child":"press_head","axis":[0.0,0.0,-1.0],"lower":0.0,"upper":0.074,"effort":0.0,"mimic":null,"origin_m":[0.0,0.0,0.0],"child_prim":"/Geometry/asset_root/press_head","child_bbox_min":[-0.0435,-0.228,0.105],"child_bbox_max":[0.0435,-0.096,0.176],"kind":"other"}],"controls":{"buttons":[],"knobs":[]},"slots":[{"name":"plate","link":"asset_root","part":"plate_adapter","pos":[0.0,-0.162,0.028],"rot":[0.0,0.0,0.0,1.0],"pos_link":[0.0,-0.162,0.028],"rot_link":[0.0,0.0,0.0,1.0],"radius_m":0.048,"kind":"plate_slot","fits":["plate_96"],"anchor":"base","insert_axis":[0.0,0.0,1.0],"capture_m":0.03,"access":[],"modelled_occupant":false}],"hidden_parts":[],"readouts":[{"name":"temp","part":"ahs__status_display__03","prim":"/Geometry/asset_root/readout_temp","link":"asset_root","digits":3,"decimals":0,"unit":"C","center":[-0.0479,-0.0783,0.2181],"up":[0.0,0.0,1.0],"source":{"bridge":["measurement.temperature_K","thermal.setpoint_K"],"offset":-273.15},"blank_channel":null,"on":[0.05,0.06,0.05],"off":[0.62,0.68,0.55],"size_m":[0.0395,0.0063],"normal":[-0.0,-1.0,0.0]}],"layout":{"front":[0.0,-1.0,0.0],"front_source":"convention","mount":"bench","weight_class":"two_person","mass_kg":27.0,"footprint_m":[0.2312,0.5075],"height_m":0.403,"clearance_m":{"front":0.25,"back":0.15,"left":0.05,"right":0.05,"top":0.1},"robot_standoff_m":0.35,"work_height_m":0.028,"primary_slot":"plate","access":[],"slot_count":1},"components":[{"id":"base","name_zh":"底座","function_zh":"支撑设备与托盘","physical_meaning_zh":"支撑设备与托盘;几何简化的功能组件,内部尺寸未实测。","subsystem":null,"parent":"assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["ahs__base__00"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate and engineering assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.11500000208616257,-0.2535000145435333,0.007000000216066837],[0.11500000208616257,0.2535000145435333,0.021000001579523087]],"raw_keys":["bbox_m","evidence","inertia_kg_m2","mass_kg","mesh","objects","physical_property_note"]},{"id":"feet","name_zh":"支脚","function_zh":"接触实验台","physical_meaning_zh":"接触实验台;几何简化的功能组件,内部尺寸未实测。","subsystem":null,"parent":"assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["ahs__feet__00","ahs__feet__01","ahs__feet__02","ahs__feet__03"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate and engineering assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.10599999874830246,-0.22999998927116394,0.0],[0.10599999874830246,0.22999998927116394,0.007000000216066837]],"raw_keys":["bbox_m","evidence","inertia_kg_m2","mass_kg","mesh","objects","physical_property_note"]},{"id":"body","name_zh":"机壳","function_zh":"承载并遮护内部部件","physical_meaning_zh":"承载并遮护内部部件;几何简化的功能组件,内部尺寸未实测。","subsystem":null,"parent":"assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["ahs__body__00","ahs__body__01","ahs__body__02","ahs__body__03","ahs__body__04","ahs__body__05","ahs__body__06","ahs__body__07","ahs__body__08","ahs__body__09","ahs__body__10","ahs__body__11","ahs__body__12","ahs__body__13","ahs__body__14","ahs__body__15","ahs__body__16","ahs__body__17","ahs__body__18","ahs__body__19","ahs__body__20","ahs__body__21","ahs__body__22","ahs__body__23","ahs__body__24","ahs__body__25"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate and engineering assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.1151999980211258,-0.15649999678134918,0.021000001579523087],[0.1151999980211258,0.25349998474121094,0.2759999930858612]],"raw_keys":["bbox_m","evidence","inertia_kg_m2","mass_kg","mesh","objects","physical_property_note"]},{"id":"front_fascia","name_zh":"前面板","function_zh":"容纳显示与样品入口","physical_meaning_zh":"容纳显示与样品入口;几何简化的功能组件,内部尺寸未实测。","subsystem":null,"parent":"assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["ahs__front_fascia__00","ahs__front_fascia__01","ahs__front_fascia__02","ahs__front_fascia__03"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate and engineering assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.1080000028014183,-0.09200000762939453,0.1264999955892563],[0.1080000028014183,-0.03999999910593033,0.26899999380111694]],"raw_keys":["bbox_m","evidence","inertia_kg_m2","mass_kg","mesh","objects","physical_property_note"]},{"id":"status_display","name_zh":"触控显示区域","function_zh":"提供运行和设定的可视区域;本次文字为静态示意","physical_meaning_zh":"提供运行和设定的可视区域;本次文字为静态示意;几何简化的功能组件,内部尺寸未实测。","subsystem":null,"parent":"assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["ahs__status_display__00","ahs__status_display__01","ahs__status_display__02","ahs__status_display__03","ahs__status_display__04","ahs__status_display__05"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate and engineering assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["sealing.poll","sealing.read"],"bbox_m":[[-0.07850000262260437,-0.07800000160932541,0.18599998950958252],[0.026499997824430466,-0.07399999350309372,0.25]],"raw_keys":["bbox_m","evidence","inertia_kg_m2","mass_kg","mesh","objects","physical_property_note"]},{"id":"power_data_panel","name_zh":"电源与数据面板","function_zh":"连接电源和宿主数据接口","physical_meaning_zh":"连接电源和宿主数据接口;几何简化的功能组件,内部尺寸未实测。","subsystem":null,"parent":"assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["ahs__power_data_panel__00","ahs__power_data_panel__01","ahs__power_data_panel__02","ahs__power_data_panel__03","ahs__power_data_panel__04"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate and engineering assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set"],"bbox_m":[[-0.04749999940395355,-0.07850000262260437,0.04599999636411667],[0.0820000022649765,0.2540000081062317,0.18299999833106995]],"raw_keys":["bbox_m","evidence","inertia_kg_m2","mass_kg","mesh","objects","physical_property_note"]},{"id":"plate_carriage","name_zh":"板托盘","function_zh":"承载纵向放置的微孔板","physical_meaning_zh":"承载纵向放置的微孔板;几何简化的功能组件,内部尺寸未实测。","subsystem":null,"parent":"assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["ahs__plate_carriage__00"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate and engineering assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.05299999937415123,-0.25049999356269836,0.020999999716877937],[0.05299999937415123,-0.07750000804662704,0.027000000700354576]],"raw_keys":["bbox_m","evidence","inertia_kg_m2","mass_kg","mesh","objects","physical_property_note"]},{"id":"guide_rails","name_zh":"导向结构","function_zh":"限制托盘与压合展示空间","physical_meaning_zh":"限制托盘与压合展示空间;几何简化的功能组件,内部尺寸未实测。","subsystem":null,"parent":"assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["ahs__guide_rails__00","ahs__guide_rails__01"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate and engineering assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["scene.set_press_displacement"],"bbox_m":[[-0.05350000038743019,-0.25,0.02499999850988388],[0.05350000038743019,-0.07600000500679016,0.032999999821186066]],"raw_keys":["bbox_m","evidence","inertia_kg_m2","mass_kg","mesh","objects","physical_property_note"]},{"id":"plate_adapter","name_zh":"板适配器","function_zh":"与宿主选择的板高配置对接","physical_meaning_zh":"与宿主选择的板高配置对接;几何简化的功能组件,内部尺寸未实测。","subsystem":null,"parent":"assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["ahs__plate_adapter__00"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate and engineering assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["configuration.set"],"bbox_m":[[-0.04800000041723251,-0.2330000102519989,0.026000000536441803],[0.04800000041723251,-0.09099999815225601,0.02800000086426735]],"raw_keys":["bbox_m","evidence","inertia_kg_m2","mass_kg","mesh","objects","physical_property_note"]},{"id":"external_plate","name_zh":"外部微孔板示例","function_zh":"承载样品并接收封膜","physical_meaning_zh":"承载样品并接收封膜;几何简化的功能组件,内部尺寸未实测。","subsystem":null,"parent":"assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["ahs__external_plate__00","ahs__external_plate__01","ahs__external_plate__02","ahs__external_plate__03","ahs__external_plate__04","ahs__external_plate__05","ahs__external_plate__06","ahs__external_plate__07","ahs__external_plate__08","ahs__external_plate__09","ahs__external_plate__10","ahs__external_plate__11","ahs__external_plate__12","ahs__external_plate__13","ahs__external_plate__14","ahs__external_plate__15","ahs__external_plate__16","ahs__external_plate__17","ahs__external_plate__18","ahs__external_plate__19","ahs__external_plate__20","ahs__external_plate__21","ahs__external_plate__22","ahs__external_plate__23","ahs__external_plate__24","ahs__external_plate__25","ahs__external_plate__26","ahs__external_plate__27","ahs__external_plate__28","ahs__external_plate__29","ahs__external_plate__30","ahs__external_plate__31","ahs__external_plate__32","ahs__external_plate__33","ahs__external_plate__34","ahs__external_plate__35","ahs__external_plate__36","ahs__external_plate__37","ahs__external_plate__38","ahs__external_plate__39","ahs__external_plate__40","ahs__external_plate__41","ahs__external_plate__42","ahs__external_plate__43","ahs__external_plate__44","ahs__external_plate__45","ahs__external_plate__46","ahs__external_plate__47","ahs__external_plate__48","ahs__external_plate__49","ahs__external_plate__50","ahs__external_plate__51","ahs__external_plate__52","ahs__external_plate__53","ahs__external_plate__54","ahs__external_plate__55","ahs__external_plate__56","ahs__external_plate__57","ahs__external_plate__58","ahs__external_plate__59","ahs__external_plate__60","ahs__external_plate__61","ahs__external_plate__62","ahs__external_plate__63","ahs__external_plate__64","ahs__external_plate__65","ahs__external_plate__66","ahs__external_plate__67","ahs__external_plate__68","ahs__external_plate__69","ahs__external_plate__70","ahs__external_plate__71","ahs__external_plate__72","ahs__external_plate__73","ahs__external_plate__74","ahs__external_plate__75","ahs__external_plate__76","ahs__external_plate__77","ahs__external_plate__78","ahs__external_plate__79","ahs__external_plate__80","ahs__external_plate__81","ahs__external_plate__82","ahs__external_plate__83","ahs__external_plate__84","ahs__external_plate__85","ahs__external_plate__86","ahs__external_plate__87","ahs__external_plate__88","ahs__external_plate__89","ahs__external_plate__90","ahs__external_plate__91","ahs__external_plate__92","ahs__external_plate__93","ahs__external_plate__94","ahs__external_plate__95","ahs__external_plate__96"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate and engineering assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["sealing.start"],"bbox_m":[[-0.03999999910593033,-0.22300000488758087,0.02800000086426735],[0.03999999910593033,-0.10099999606609344,0.04320000112056732]],"raw_keys":["bbox_m","evidence","inertia_kg_m2","mass_kg","mesh","objects","physical_property_note"]},{"id":"press_head","name_zh":"加热压合头","function_zh":"将热接触面压至板上方","physical_meaning_zh":"将热接触面压至板上方;几何简化的功能组件,内部尺寸未实测。","subsystem":null,"parent":"assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["ahs__press_head__00","ahs__press_head__01","ahs__press_head__02","ahs__press_head__03"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate and engineering assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["thermal.set_temperature","scene.set_press_displacement","sealing.start","sealing.cancel","sealing.set_pressure"],"bbox_m":[[-0.04349999874830246,-0.2280000001192093,0.10499999672174454],[0.04349999874830246,-0.09600000083446503,0.17599999904632568]],"raw_keys":["bbox_m","evidence","inertia_kg_m2","mass_kg","mesh","objects","physical_property_note"]},{"id":"roll_support","name_zh":"膜卷支架","function_zh":"承载膜卷,厂家有两位置但坐标未知","physical_meaning_zh":"承载膜卷,厂家有两位置但坐标未知;几何简化的功能组件,内部尺寸未实测。","subsystem":null,"parent":"assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["ahs__roll_support__00","ahs__roll_support__01","ahs__roll_support__02"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate and engineering assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["configuration.set"],"bbox_m":[[-0.0625,0.01900000125169754,0.27300000190734863],[0.0625,0.08100000023841858,0.3490000069141388]],"raw_keys":["bbox_m","evidence","inertia_kg_m2","mass_kg","mesh","objects","physical_property_note"]},{"id":"film_roll","name_zh":"兼容膜卷示例","function_zh":"提供75–85毫米宽热封膜","physical_meaning_zh":"提供75–85毫米宽热封膜;几何简化的功能组件,内部尺寸未实测。","subsystem":null,"parent":"assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["ahs__film_roll__00","ahs__film_roll__01","ahs__film_roll__02"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate and engineering assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.04100000113248825,-0.013000000268220901,0.2770000100135803],[0.04100000113248825,0.11300000548362732,0.40299999713897705]],"raw_keys":["bbox_m","evidence","inertia_kg_m2","mass_kg","mesh","objects","physical_property_note"]},{"id":"feed_rollers","name_zh":"膜导辊","function_zh":"引导膜路径","physical_meaning_zh":"引导膜路径;几何简化的功能组件,内部尺寸未实测。","subsystem":null,"parent":"assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["ahs__feed_rollers__00"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate and engineering assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.04699999839067459,-0.03400000184774399,0.27300000190734863],[0.04699999839067459,-0.01600000075995922,0.29100000858306885]],"raw_keys":["bbox_m","evidence","inertia_kg_m2","mass_kg","mesh","objects","physical_property_note"]},{"id":"film_path","name_zh":"膜路径示例","function_zh":"从卷料到压合位置的拓扑示意","physical_meaning_zh":"从卷料到压合位置的拓扑示意;几何简化的功能组件,内部尺寸未实测。","subsystem":null,"parent":"assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["ahs__film_path__00"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate and engineering assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["sealing.start"],"bbox_m":[[-0.03999999910593033,-0.025321563705801964,0.28168952465057373],[0.03999999910593033,0.00832156278192997,0.2923104763031006]],"raw_keys":["bbox_m","evidence","inertia_kg_m2","mass_kg","mesh","objects","physical_property_note"]},{"id":"cutter","name_zh":"切膜组件示例","function_zh":"表示薄膜切断功能,刀刃与切割过程未求解","physical_meaning_zh":"表示薄膜切断功能,刀刃与切割过程未求解;几何简化的功能组件,内部尺寸未实测。","subsystem":null,"parent":"assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["ahs__cutter__00"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate and engineering assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.05400000140070915,-0.0430000014603138,0.2705000042915344],[0.05400000140070915,-0.03099999949336052,0.27950000762939453]],"raw_keys":["bbox_m","evidence","inertia_kg_m2","mass_kg","mesh","objects","physical_property_note"]},{"id":"assembly","name_zh":"整机装配","function_zh":"提供整个热封工作站的装配参考与承载","physical_meaning_zh":"质量属于不含膜卷的完整仪器,不是机壳或压头质量。","subsystem":null,"parent":null,"origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["ahs__root"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":null,"material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":[]}],"component_source":"geometry_manifest.json + asset.contract.json + collision_proxies.json","capabilities":{"power.set":{"function_zh":"设置仿真供电;断电取消封膜并保留压头、时间和已消耗膜。","kind":"device_command","availability":"implemented","component_ids":["power_data_panel"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":["enabled"]},"thermal.set_temperature":{"function_zh":"写入封膜温度目标;只在宿主推进时才更新已配置的温度过程。","kind":"device_command","availability":"implemented","component_ids":["press_head"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":["temperature_K"]},"configuration.set":{"function_zh":"选择时间和宿主已装载的板适配器、膜卷位置标识。","kind":"configuration","availability":"implemented","component_ids":["plate_adapter","roll_support"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":["press_time_s","plate_adapter_id","film_roll_position_id"]},"scene.set_press_displacement":{"function_zh":"宿主确认压合展示关节;装板时不能穿过几何接触平面。","kind":"configuration","availability":"implemented","component_ids":["press_head","guide_rails"],"implementation":{"process":"not_applicable","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["displacement_m"]},"sealing.start":{"function_zh":"开始计时封膜,立即消耗1次膜配额;accepted不表示密封完成。","kind":"device_command","availability":"implemented","component_ids":["press_head","film_path","external_plate"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":[]},"sealing.poll":{"function_zh":"读取当前身份拥有的任务进度,不推进宿主时钟。","kind":"query","availability":"implemented","component_ids":["status_display"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":["operation_id"]},"sealing.cancel":{"function_zh":"取消运行,保留时间、膜消耗和压合位置。","kind":"device_command","availability":"implemented","component_ids":["press_head"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":["operation_id"]},"sealing.read":{"function_zh":"读取估计温度、膜余量和当前封膜状态,不推进时间。","kind":"query","availability":"implemented","component_ids":["status_display"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":[]},"sealing.set_pressure":{"function_zh":"压力并非任意可编程;没有压力设置实现或虚构参数。","kind":"device_command","availability":"unsupported","component_ids":["press_head"],"implementation":{"process":"absent","scene":"absent","robot":"absent","hardware":"absent","host":"absent"},"input":[]}},"state_slots":{"power.enabled":{"meaning_zh":"仿真供电设定;不驱动真实电源。","unit":"1","access":"read_write","origin":"setpoint","component_ids":["power_data_panel"],"write_via":"power.set"},"thermal.setpoint_k":{"meaning_zh":"373.15–468.15 K 封膜目标;初始null,设置成功不代表过程已达到。","unit":"K","access":"read_write","origin":"setpoint","component_ids":["press_head"],"write_via":"thermal.set_temperature"},"measurement.temperature_k":{"meaning_zh":"宿主温度或显式线性热模型的理想化观测代理;quality=estimated,未供电或未提供初值时null。","unit":"K","access":"read_only","origin":"derived","component_ids":["press_head"],"write_via":null},"thermal.target_reached":{"meaning_zh":"模型温度代理与目标差不超过1e-9 K的数值相等判据;不是厂家±1K均匀性或实测温控稳定判据。","unit":"1","access":"read_only","origin":"derived","component_ids":["press_head"],"write_via":null},"simulation.thermal_rate_configured":{"meaning_zh":"可信宿主已显式提供正热速率及证据的标记。","unit":"1","access":"read_only","origin":"derived","component_ids":["press_head"],"write_via":null},"configuration.press_time_s":{"meaning_zh":"0.1–10 s压合持续时间;初始null,须经configuration.set完整配置。","unit":"s","access":"read_only","origin":"setpoint","component_ids":["press_head"],"write_via":null},"configuration.plate_adapter_id":{"meaning_zh":"与宿主已装板相匹配的适配器标识;没有虚构厂家适配器枚举。","unit":"1","access":"read_only","origin":"setpoint","component_ids":["plate_adapter"],"write_via":null},"configuration.film_roll_position_id":{"meaning_zh":"与宿主已装膜卷匹配的位置标识;真实坐标未知,不驱动膜卷机械移动。","unit":"1","access":"read_only","origin":"setpoint","component_ids":["roll_support"],"write_via":null},"plate.loaded":{"meaning_zh":"宿主登记存在于该实例工位的外部微孔板;不构成自动上板动作。","unit":"1","access":"read_only","origin":"scene","component_ids":["external_plate","plate_carriage"],"write_via":null},"plate.plate_id":{"meaning_zh":"当前宿主外部板ID;没有板时null。","unit":"1","access":"read_only","origin":"scene","component_ids":["external_plate"],"write_via":null},"plate.height_m":{"meaning_zh":"宿主明确提供的板高,范围0.003–0.060 m;宿主须配置同高度场景fixture。","unit":"m","access":"read_only","origin":"scene","component_ids":["external_plate"],"write_via":null},"plate.attachment_constraint_id":{"meaning_zh":"宿主True确认attach事件后登记的世界约束ID;release确认后清空;机器人层未实现。","unit":"1","access":"read_only","origin":"scene","component_ids":["external_plate"],"write_via":null},"plate.simulated_sealed":{"meaning_zh":"当前板满足抽象封膜时间/温度/接触条件的模拟状态;不证明强度、气密或耐溶剂。","unit":"1","access":"read_only","origin":"derived","component_ids":["external_plate"],"write_via":null},"film.roll_id":{"meaning_zh":"当前兼容膜卷的宿主ID,初始null。","unit":"1","access":"read_only","origin":"scene","component_ids":["film_roll"],"write_via":null},"film.width_m":{"meaning_zh":"宿主提供的兼容膜宽0.075–0.085 m,初始null;没有隐含材料或质量。","unit":"m","access":"read_only","origin":"scene","component_ids":["film_roll"],"write_via":null},"film.remaining_seals":{"meaning_zh":"宿主显式给定的剩余封膜配额0–5000;初始null;每次accepted即减1,失败或取消不返还。","unit":"1","access":"read_only","origin":"derived","component_ids":["film_roll"],"write_via":null},"scene.press_displacement_m":{"meaning_zh":"压合展示关节位移q,单位m、正方向向下;q=0..0.074是几何假设,非厂家行程。","unit":"m","access":"read_write","origin":"scene","component_ids":["press_head"],"write_via":"scene.set_press_displacement"},"sealing.status":{"meaning_zh":"当前板最近一轮模拟封膜状态;idle/running/succeeded/cancelled/failed。","unit":"1","access":"read_only","origin":"derived","component_ids":["press_head","external_plate"],"write_via":null},"sealing.elapsed_s":{"meaning_zh":"当前轮已累计的有效压合时���,单位s;取消或失温失败保留部分值。","unit":"s","access":"read_only","origin":"derived","component_ids":["press_head"],"write_via":null},"sealing.progress":{"meaning_zh":"elapsed_s/本轮press_time_s的无量纲进度;不代表真实粘接完成比例。","unit":"1","access":"read_only","origin":"derived","component_ids":["press_head"],"write_via":null},"truth.temperature_k":{"meaning_zh":"仅debug/evaluator可读的合成过程温度;初始null,不冒充实测。","unit":"K","access":"read_only","origin":"process_truth","component_ids":["press_head"],"write_via":null},"truth.thermal_rate_k_s":{"meaning_zh":"仅debug/evaluator可读的宿主显式线性接近速率;初始null,不从整机质量或均匀性推断。","unit":"K/s","access":"read_only","origin":"process_truth","component_ids":["press_head"],"write_via":null}},"mechanisms":{"thermal_process":{"meaning_zh":"宿主显式初值和速率驱动的集中线性温度代理;未校准热物理模型。","implementation":"lumped","equations":["供电开启且T、Tset、r均非null时:T_next=T+sign(Tset-T)*min(abs(Tset-T),r*dt)。否则不自行补温度或速率。","measurement.temperature_K=T(仅供电时),quality=estimated;未供电或无T时null。","thermal.target_reached=power.enabled and T,Tset已配置 and abs(T-Tset)<=1e-9 K;1e-9仅为数值比较容差。"],"parameters":{"temperature_range":{"value":[373.15,468.15],"unit":"K","evidence":"documented","meaning_zh":"用户表封膜范围100–195°C换算为SI。"},"block_uniformity":{"value":1.0,"unit":"K","evidence":"documented","meaning_zh":"厂家加热块均匀性±1°C;不是目标误差、升温速率或本模型就绪阈值。"},"thermal_rate":{"value":null,"unit":"K/s","evidence":"unknown","meaning_zh":"宿主每实例提供正有限线性速率及证据;没有厂家响应曲线或默认系数。"},"initial_temperature":{"value":null,"unit":"K","evidence":"unknown","meaning_zh":"宿主显式温度初值;未知时保持null。"},"numeric_equality_tolerance":{"value":1e-09,"unit":"K","evidence":"assumption","meaning_zh":"浮点相等的实现容差,非物理温度精度。"},"heater_power":{"value":null,"unit":"W","evidence":"unknown","meaning_zh":"整机与加热器功率未在用户表明确,未补值。"},"heat_capacity":{"value":null,"unit":"J/K","evidence":"unknown","meaning_zh":"未知加热块热容;不得由整机27kg冒充加热块参数。"}}},"sealing_process":{"meaning_zh":"将几何接触、温度模型就绪、持续时间和膜配额组合为抽象封膜状态;没有密封材料力学。","implementation":"qualitative","equations":["q_contact=0.077m-plate.height_m;压头底面z=0.105m-q;板顶z=0.028m+plate.height_m。这些均为本资产几何假设。","sealing.start被接受时remaining_seals_next=remaining_seals-1,elapsed=0,progress=0,status=running;不能使未完成板提前sealed。","运行中保持温度代理达到目标时,elapsed_next=min(press_time_s,elapsed+dt),progress=elapsed/press_time_s。","elapsed达到本轮press_time_s则status=succeeded且当前板simulated_sealed=True;取消、断电或失温保留已用时间、消耗膜和q,未完成板为False。"],"parameters":{"press_time_range":{"value":[0.1,10.0],"unit":"s","evidence":"documented","meaning_zh":"用户表压合时间范围。"},"plate_height_range":{"value":[0.003,0.06],"unit":"m","evidence":"documented","meaning_zh":"用户表板高范围;宿主场景必须具备相符板高度。"},"film_width_range":{"value":[0.075,0.085],"unit":"m","evidence":"documented","meaning_zh":"用户表兼容膜宽范围。"},"maximum_seals_per_roll":{"value":5000,"unit":"1","evidence":"documented","meaning_zh":"一卷最多5000次为上限;不表示默认实际剩余量。"},"press_display_travel":{"value":[0,0.074],"unit":"m","evidence":"assumption","meaning_zh":"本模型压合展示行程;没有厂家关节行程数据。"},"plate_seat_z":{"value":0.028,"unit":"m","evidence":"assumption","meaning_zh":"台面局部板座顶面的模型位置。"},"platen_home_bottom_z":{"value":0.105,"unit":"m","evidence":"assumption","meaning_zh":"压头底面零位模型位置。"},"press_pressure":{"value":null,"unit":"Pa","evidence":"unknown","meaning_zh":"表内未提供实际压合压力,且不支持任意编程。"},"seal_strength":{"value":null,"unit":"Pa","evidence":"unknown","meaning_zh":"未知膜与板材料粘接强度。"},"leak_rate":{"value":null,"unit":"m^3/s","evidence":"unknown","meaning_zh":"未知泄漏规律;没有气密质量推断。"},"film_feed_distance":{"value":null,"unit":"m","evidence":"unknown","meaning_zh":"每轮实际进膜距离未知,仅记一次可用封膜配额。"}}}},"limitations":["温度100–195°C、时间0.1–10s、板高3–60mm、膜宽75–85mm来自CHEM-176三表;SI接口采用K、s、m。","热初始值和热速率没有缺省值;温度推进只采用宿主明确给定且附证据的线性接近设定值模型,无热容、功率、冷却曲线或PID推断。","measurement.temperature_K为理想化过程代理且quality=estimated;target_reached只比较模型目标,不是实测稳定性或厂家互锁。±1K均匀性只作为规格,不作为目标公差。","压合q=0..0.074m、压头底z=.105-q、板顶z=.028+height和接触q=.077-height均是几何假设,非厂家行程或接触力学。","一卷最多5000次是上限;宿主须提供实际剩余次数,默认null。每次已接受封膜消耗1次膜配额;取消或失败不退回膜。未推断膜长度或实际进给距离。","film_roll_position_id与plate_adapter_id引用宿主装载的兼容配置;真实位置坐标和厂家适配器枚举未知,不生成任意假坐标。","simulated_sealed仅表示配置、温度代理、压合接触与持续时间条件满足,不预测粘接强度、泄漏、耐溶剂性或真实密封质量。压力不可任意编程且未建模。","scene_adapter与attach/release需宿主True确认;robot与hardware absent,未实现接触抓取、力控制或实际输送。","去重仅当前宿主内存有效;API身份过滤不是Python、文件系统或进程安全隔离。取消保留已经消耗时间、膜与压头位置。","外形依据标称尺寸与公开外观简化;尺寸是否包含膜卷来源未明,本模型采用无卷本体口径假设。内部压头外露用于功能可见性,不是厂家拆机复原。","URDF只有整机包围盒惯量;各组件质量、摩擦、接触刚度、热容和真实行程未知。属于可动运动学资产,未验证动力学接触。","默认本体及示例板/膜的OBJ坐标为装配零位;URDF使用相同坐标与向下关节,不可当成各部件质心坐标。","膜进给/切断、托盘内外自动输送、触摸屏动态显示未联动,封膜API只在已确认接触的压头位置累计时间。","性能范围来自清单;公开图只支持粗外形,所有内部零件、膜卷直径、接头位置均为假设。","封膜逻辑假定板在名义座位对准,仅检查板高和压合q。宿主若移动或旋转板,需自行核对实际空间重叠;本次场景验证只覆盖名义座位。","示例96孔板的孔位是无碰撞视觉标记,不包含实际孔腔、样品体积或液体自由表面;宿主管理样品内容。"],"sources":[],"checks":{"coverage":{"status":"bridged","implemented":["configuration.set","power.set","scene.set_press_displacement","sealing.cancel","sealing.poll","sealing.read","sealing.start","thermal.set_temperature"],"unsupported":["sealing.set_pressure"],"note_zh":"桥接 basic40_runtime_automation.AzentaHeatSealerRuntime(推进方式 host_step_dt_world),22 个状态槽;与运行层镜像对比全同;受信设置需经 host.call;关节化 USD(1 个按键(碰到即触发));1 个关节跟随运行层状态;接口点 1 个(板位);布局:台面、单人可搬、正面 −y、前方留空 0.25 m;面板读数 temp(3)"}},"previews":["previews/azenta_automated_roll_heat_sealer_a4s/preview_front.webp","previews/azenta_automated_roll_heat_sealer_a4s/preview_pressed.webp","previews/azenta_automated_roll_heat_sealer_a4s/preview_rear.webp"],"files":[{"name":"asset.contract.json","path":"assets/basic40_batch02/t5_automation/azenta_heat_sealer/asset.contract.json","bytes":221541},{"name":"collision_proxies.json","path":"assets/basic40_batch02/t5_automation/azenta_heat_sealer/collision_proxies.json","bytes":8111},{"name":"geometry_manifest.json","path":"assets/basic40_batch02/t5_automation/azenta_heat_sealer/geometry_manifest.json","bytes":16776},{"name":"model.blend","path":"assets/basic40_batch02/t5_automation/azenta_heat_sealer/model.blend","bytes":183997},{"name":"model.glb","path":"assets/basic40_batch02/t5_automation/azenta_heat_sealer/model.glb","bytes":2061532},{"name":"model.urdf","path":"assets/basic40_batch02/t5_automation/azenta_heat_sealer/model.urdf","bytes":11873},{"name":"scene_adapter.py","path":"assets/basic40_batch02/t5_automation/azenta_heat_sealer/scene_adapter.py","bytes":3829}],"completeness":{"components":17,"with_collisions":15,"with_objects":17,"with_function":17,"with_mass":0,"joints_matching_component":1,"joints":1,"has_contract":true,"has_layout":true,"has_glb":true,"checks_present":["articulation_check","coverage","contract_validation","runtime_validation","scene_validation"]},"slug":"azenta_automated_roll_heat_sealer_a4s","chem_id":"CHEM-176","name_en":"Automated microplate heat sealer","maker":"Azenta Life Sciences","model":"Automated Roll Heat Sealer (a4S)","domain":"automation","domain_name":"Automation & Gas/Liquid Supply","path":"assets/basic40_batch02/t5_automation/azenta_heat_sealer","glb_up":"z","has_contract":true,"contract":"assets/basic40_batch02/t5_automation/azenta_heat_sealer/asset.contract.json","runtime":"scripts/basic40_runtime_automation.py"}
|
data/assets/instrument.azenta_intellixcap_s1_46_0001.json
CHANGED
|
@@ -1 +1 @@
|
|
| 1 |
-
{"tid":"instrument.azenta_intellixcap_s1_46_0001","asset_dir":"basic40_batch02/t5_automation/azenta_intellixcap_s1","name_zh":"自动开盖封盖机","category":"自动化与气液供给","description_zh":"CHEM-177:Azenta Life Sciences IntelliXcap S1 46-0001半自动单管开盖/封盖机;按指定清单覆盖已建功能部件、夹持与旋转两个运动和宿主接口。full指组件登记覆盖,不表示机器人、接触力学、真实螺纹过程或硬件已实现。","coordinate_system":{"status":"defined","length_unit":"m","angle_unit":"rad","handedness":"right","up_axis":"+Z","frame":"intellixcap_s1:台面投影中心为[0,0,0];+X宽向右、+Y向后、+Z向上;标称包围盒0.170W×0.240D×0.300Hm,实例变换由宿主独立持有。"},"mass_kg":3.8,"size_m":[0.17,0.24,0.3],"bbox_min":[-0.085,-0.12,0.0],"bbox_max":[0.085,0.12,0.3],"manifest_dimensions_m":[0.17,0.24,0.3],"glb":"assets/basic40_batch02/t5_automation/azenta_intellixcap_s1/model.glb","glb_orientation":"gltf_y_up_rotated","usd":null,"urdf":"assets/basic40_batch02/t5_automation/azenta_intellixcap_s1/model.urdf","links":{"assembly":"/Geometry/assembly","spindle":"/Geometry/assembly/spindle","jaw_left":"/Geometry/assembly/spindle/jaw_left","jaw_right":"/Geometry/assembly/spindle/jaw_right","btn_controller_key_0_link":"/Geometry/assembly/btn_controller_key_0_link","btn_controller_key_1_link":"/Geometry/assembly/btn_controller_key_1_link","btn_controller_key_2_link":"/Geometry/assembly/btn_controller_key_2_link","btn_controller_key_3_link":"/Geometry/assembly/btn_controller_key_3_link","btn_controller_power_button_link":"/Geometry/assembly/btn_controller_power_button_link"},"frames":{"pre_place":[0.0,0.0,0.48],"place":[0.0,0.0,0.35],"post_place":[0.0,0.0,0.48],"joint_spindle_joint":[0.0,-0.04,0.2],"joint_jaw_left_joint":[-0.003,-0.04,0.2],"joint_jaw_right_joint":[0.003,-0.04,0.2],"joint_btn_controller_key_0":[-0.024,-0.0605,0.27],"joint_btn_controller_key_1":[-0.024,-0.0605,0.262],"joint_btn_controller_key_2":[-0.024,-0.0605,0.254],"joint_btn_controller_key_3":[-0.024,-0.0605,0.246],"joint_btn_controller_power_button":[0.026,-0.0604,0.242]},"joints":[{"name":"spindle_joint","type":"continuous","parent":"assembly","child":"spindle","axis":[0.0,0.0,1.0],"lower":null,"upper":null,"effort":null,"mimic":null,"origin_m":[0.0,-0.04,0.2],"child_prim":"/Geometry/assembly/spindle","child_bbox_min":[-0.034,-0.074,0.175],"child_bbox_max":[0.034,-0.006,0.203],"kind":"rotor"},{"name":"jaw_left_joint","type":"prismatic","parent":"spindle","child":"jaw_left","axis":[-1.0,0.0,0.0],"lower":0.0,"upper":0.025,"effort":null,"mimic":null,"origin_m":[-0.003,-0.04,0.2],"child_prim":"/Geometry/assembly/spindle/jaw_left","child_bbox_min":[-0.006,-0.0585,0.175],"child_bbox_max":[0.0,-0.0215,0.203],"kind":"other"},{"name":"jaw_right_joint","type":"prismatic","parent":"spindle","child":"jaw_right","axis":[1.0,0.0,0.0],"lower":0.0,"upper":0.025,"effort":null,"mimic":"jaw_left_joint","origin_m":[0.003,-0.04,0.2],"child_prim":"/Geometry/assembly/spindle/jaw_right","child_bbox_min":[-0.0,-0.0585,0.175],"child_bbox_max":[0.006,-0.0215,0.203],"kind":"other"},{"name":"btn_controller_key_0","type":"prismatic","parent":"controller","child":"btn_controller_key_0_link","axis":[-0.0,1.0,0.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[-0.024,-0.0605,0.27],"child_prim":"/Geometry/assembly/btn_controller_key_0_link","child_bbox_min":[-0.043,-0.06151,0.267],"child_bbox_max":[-0.005,-0.0597,0.273],"kind":"button"},{"name":"btn_controller_key_1","type":"prismatic","parent":"controller","child":"btn_controller_key_1_link","axis":[-0.0,1.0,0.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[-0.024,-0.0605,0.262],"child_prim":"/Geometry/assembly/btn_controller_key_1_link","child_bbox_min":[-0.043,-0.06151,0.259],"child_bbox_max":[-0.005,-0.0597,0.265],"kind":"button"},{"name":"btn_controller_key_2","type":"prismatic","parent":"controller","child":"btn_controller_key_2_link","axis":[-0.0,1.0,-0.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[-0.024,-0.0605,0.254],"child_prim":"/Geometry/assembly/btn_controller_key_2_link","child_bbox_min":[-0.043,-0.06151,0.251],"child_bbox_max":[-0.005,-0.0597,0.257],"kind":"button"},{"name":"btn_controller_key_3","type":"prismatic","parent":"controller","child":"btn_controller_key_3_link","axis":[-0.0,1.0,0.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[-0.024,-0.0605,0.246],"child_prim":"/Geometry/assembly/btn_controller_key_3_link","child_bbox_min":[-0.043,-0.06151,0.243],"child_bbox_max":[-0.005,-0.0597,0.249],"kind":"button"},{"name":"btn_controller_power_button","type":"prismatic","parent":"controller","child":"btn_controller_power_button_link","axis":[-0.0,1.0,-0.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[0.026,-0.0604,0.242],"child_prim":"/Geometry/assembly/btn_controller_power_button_link","child_bbox_min":[0.0198,-0.06151,0.2358],"child_bbox_max":[0.0322,-0.05975,0.2482],"kind":"button"}],"controls":{"buttons":["btn_controller_intellixcap_s1__controller__key_0","btn_controller_intellixcap_s1__controller__key_1","btn_controller_intellixcap_s1__controller__key_2","btn_controller_intellixcap_s1__controller__key_3","btn_controller_intellixcap_s1__controller__power_button"],"knobs":[]},"slots":[{"name":"vial_gripper","link":"assembly","part":"gripper","pos":[0.0,-0.04,0.207],"rot":[0.0,0.0,0.0,1.0],"pos_link":[0.0,-0.04,0.207],"rot_link":[0.0,0.0,0.0,1.0],"radius_m":0.012,"kind":"clamp","fits":["vial"],"anchor":"top","insert_axis":[0.0,0.0,1.0],"capture_m":0.03,"access":[],"modelled_occupant":false}],"hidden_parts":[],"readouts":[],"layout":{"front":[0.0,-1.0,0.0],"front_source":"controls","mount":"bench","weight_class":"one_person","mass_kg":3.8,"footprint_m":[0.17,0.24],"height_m":0.3,"clearance_m":{"front":0.25,"back":0.15,"left":0.05,"right":0.05,"top":0.1},"robot_standoff_m":0.35,"work_height_m":0.207,"primary_slot":"vial_gripper","access":[],"slot_count":1},"components":[{"id":"housing","name_zh":"外壳与立柱支架","function_zh":"支撑旋盖头并容纳内部驱动及控制装置","physical_meaning_zh":"刚性支撑外观抽象;内部机构、材料和实际壁厚未公开","subsystem":null,"parent":"assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["intellixcap_s1__housing__tapered_base","intellixcap_s1__housing__stand_post","intellixcap_s1__housing__stand_post.001","intellixcap_s1__housing__stand_bridge","intellixcap_s1__housing__upper_support","intellixcap_s1__housing__upper_head","intellixcap_s1__housing__lower_band","intellixcap_s1__housing__brand","intellixcap_s1__housing__brand_sub"],"collisions":[{"shape":"box","origin_m":[0,-0.105,0.0085],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,-0.075,0.0085],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,-0.045,0.0085],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,-0.015,0.0085],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0.015000000000000013,0.0085],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0.044999999999999984,0.0085],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0.07500000000000001,0.0085],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0.10499999999999998,0.0085],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.031,0.074,0.125],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.031,0.074,0.125],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0.074,0.031],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0.074,0.223],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0.006,0.255],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0.006,0.21],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate / functional abstraction; dimensions not measured","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","geometry_evidence","id","inertia_kg_m2","local_bbox_m","mass_kg","obj","objects","origin_m","parent"]},{"id":"controller","name_zh":"半自动控制界面","function_zh":"选择开盖/封盖模式,发起单管周期并反馈周期状态","physical_meaning_zh":"供电及状态机的功能组件;不包含独立力矩传感器证据","subsystem":null,"parent":"assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["intellixcap_s1__controller__control_panel","intellixcap_s1__controller__heading_mode","intellixcap_s1__controller__heading_status","intellixcap_s1__controller__key_0","intellixcap_s1__controller__indicator_0","intellixcap_s1__controller__label_0","intellixcap_s1__controller__key_1","intellixcap_s1__controller__indicator_1","intellixcap_s1__controller__label_1","intellixcap_s1__controller__key_2","intellixcap_s1__controller__indicator_2","intellixcap_s1__controller__label_2","intellixcap_s1__controller__key_3","intellixcap_s1__controller__indicator_3","intellixcap_s1__controller__label_3","intellixcap_s1__controller__status_Cap","intellixcap_s1__controller__status_label_Cap","intellixcap_s1__controller__status_Decap","intellixcap_s1__controller__status_label_Decap","intellixcap_s1__controller__power_button","intellixcap_s1__controller__power_symbol","intellixcap_s1__controller__product_name"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate / functional abstraction; dimensions not measured","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","cycle.set_mode","consumable.select","cycle.start","cycle.read","torque.set_limit"],"bbox_m":null,"raw_keys":["collisions","geometry_evidence","id","inertia_kg_m2","local_bbox_m","mass_kg","obj","objects","origin_m","parent"]},{"id":"gripper","name_zh":"固定夹头导向座与夹持接口","function_zh":"固定驱动导向座及逻辑夹持接口;申请宿主管盖附着/释放,运动夹爪实际直接从属于主轴","physical_meaning_zh":"此组件几何为固定导向座,不随主轴旋转;jaw_gap_m描述两运动爪间距,接触附着必须解析到cap_grip的旋转主轴框架","subsystem":null,"parent":"assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["intellixcap_s1__gripper__fixed_drive_boss"],"collisions":[{"shape":"cylinder","origin_m":[0,-0.04,0.201],"rpy_rad":[0,0,0],"radius_m":0.026,"length_m":0.012}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate / functional abstraction; dimensions not measured","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["cycle.start","cycle.read"],"bbox_m":null,"raw_keys":["collisions","geometry_evidence","id","inertia_kg_m2","local_bbox_m","mass_kg","obj","objects","origin_m","parent"]},{"id":"sample_interface","name_zh":"单管上送样品接口","function_zh":"接收宿主从夹头下方上送的单个样品管与螺纹盖引用","physical_meaning_zh":"机械拓扑入口;管与盖属于宿主世界,不作为本体内固定耗材,不转移样品内容","subsystem":null,"parent":"assembly","origin_m":[0,-0.04,0.177],"rpy_rad":[0,0,0],"objects":["intellixcap_s1__sample_interface"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate / functional abstraction; dimensions not measured","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["consumable.select","cycle.start"],"bbox_m":null,"raw_keys":["collisions","geometry_evidence","id","inertia_kg_m2","local_bbox_m","mass_kg","obj","objects","origin_m","parent"],"objects_inferred":true},{"id":"power_inlet","name_zh":"24V直流电源入口","function_zh":"连接外部直流供电","physical_meaning_zh":"表列24V、2.7A为整机供电信息;接头尺寸、极性和电气动态未知","subsystem":null,"parent":"assembly","origin_m":[0,0.089,0.238],"rpy_rad":[0,0,0],"objects":["intellixcap_s1__power_inlet__rear_plate","intellixcap_s1__power_inlet__usb_c_shell","intellixcap_s1__power_inlet__usb_c_opening"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate / functional abstraction; dimensions not measured","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","geometry_evidence","id","inertia_kg_m2","local_bbox_m","mass_kg","obj","objects","origin_m","parent"]},{"id":"feet","name_zh":"台面支撑脚","function_zh":"支撑整机与台面的机械接触位置","physical_meaning_zh":"几何支撑代理;摩擦、柔性和阻尼未知","subsystem":null,"parent":"assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["intellixcap_s1__feet__foot","intellixcap_s1__feet__foot.001","intellixcap_s1__feet__foot.002","intellixcap_s1__feet__foot.003"],"collisions":[{"shape":"cylinder","origin_m":[-0.065,-0.097,0.0025],"rpy_rad":[0,0,0],"radius_m":0.006,"length_m":0.005},{"shape":"cylinder","origin_m":[0.065,-0.097,0.0025],"rpy_rad":[0,0,0],"radius_m":0.006,"length_m":0.005},{"shape":"cylinder","origin_m":[-0.037,0.094,0.0025],"rpy_rad":[0,0,0],"radius_m":0.006,"length_m":0.005},{"shape":"cylinder","origin_m":[0.037,0.094,0.0025],"rpy_rad":[0,0,0],"radius_m":0.006,"length_m":0.005}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate / functional abstraction; dimensions not measured","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","geometry_evidence","id","inertia_kg_m2","local_bbox_m","mass_kg","obj","objects","origin_m","parent"]},{"id":"spindle","name_zh":"旋盖主轴","function_zh":"执行合成旋转运动并携带夹爪装配转动","physical_meaning_zh":"绕本地+Z旋转的关节;扭矩、真实转角和转速未知","subsystem":null,"parent":"assembly","origin_m":[0,-0.04,0.2],"rpy_rad":[0,0,0],"objects":["intellixcap_s1__spindle__rotary_plate"],"collisions":[{"shape":"box","origin_m":[0.031,0.0,-0.001],"rpy_rad":[0,0,0.0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.0268467875173176,0.015499999999999998,-0.001],"rpy_rad":[0,0,0.5235987755982988],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.015500000000000003,0.026846787517317595,-0.001],"rpy_rad":[0,0,1.0471975511965976],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[1.8982025386783975e-18,0.031,-0.001],"rpy_rad":[0,0,1.5707963267948966],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.015499999999999995,0.0268467875173176,-0.001],"rpy_rad":[0,0,2.0943951023931953],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.0268467875173176,0.015499999999999998,-0.001],"rpy_rad":[0,0,2.6179938779914944],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.031,3.796405077356795e-18,-0.001],"rpy_rad":[0,0,3.141592653589793],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.026846787517317602,-0.015499999999999993,-0.001],"rpy_rad":[0,0,3.665191429188092],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.015500000000000014,-0.02684678751731759,-0.001],"rpy_rad":[0,0,4.1887902047863905],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-5.694607616035192e-18,-0.031,-0.001],"rpy_rad":[0,0,4.71238898038469],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.015500000000000003,-0.026846787517317595,-0.001],"rpy_rad":[0,0,5.235987755982989],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.02684678751731759,-0.015500000000000014,-0.001],"rpy_rad":[0,0,5.759586531581287],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate / functional abstraction; dimensions not measured","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["cycle.start","cycle.read","torque.set_limit"],"bbox_m":null,"raw_keys":["collisions","geometry_evidence","id","inertia_kg_m2","local_bbox_m","mass_kg","obj","objects","origin_m","parent"]},{"id":"jaw_left","name_zh":"左夹爪","function_zh":"随夹口设定对称移动并随主轴旋转","physical_meaning_zh":"夹持装配的运动几何;直接从属于spindle,没有独立力学抓取能力","subsystem":null,"parent":"spindle","origin_m":[-0.018,0,0],"rpy_rad":[0,0,0],"objects":["intellixcap_s1__jaw_left__jaw_carrier","intellixcap_s1__jaw_left__grip_pad","intellixcap_s1__jaw_left__grip_pad.001","intellixcap_s1__jaw_left__witness_screw"],"collisions":[{"shape":"box","origin_m":[0,0,-0.009],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate / functional abstraction; dimensions not measured","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","geometry_evidence","id","inertia_kg_m2","local_bbox_m","mass_kg","obj","objects","origin_m","parent"]},{"id":"jaw_right","name_zh":"右夹爪","function_zh":"随夹口设定对称移动并随主轴旋转","physical_meaning_zh":"夹持装配的运动几何;直接从属于spindle,没有独立力学抓取能力","subsystem":null,"parent":"spindle","origin_m":[0.018,0,0],"rpy_rad":[0,0,0],"objects":["intellixcap_s1__jaw_right__jaw_carrier","intellixcap_s1__jaw_right__grip_pad","intellixcap_s1__jaw_right__grip_pad.001","intellixcap_s1__jaw_right__witness_screw"],"collisions":[{"shape":"box","origin_m":[0,0,-0.009],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate / functional abstraction; dimensions not measured","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","geometry_evidence","id","inertia_kg_m2","local_bbox_m","mass_kg","obj","objects","origin_m","parent"]},{"id":"assembly","name_zh":"整机聚合装配","function_zh":"聚合本体、主轴、夹爪与接口;提供台面投影中心参考系","physical_meaning_zh":"整机总质量与标称包围盒的聚合惯性代理,不是底座或任一零件的质量","subsystem":null,"parent":null,"origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["intellixcap_s1"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":null,"material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":[]}],"component_source":"geometry_manifest.json + asset.contract.json + collision_proxies.json","capabilities":{"power.set":{"function_zh":"空闲时设置仿真供电","kind":"device_command","availability":"implemented","component_ids":["controller"],"implementation":{"process":"absent","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":["enabled"]},"cycle.set_mode":{"function_zh":"空闲时设置开盖/封盖模式","kind":"configuration","availability":"implemented","component_ids":["controller"],"implementation":{"process":"absent","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":["mode"]},"consumable.select":{"function_zh":"选择有宿主兼容证据的耗材类型","kind":"configuration","availability":"implemented","component_ids":["sample_interface","controller"],"implementation":{"process":"absent","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":["consumable_id"]},"cycle.start":{"function_zh":"启动夹持及旋转演示;分阶段等待宿主约束与螺纹结果","kind":"device_command","availability":"implemented","component_ids":["controller","spindle","gripper","sample_interface"],"implementation":{"process":"absent","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":[]},"cycle.read":{"function_zh":"查询当前周期及机械状态,不推进时间","kind":"query","availability":"implemented","component_ids":["controller","spindle","gripper"],"implementation":{"process":"absent","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":[]},"torque.set_limit":{"function_zh":"扭矩阈值未公开且无力学控制实现","kind":"device_command","availability":"unsupported","component_ids":["controller","spindle"],"implementation":{"process":"absent","scene":"not_applicable","robot":"absent","hardware":"absent","host":"absent"},"input":[]}},"state_slots":{"power.enabled":{"meaning_zh":"仿真供电开关;空闲才可修改","unit":"1","access":"read_write","origin":"setpoint","component_ids":["controller"],"write_via":"power.set"},"cycle.mode":{"meaning_zh":"下一周期的开盖或封盖模式","unit":"1","access":"read_write","origin":"setpoint","component_ids":["controller"],"write_via":"cycle.set_mode"},"sample.consumable_id":{"meaning_zh":"宿主登记的兼容耗材类型ID","unit":"1","access":"read_write","origin":"setpoint","component_ids":["sample_interface"],"write_via":"consumable.select"},"sample.tube_id":{"meaning_zh":"宿主放入的单管实例引用;不含样品成分","unit":"1","access":"read_only","origin":"scene","component_ids":["sample_interface"],"write_via":null},"sample.cap_id":{"meaning_zh":"宿主放入的螺纹盖实例引用","unit":"1","access":"read_only","origin":"scene","component_ids":["sample_interface"],"write_via":null},"attachment.constraint_id":{"meaning_zh":"宿主确认已存在的夹爪—管盖约束ID","unit":"1","access":"read_only","origin":"scene","component_ids":["gripper"],"write_via":null},"simulation.motion_configured":{"meaning_zh":"宿主是否明确配置了运动演示参数和证据","unit":"1","access":"read_only","origin":"derived","component_ids":["controller"],"write_via":null},"rotation_rad":{"meaning_zh":"绕主轴本地+Z的演示角;正向定义为开盖,非厂家方向证据","unit":"rad","access":"read_only","origin":"scene","component_ids":["spindle"],"write_via":null},"jaw_gap_m":{"meaning_zh":"相对主轴的两个夹爪内表面总间距;不表示接触夹紧力","unit":"m","access":"read_only","origin":"scene","component_ids":["gripper"],"write_via":null},"cycle.status":{"meaning_zh":"异步状态机阶段;等待宿主时不继续自动执行","unit":"1","access":"read_only","origin":"derived","component_ids":["controller"],"write_via":null},"cycle.motion_completed":{"meaning_zh":"旋转演示已完成;不能单独证明螺纹开封盖成功","unit":"1","access":"read_only","origin":"derived","component_ids":["controller"],"write_via":null},"cycle.host_confirmed":{"meaning_zh":"宿主显式确认的螺纹结果,未确认是null","unit":"1","access":"read_only","origin":"derived","component_ids":["controller"],"write_via":null},"truth.thread_state":{"meaning_zh":"宿主确认的管盖开闭真值;运行层不自行计算","unit":"1","access":"read_only","origin":"process_truth","component_ids":["sample_interface"],"write_via":null}},"mechanisms":{"kinematic_cycle":{"meaning_zh":"显式合成运动参数驱动的半自动夹持—旋转—松夹状态机,阶段之间接受宿主附着与螺纹结果;仅为运动学示范","implementation":"numerical","equations":["f=clamp((host_time-phase_start)/host_supplied_duration,0,1)","clamping_gap=(1-f)*open_gap+f*closed_gap","rotation=rotation_start+sign(mode)*host_supplied_delta*f","releasing_gap=(1-f)*closed_gap+f*open_gap","gap映射到左右夹爪局部X:±(gap/2+0.003);0.003m为几何半厚度假设"],"parameters":{"open_gap":{"value":null,"unit":"m","evidence":"unknown","meaning_zh":"无默认值;必须由可信宿主提供显式仿真假设与证据"},"closed_gap":{"value":null,"unit":"m","evidence":"unknown","meaning_zh":"无默认值;必须由可信宿主提供显式仿真假设与证据"},"rotation_delta":{"value":null,"unit":"rad","evidence":"unknown","meaning_zh":"无默认值;必须由可信宿主提供显式仿真假设与证据"},"clamp_duration":{"value":null,"unit":"s","evidence":"unknown","meaning_zh":"无默认值;必须由可信宿主提供显式仿真假设与证据"},"rotation_duration":{"value":null,"unit":"s","evidence":"unknown","meaning_zh":"无默认值;必须由可信宿主提供显��仿真假设与证据"},"release_duration":{"value":null,"unit":"s","evidence":"unknown","meaning_zh":"无默认值;必须由可信宿主提供显式仿真假设与证据"}}},"thread_and_contact":{"meaning_zh":"真实螺纹开封盖结果和接触夹持需外部力学/耗材验证;此资产只接受宿主确认","implementation":"absent","equations":[],"parameters":{"torque_threshold":{"value":null,"unit":"N*m","evidence":"unknown","meaning_zh":"封盖扭矩阈值未知"},"clamp_force":{"value":null,"unit":"N","evidence":"unknown","meaning_zh":"夹持力未知"},"friction_coefficient":{"value":null,"unit":"1","evidence":"unknown","meaning_zh":"盖/夹爪及螺纹摩擦未知"},"thread_pitch":{"value":null,"unit":"m","evidence":"unknown","meaning_zh":"具体耗材螺距未知"}}}},"limitations":["仅实现半自动单管状态机与合成运动;完整无人流程需要宿主样品转运。robot 和 hardware 层 absent。","所有行程、转角和阶段时长必须由可信宿主给出显式仿真假设与证据;没有厂家运动缺省值。","典型周期小于3秒随耗材变化;该规格不是此仿真每次周期的保证,也不用作默认运动或超时参数。","11–40 mm仅为盖径兼容范围;15/50 mL是已列兼容管容量类别,不能据容量推导管形或螺距。","夹持和旋转仅提供位姿状态;扭矩、夹力、螺纹摩擦、转速和实际行程未知且不求解。","attach/release事件需宿主实际建立/解除外部约束后确认;本运行层只登记constraint_id,不创建物理约束。","运动结束后必须等待宿主螺纹结果;结果属于宿主断言,不是本资产自行检测到的真实开封盖成功。","取消保留关节当前位置及已确认附着;不得假定盖已释放、样品状态回滚或自动复位。","read/poll不推进时间;host_step推进同一运行宿主中全部实例。实例数据互相隔离。","去重只在当前宿主内存中有效;API可见性过滤不构成Python反射或共享文件系统隔离。","整体URDF使用assembly根链接上的3.8kg均匀包围盒惯性代理;其他运动链接质量与惯量未知,不写虚构默认1kg。该URDF为动力学信息不完整的运动学描述;prismatic limit省略未知effort/velocity,部分严格URDF加载器可能拒绝,严格加载与动力学导入均not_run。宿主需补足有证据的质量、惯量、effort和velocity后再评估加载。","场景内置展示姿态、爪厚和布局均为重建假设;运行默认状态仍是未配置的null,不能把模型初始姿态当厂家参数。","场景夹口显示范围0..0.050m、URDF q=gap/2为0..0.025m均是仿真几何限制,不是厂家实际行程;场景适配器拒绝超出该域的运行快照。","该设备无已证实气体/液体物料端口;分类名包含气液供给不构成气路存在的证据。","sample_interface是定位Empty,无视觉网格和碰撞体;其OBJ仅占位文件头,不属于可见分件。","已验证原生Blender与GLB回导的SI包围盒及Z向上约定;GLB文件遵循glTF标准Y-up序列化。","scene_adapter.resolve_attachment_frame已验证将逻辑gripper事件映射到旋转spindle;不创建、删除或求解真实外部约束。","表内开盖/封盖与周期状态范围已实现。手册更多模式、按压触发和三档厂家周期没有绑定为完整硬件等价功能。","预览面板文字与绿色指示点属于静态外观;未声明随供电或周期切换的显示联动。"],"sources":[],"checks":{"coverage":{"status":"bridged","implemented":["consumable.select","cycle.read","cycle.set_mode","cycle.start","power.set"],"unsupported":["torque.set_limit"],"note_zh":"桥接 basic40_runtime_automation.IntelliXcapS1Runtime(推进方式 host_step_dt),13 个状态槽;与运行层镜像对比全同;受信设置需经 host.call;关节化 USD(5 个按键(碰到即触发)、3 个门/盖/阀等被动关节);3 个关节跟随运行层状态;接口点 1 个(夹持);布局:台面、单人可搬、正面 −y、前方留空 0.25 m"}},"previews":["previews/azenta_intellixcap_s1_46_0001/preview.webp","previews/azenta_intellixcap_s1_46_0001/preview_front.webp","previews/azenta_intellixcap_s1_46_0001/preview_motion.webp"],"files":[{"name":"asset.contract.json","path":"assets/basic40_batch02/t5_automation/azenta_intellixcap_s1/asset.contract.json","bytes":155782},{"name":"collision_proxies.json","path":"assets/basic40_batch02/t5_automation/azenta_intellixcap_s1/collision_proxies.json","bytes":8914},{"name":"geometry_manifest.json","path":"assets/basic40_batch02/t5_automation/azenta_intellixcap_s1/geometry_manifest.json","bytes":20135},{"name":"model.blend","path":"assets/basic40_batch02/t5_automation/azenta_intellixcap_s1/model.blend","bytes":130503},{"name":"model.glb","path":"assets/basic40_batch02/t5_automation/azenta_intellixcap_s1/model.glb","bytes":1575704},{"name":"model.urdf","path":"assets/basic40_batch02/t5_automation/azenta_intellixcap_s1/model.urdf","bytes":11012},{"name":"scene_adapter.py","path":"assets/basic40_batch02/t5_automation/azenta_intellixcap_s1/scene_adapter.py","bytes":2335}],"completeness":{"components":10,"with_collisions":7,"with_objects":10,"with_function":10,"with_mass":0,"joints_matching_component":3,"joints":8,"has_contract":true,"has_layout":true,"has_glb":true,"checks_present":["articulation_check","coverage","contract_validation","scene_validation"]},"slug":"azenta_intellixcap_s1_46_0001","chem_id":"CHEM-177","name_en":"Automated tube decapper/recapper","maker":"Azenta Life Sciences","model":"IntelliXcap S1 46-0001","domain":"automation","domain_name":"Automation & Gas/Liquid Supply","path":"assets/basic40_batch02/t5_automation/azenta_intellixcap_s1","glb_up":"y","has_contract":true,"contract":"assets/basic40_batch02/t5_automation/azenta_intellixcap_s1/asset.contract.json","runtime":"scripts/basic40_runtime_automation.py"}
|
|
|
|
| 1 |
+
{"tid":"instrument.azenta_intellixcap_s1_46_0001","asset_dir":"basic40_batch02/t5_automation/azenta_intellixcap_s1","name_zh":"自动开盖封盖机","category":"自动化与气液供给","description_zh":"CHEM-177:Azenta Life Sciences IntelliXcap S1 46-0001半自动单管开盖/封盖机;按指定清单覆盖已建功能部件、夹持与旋转两个运动和宿主接口。full指组件登记覆盖,不表示机器人、接触力学、真实螺纹过程或硬件已实现。","coordinate_system":{"status":"defined","length_unit":"m","angle_unit":"rad","handedness":"right","up_axis":"+Z","frame":"intellixcap_s1:台面投影中心为[0,0,0];+X宽向右、+Y向后、+Z向上;标称包围盒0.170W×0.240D×0.300Hm,实例变换由宿主独立持有。"},"mass_kg":3.8,"size_m":[0.17,0.24,0.3],"bbox_min":[-0.085,-0.12,0.0],"bbox_max":[0.085,0.12,0.3],"manifest_dimensions_m":[0.17,0.24,0.3],"glb":"assets/basic40_batch02/t5_automation/azenta_intellixcap_s1/model.glb","glb_orientation":"gltf_y_up_rotated","usd":null,"urdf":"assets/basic40_batch02/t5_automation/azenta_intellixcap_s1/model.urdf","links":{"assembly":"/Geometry/assembly","spindle":"/Geometry/assembly/spindle","jaw_left":"/Geometry/assembly/spindle/jaw_left","jaw_right":"/Geometry/assembly/spindle/jaw_right","btn_controller_key_0_link":"/Geometry/assembly/btn_controller_key_0_link","btn_controller_key_1_link":"/Geometry/assembly/btn_controller_key_1_link","btn_controller_key_2_link":"/Geometry/assembly/btn_controller_key_2_link","btn_controller_key_3_link":"/Geometry/assembly/btn_controller_key_3_link","btn_controller_power_button_link":"/Geometry/assembly/btn_controller_power_button_link"},"frames":{"pre_place":[0.0,0.0,0.48],"place":[0.0,0.0,0.35],"post_place":[0.0,0.0,0.48],"joint_spindle_joint":[0.0,-0.04,0.2],"joint_jaw_left_joint":[-0.003,-0.04,0.2],"joint_jaw_right_joint":[0.003,-0.04,0.2],"joint_btn_controller_key_0":[-0.024,-0.0605,0.27],"joint_btn_controller_key_1":[-0.024,-0.0605,0.262],"joint_btn_controller_key_2":[-0.024,-0.0605,0.254],"joint_btn_controller_key_3":[-0.024,-0.0605,0.246],"joint_btn_controller_power_button":[0.026,-0.0604,0.242]},"joints":[{"name":"spindle_joint","type":"continuous","parent":"assembly","child":"spindle","axis":[0.0,0.0,1.0],"lower":null,"upper":null,"effort":null,"mimic":null,"origin_m":[0.0,-0.04,0.2],"child_prim":"/Geometry/assembly/spindle","child_bbox_min":[-0.034,-0.074,0.175],"child_bbox_max":[0.034,-0.006,0.203],"kind":"rotor"},{"name":"jaw_left_joint","type":"prismatic","parent":"spindle","child":"jaw_left","axis":[-1.0,0.0,0.0],"lower":0.0,"upper":0.025,"effort":null,"mimic":null,"origin_m":[-0.003,-0.04,0.2],"child_prim":"/Geometry/assembly/spindle/jaw_left","child_bbox_min":[-0.006,-0.0585,0.175],"child_bbox_max":[0.0,-0.0215,0.203],"kind":"other"},{"name":"jaw_right_joint","type":"prismatic","parent":"spindle","child":"jaw_right","axis":[1.0,0.0,0.0],"lower":0.0,"upper":0.025,"effort":null,"mimic":"jaw_left_joint","origin_m":[0.003,-0.04,0.2],"child_prim":"/Geometry/assembly/spindle/jaw_right","child_bbox_min":[-0.0,-0.0585,0.175],"child_bbox_max":[0.006,-0.0215,0.203],"kind":"other"},{"name":"btn_controller_key_0","type":"prismatic","parent":"controller","child":"btn_controller_key_0_link","axis":[-0.0,1.0,0.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[-0.024,-0.0605,0.27],"child_prim":"/Geometry/assembly/btn_controller_key_0_link","child_bbox_min":[-0.043,-0.06151,0.267],"child_bbox_max":[-0.005,-0.0597,0.273],"kind":"button"},{"name":"btn_controller_key_1","type":"prismatic","parent":"controller","child":"btn_controller_key_1_link","axis":[-0.0,1.0,0.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[-0.024,-0.0605,0.262],"child_prim":"/Geometry/assembly/btn_controller_key_1_link","child_bbox_min":[-0.043,-0.06151,0.259],"child_bbox_max":[-0.005,-0.0597,0.265],"kind":"button"},{"name":"btn_controller_key_2","type":"prismatic","parent":"controller","child":"btn_controller_key_2_link","axis":[-0.0,1.0,-0.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[-0.024,-0.0605,0.254],"child_prim":"/Geometry/assembly/btn_controller_key_2_link","child_bbox_min":[-0.043,-0.06151,0.251],"child_bbox_max":[-0.005,-0.0597,0.257],"kind":"button"},{"name":"btn_controller_key_3","type":"prismatic","parent":"controller","child":"btn_controller_key_3_link","axis":[-0.0,1.0,0.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[-0.024,-0.0605,0.246],"child_prim":"/Geometry/assembly/btn_controller_key_3_link","child_bbox_min":[-0.043,-0.06151,0.243],"child_bbox_max":[-0.005,-0.0597,0.249],"kind":"button"},{"name":"btn_controller_power_button","type":"prismatic","parent":"controller","child":"btn_controller_power_button_link","axis":[-0.0,1.0,-0.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[0.026,-0.0604,0.242],"child_prim":"/Geometry/assembly/btn_controller_power_button_link","child_bbox_min":[0.0198,-0.06151,0.2358],"child_bbox_max":[0.0322,-0.05975,0.2482],"kind":"button"}],"controls":{"buttons":["btn_controller_intellixcap_s1__controller__key_0","btn_controller_intellixcap_s1__controller__key_1","btn_controller_intellixcap_s1__controller__key_2","btn_controller_intellixcap_s1__controller__key_3","btn_controller_intellixcap_s1__controller__power_button"],"knobs":[]},"slots":[{"name":"vial_gripper","link":"assembly","part":"gripper","pos":[0.0,-0.04,0.207],"rot":[0.0,0.0,0.0,1.0],"pos_link":[0.0,-0.04,0.207],"rot_link":[0.0,0.0,0.0,1.0],"radius_m":0.012,"kind":"clamp","fits":["vial"],"anchor":"top","insert_axis":[0.0,0.0,1.0],"capture_m":0.03,"access":[],"modelled_occupant":false}],"hidden_parts":[],"readouts":[],"layout":{"front":[0.0,-1.0,0.0],"front_source":"controls","mount":"bench","weight_class":"one_person","mass_kg":3.8,"footprint_m":[0.17,0.24],"height_m":0.3,"clearance_m":{"front":0.25,"back":0.15,"left":0.05,"right":0.05,"top":0.1},"robot_standoff_m":0.35,"work_height_m":0.207,"primary_slot":"vial_gripper","access":[],"slot_count":1},"components":[{"id":"housing","name_zh":"外壳与立柱支架","function_zh":"支撑旋盖头并容纳内部驱动及控制装置","physical_meaning_zh":"刚性支撑外观抽象;内部机构、材料和实际壁厚未公开","subsystem":null,"parent":"assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["intellixcap_s1__housing__tapered_base","intellixcap_s1__housing__stand_post","intellixcap_s1__housing__stand_post.001","intellixcap_s1__housing__stand_bridge","intellixcap_s1__housing__upper_support","intellixcap_s1__housing__upper_head","intellixcap_s1__housing__lower_band","intellixcap_s1__housing__brand","intellixcap_s1__housing__brand_sub"],"collisions":[{"shape":"box","origin_m":[0,-0.105,0.0085],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,-0.075,0.0085],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,-0.045,0.0085],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,-0.015,0.0085],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0.015000000000000013,0.0085],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0.044999999999999984,0.0085],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0.07500000000000001,0.0085],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0.10499999999999998,0.0085],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.031,0.074,0.125],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.031,0.074,0.125],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0.074,0.031],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0.074,0.223],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0.006,0.255],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0.006,0.21],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate / functional abstraction; dimensions not measured","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","geometry_evidence","id","inertia_kg_m2","local_bbox_m","mass_kg","obj","objects","origin_m","parent"]},{"id":"controller","name_zh":"半自动控制界面","function_zh":"选择开盖/封盖模式,发起单管周期并反馈周期状态","physical_meaning_zh":"供电及状态机的功能组件;不包含独立力矩传感器证据","subsystem":null,"parent":"assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["intellixcap_s1__controller__control_panel","intellixcap_s1__controller__heading_mode","intellixcap_s1__controller__heading_status","intellixcap_s1__controller__key_0","intellixcap_s1__controller__indicator_0","intellixcap_s1__controller__label_0","intellixcap_s1__controller__key_1","intellixcap_s1__controller__indicator_1","intellixcap_s1__controller__label_1","intellixcap_s1__controller__key_2","intellixcap_s1__controller__indicator_2","intellixcap_s1__controller__label_2","intellixcap_s1__controller__key_3","intellixcap_s1__controller__indicator_3","intellixcap_s1__controller__label_3","intellixcap_s1__controller__status_Cap","intellixcap_s1__controller__status_label_Cap","intellixcap_s1__controller__status_Decap","intellixcap_s1__controller__status_label_Decap","intellixcap_s1__controller__power_button","intellixcap_s1__controller__power_symbol","intellixcap_s1__controller__product_name"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate / functional abstraction; dimensions not measured","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","cycle.set_mode","consumable.select","cycle.start","cycle.read","torque.set_limit"],"bbox_m":null,"raw_keys":["collisions","geometry_evidence","id","inertia_kg_m2","local_bbox_m","mass_kg","obj","objects","origin_m","parent"]},{"id":"gripper","name_zh":"固定夹头导向座与夹持接口","function_zh":"固定驱动导向座及逻辑夹持接口;申请宿主管盖附着/释放,运动夹爪实际直接从属于主轴","physical_meaning_zh":"此组件几何为固定导向座,不随主轴旋转;jaw_gap_m描述两运动爪间距,接触附着必须解析到cap_grip的旋转主轴框架","subsystem":null,"parent":"assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["intellixcap_s1__gripper__fixed_drive_boss"],"collisions":[{"shape":"cylinder","origin_m":[0,-0.04,0.201],"rpy_rad":[0,0,0],"radius_m":0.026,"length_m":0.012}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate / functional abstraction; dimensions not measured","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["cycle.start","cycle.read"],"bbox_m":null,"raw_keys":["collisions","geometry_evidence","id","inertia_kg_m2","local_bbox_m","mass_kg","obj","objects","origin_m","parent"]},{"id":"sample_interface","name_zh":"单管上送样品接口","function_zh":"接收宿主从夹头下方上送的单个样品管与螺纹盖引用","physical_meaning_zh":"机械拓扑入口;管与盖属于宿主世界,不作为本体内固定耗材,不转移样品内容","subsystem":null,"parent":"assembly","origin_m":[0,-0.04,0.177],"rpy_rad":[0,0,0],"objects":["intellixcap_s1__sample_interface"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate / functional abstraction; dimensions not measured","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["consumable.select","cycle.start"],"bbox_m":null,"raw_keys":["collisions","geometry_evidence","id","inertia_kg_m2","local_bbox_m","mass_kg","obj","objects","origin_m","parent"],"objects_inferred":true},{"id":"power_inlet","name_zh":"24V直流电源入口","function_zh":"连接外部直流供电","physical_meaning_zh":"表列24V、2.7A为整机供电信息;接头尺寸、极性和电气动态未知","subsystem":null,"parent":"assembly","origin_m":[0,0.089,0.238],"rpy_rad":[0,0,0],"objects":["intellixcap_s1__power_inlet__rear_plate","intellixcap_s1__power_inlet__usb_c_shell","intellixcap_s1__power_inlet__usb_c_opening"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate / functional abstraction; dimensions not measured","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","geometry_evidence","id","inertia_kg_m2","local_bbox_m","mass_kg","obj","objects","origin_m","parent"]},{"id":"feet","name_zh":"台面支撑脚","function_zh":"支撑整机与台面的机械接触位置","physical_meaning_zh":"几何支撑代理;摩擦、柔性和阻尼未知","subsystem":null,"parent":"assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["intellixcap_s1__feet__foot","intellixcap_s1__feet__foot.001","intellixcap_s1__feet__foot.002","intellixcap_s1__feet__foot.003"],"collisions":[{"shape":"cylinder","origin_m":[-0.065,-0.097,0.0025],"rpy_rad":[0,0,0],"radius_m":0.006,"length_m":0.005},{"shape":"cylinder","origin_m":[0.065,-0.097,0.0025],"rpy_rad":[0,0,0],"radius_m":0.006,"length_m":0.005},{"shape":"cylinder","origin_m":[-0.037,0.094,0.0025],"rpy_rad":[0,0,0],"radius_m":0.006,"length_m":0.005},{"shape":"cylinder","origin_m":[0.037,0.094,0.0025],"rpy_rad":[0,0,0],"radius_m":0.006,"length_m":0.005}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate / functional abstraction; dimensions not measured","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","geometry_evidence","id","inertia_kg_m2","local_bbox_m","mass_kg","obj","objects","origin_m","parent"]},{"id":"spindle","name_zh":"旋盖主轴","function_zh":"执行合成旋转运动并携带夹爪装配转动","physical_meaning_zh":"绕本地+Z旋转的关节;扭矩、真实转角和转速未知","subsystem":null,"parent":"assembly","origin_m":[0,-0.04,0.2],"rpy_rad":[0,0,0],"objects":["intellixcap_s1__spindle__rotary_plate"],"collisions":[{"shape":"box","origin_m":[0.031,0.0,-0.001],"rpy_rad":[0,0,0.0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.0268467875173176,0.015499999999999998,-0.001],"rpy_rad":[0,0,0.5235987755982988],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.015500000000000003,0.026846787517317595,-0.001],"rpy_rad":[0,0,1.0471975511965976],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[1.8982025386783975e-18,0.031,-0.001],"rpy_rad":[0,0,1.5707963267948966],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.015499999999999995,0.0268467875173176,-0.001],"rpy_rad":[0,0,2.0943951023931953],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.0268467875173176,0.015499999999999998,-0.001],"rpy_rad":[0,0,2.6179938779914944],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.031,3.796405077356795e-18,-0.001],"rpy_rad":[0,0,3.141592653589793],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.026846787517317602,-0.015499999999999993,-0.001],"rpy_rad":[0,0,3.665191429188092],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.015500000000000014,-0.02684678751731759,-0.001],"rpy_rad":[0,0,4.1887902047863905],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-5.694607616035192e-18,-0.031,-0.001],"rpy_rad":[0,0,4.71238898038469],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.015500000000000003,-0.026846787517317595,-0.001],"rpy_rad":[0,0,5.235987755982989],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.02684678751731759,-0.015500000000000014,-0.001],"rpy_rad":[0,0,5.759586531581287],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate / functional abstraction; dimensions not measured","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["cycle.start","cycle.read","torque.set_limit"],"bbox_m":null,"raw_keys":["collisions","geometry_evidence","id","inertia_kg_m2","local_bbox_m","mass_kg","obj","objects","origin_m","parent"]},{"id":"jaw_left","name_zh":"左夹爪","function_zh":"随夹口设定对称移动并随主轴旋转","physical_meaning_zh":"夹持装配的运动几何;直接从属于spindle,没有独立力学抓取能力","subsystem":null,"parent":"spindle","origin_m":[-0.018,0,0],"rpy_rad":[0,0,0],"objects":["intellixcap_s1__jaw_left__jaw_carrier","intellixcap_s1__jaw_left__grip_pad","intellixcap_s1__jaw_left__grip_pad.001","intellixcap_s1__jaw_left__witness_screw"],"collisions":[{"shape":"box","origin_m":[0,0,-0.009],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate / functional abstraction; dimensions not measured","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","geometry_evidence","id","inertia_kg_m2","local_bbox_m","mass_kg","obj","objects","origin_m","parent"]},{"id":"jaw_right","name_zh":"右夹爪","function_zh":"随夹口设定对称移动并随主轴旋转","physical_meaning_zh":"夹持装配的运动几何;直接从属于spindle,没有独立力学抓取能力","subsystem":null,"parent":"spindle","origin_m":[0.018,0,0],"rpy_rad":[0,0,0],"objects":["intellixcap_s1__jaw_right__jaw_carrier","intellixcap_s1__jaw_right__grip_pad","intellixcap_s1__jaw_right__grip_pad.001","intellixcap_s1__jaw_right__witness_screw"],"collisions":[{"shape":"box","origin_m":[0,0,-0.009],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate / functional abstraction; dimensions not measured","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","geometry_evidence","id","inertia_kg_m2","local_bbox_m","mass_kg","obj","objects","origin_m","parent"]},{"id":"assembly","name_zh":"整机聚合装配","function_zh":"聚合本体、主轴、夹爪与接口;提供台面投影中心参考系","physical_meaning_zh":"整机总质量与标称包围盒的聚合惯性代理,不是底座或任一零件的质量","subsystem":null,"parent":null,"origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["intellixcap_s1"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":null,"material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":[]}],"component_source":"geometry_manifest.json + asset.contract.json + collision_proxies.json","capabilities":{"power.set":{"function_zh":"空闲时设置仿真供电","kind":"device_command","availability":"implemented","component_ids":["controller"],"implementation":{"process":"absent","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":["enabled"]},"cycle.set_mode":{"function_zh":"空闲时设置开盖/封盖模式","kind":"configuration","availability":"implemented","component_ids":["controller"],"implementation":{"process":"absent","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":["mode"]},"consumable.select":{"function_zh":"选择有宿主兼容证据的耗材类型","kind":"configuration","availability":"implemented","component_ids":["sample_interface","controller"],"implementation":{"process":"absent","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":["consumable_id"]},"cycle.start":{"function_zh":"启动夹持及旋转演示;分阶段等待宿主约束与螺纹结果","kind":"device_command","availability":"implemented","component_ids":["controller","spindle","gripper","sample_interface"],"implementation":{"process":"absent","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":[]},"cycle.read":{"function_zh":"查询当前周期及机械状态,不推进时间","kind":"query","availability":"implemented","component_ids":["controller","spindle","gripper"],"implementation":{"process":"absent","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":[]},"torque.set_limit":{"function_zh":"扭矩阈值未公开且无力学控制实现","kind":"device_command","availability":"unsupported","component_ids":["controller","spindle"],"implementation":{"process":"absent","scene":"not_applicable","robot":"absent","hardware":"absent","host":"absent"},"input":[]}},"state_slots":{"power.enabled":{"meaning_zh":"仿真供电开关;空闲才可修改","unit":"1","access":"read_write","origin":"setpoint","component_ids":["controller"],"write_via":"power.set"},"cycle.mode":{"meaning_zh":"下一周期的开盖或封盖模式","unit":"1","access":"read_write","origin":"setpoint","component_ids":["controller"],"write_via":"cycle.set_mode"},"sample.consumable_id":{"meaning_zh":"宿主登记的兼容耗材类型ID","unit":"1","access":"read_write","origin":"setpoint","component_ids":["sample_interface"],"write_via":"consumable.select"},"sample.tube_id":{"meaning_zh":"宿主放入的单管实例引用;不含样品成分","unit":"1","access":"read_only","origin":"scene","component_ids":["sample_interface"],"write_via":null},"sample.cap_id":{"meaning_zh":"宿主放入的螺纹盖实例引用","unit":"1","access":"read_only","origin":"scene","component_ids":["sample_interface"],"write_via":null},"attachment.constraint_id":{"meaning_zh":"宿主确认已存在的夹爪—管盖约束ID","unit":"1","access":"read_only","origin":"scene","component_ids":["gripper"],"write_via":null},"simulation.motion_configured":{"meaning_zh":"宿主是否明确配置了运动演示参数和证据","unit":"1","access":"read_only","origin":"derived","component_ids":["controller"],"write_via":null},"rotation_rad":{"meaning_zh":"绕主轴本地+Z的演示角;正向定义为开盖,非厂家方向证据","unit":"rad","access":"read_only","origin":"scene","component_ids":["spindle"],"write_via":null},"jaw_gap_m":{"meaning_zh":"相对主轴的两个夹爪内表面总间距;不表示接触夹紧力","unit":"m","access":"read_only","origin":"scene","component_ids":["gripper"],"write_via":null},"cycle.status":{"meaning_zh":"异步状态机阶段;等待宿主时不继续自动执行","unit":"1","access":"read_only","origin":"derived","component_ids":["controller"],"write_via":null},"cycle.motion_completed":{"meaning_zh":"旋转演示已完成;不能单独证明螺纹开封盖成功","unit":"1","access":"read_only","origin":"derived","component_ids":["controller"],"write_via":null},"cycle.host_confirmed":{"meaning_zh":"宿主显式确认的螺纹结果,未确认是null","unit":"1","access":"read_only","origin":"derived","component_ids":["controller"],"write_via":null},"truth.thread_state":{"meaning_zh":"宿主确认的管盖开闭真值;运行层不自行计算","unit":"1","access":"read_only","origin":"process_truth","component_ids":["sample_interface"],"write_via":null}},"mechanisms":{"kinematic_cycle":{"meaning_zh":"显式合成运动参数驱动的半自动夹持—旋转—松夹状态机,阶段之间接受宿主附着与螺纹结果;仅为运动学示范","implementation":"numerical","equations":["f=clamp((host_time-phase_start)/host_supplied_duration,0,1)","clamping_gap=(1-f)*open_gap+f*closed_gap","rotation=rotation_start+sign(mode)*host_supplied_delta*f","releasing_gap=(1-f)*closed_gap+f*open_gap","gap映射到左右夹爪局部X:±(gap/2+0.003);0.003m为几何半厚度假设"],"parameters":{"open_gap":{"value":null,"unit":"m","evidence":"unknown","meaning_zh":"无默认值;必须由可信宿主提供显式仿真假设与证据"},"closed_gap":{"value":null,"unit":"m","evidence":"unknown","meaning_zh":"无默认值;必须由可信宿主提供显式仿真假设与证据"},"rotation_delta":{"value":null,"unit":"rad","evidence":"unknown","meaning_zh":"无默认值;必须由可信宿主提供显式仿真假设与证据"},"clamp_duration":{"value":null,"unit":"s","evidence":"unknown","meaning_zh":"无默认值;必须由可信宿主提供显式仿真假设与证据"},"rotation_duration":{"value":null,"unit":"s","evidence":"unknown","meaning_zh":"无默认值;必须由可信宿主提供显式仿真假设与证据"},"release_duration":{"value":null,"unit":"s","evidence":"unknown","meaning_zh":"无默认值;必须由可信宿主提供显式仿真假设与证据"}}},"thread_and_contact":{"meaning_zh":"真实螺纹开封盖结果和接触夹持需外部力学/耗材验证;此资产只接受宿主确认","implementation":"absent","equations":[],"parameters":{"torque_threshold":{"value":null,"unit":"N*m","evidence":"unknown","meaning_zh":"封盖扭矩阈值未知"},"clamp_force":{"value":null,"unit":"N","evidence":"unknown","meaning_zh":"夹持力未知"},"friction_coefficient":{"value":null,"unit":"1","evidence":"unknown","meaning_zh":"盖/夹爪及螺纹摩擦未知"},"thread_pitch":{"value":null,"unit":"m","evidence":"unknown","meaning_zh":"具体耗材螺距未知"}}}},"limitations":["仅实现半自动单管状态机与合成运动;完整无人流程需要宿主样品转运。robot 和 hardware 层 absent。","所有行程、转角和阶段时长必须由可信宿主给出显式仿真假设与证据;没有厂家运动缺省值。","典型周期小于3秒随耗材变化;该规格不是此仿真每次周期的保证,也不用作默认运动或超时参数。","11–40 mm仅为盖径兼容范围;15/50 mL是已列兼容管容量类别,不能据容量推导管形或螺距。","夹持和旋转仅提供位姿状态;扭矩、夹力、螺纹摩擦、转速和实际行程未知且不求解。","attach/release事件需宿主实际建立/解除外部约束后确认;本运行层只登记constraint_id,不创建物理约束。","运动结束后必须等待宿主螺纹结果;结果属于宿主断言,不是本资产自行检测到的真实开封盖成功。","取消保留关节当前位置及已确认附着;不得假定盖已释放、样品状态回滚或自动复位。","read/poll不推进时间;host_step推进同一运行宿主中全部实例。实例数据互相隔离。","去重只在当前宿主内存中有效;API可见性过滤不构成Python反射或共享文件系统隔离。","整体URDF使用assembly根链接上的3.8kg均匀包围盒惯性代理;其他运动链接质量与惯量未知,不写虚构默认1kg。该URDF为动力学信息不完整的运动学描述;prismatic limit省略未知effort/velocity,部分严格URDF加载器可能拒绝,严格加载与动力学导入均not_run。宿主需补足有证据的质量、惯量、effort和velocity后再评估加载。","场景内置展示姿态、爪厚和布局均为重建假设;运行默认状态仍是未配置的null,不能把模型初始姿态当厂家参数。","场景夹口显示范围0..0.050m、URDF q=gap/2为0..0.025m均是仿真几何限制,不是厂家实际行程;场景适配器拒绝超出该域的运行快照。","该设备无已证实气体/液体物料端口;分类名包含气液供给不构成气路存在的证据。","sample_interface是定位Empty,无视觉网格和碰撞体;其OBJ仅占位文件头,不属于可见分件。","已验证原生Blender与GLB回导的SI包围盒及Z向上约定;GLB文件遵循glTF标准Y-up序列化。","scene_adapter.resolve_attachment_frame已验证将逻辑gripper事件映射到旋转spindle;不创建、删除或求解真实外部约束。","表内开盖/封盖与周期状态范围已实现。手册更多模式、按压触发和三档厂家周期没有绑定为完整硬件等价功能。","预览面板文字与绿色指示点属于静态外观;未声明随供电或周期切换的显示联动。"],"sources":[],"checks":{"coverage":{"status":"bridged","implemented":["consumable.select","cycle.read","cycle.set_mode","cycle.start","power.set"],"unsupported":["torque.set_limit"],"note_zh":"桥接 basic40_runtime_automation.IntelliXcapS1Runtime(推进方式 host_step_dt),13 个状态槽;与运行层镜像对比全同;受信设置需经 host.call;关节化 USD(5 个按键(碰到即触发)、3 个门/盖/阀等被动关节);3 个关节跟随运行层状态;接口点 1 个(夹持);布局:台面、单人可搬、正面 −y、前方留空 0.25 m"}},"previews":["previews/azenta_intellixcap_s1_46_0001/preview.webp","previews/azenta_intellixcap_s1_46_0001/preview_front.webp","previews/azenta_intellixcap_s1_46_0001/preview_motion.webp"],"files":[{"name":"asset.contract.json","path":"assets/basic40_batch02/t5_automation/azenta_intellixcap_s1/asset.contract.json","bytes":156042},{"name":"collision_proxies.json","path":"assets/basic40_batch02/t5_automation/azenta_intellixcap_s1/collision_proxies.json","bytes":8914},{"name":"geometry_manifest.json","path":"assets/basic40_batch02/t5_automation/azenta_intellixcap_s1/geometry_manifest.json","bytes":20135},{"name":"model.blend","path":"assets/basic40_batch02/t5_automation/azenta_intellixcap_s1/model.blend","bytes":130503},{"name":"model.glb","path":"assets/basic40_batch02/t5_automation/azenta_intellixcap_s1/model.glb","bytes":1575704},{"name":"model.urdf","path":"assets/basic40_batch02/t5_automation/azenta_intellixcap_s1/model.urdf","bytes":11012},{"name":"scene_adapter.py","path":"assets/basic40_batch02/t5_automation/azenta_intellixcap_s1/scene_adapter.py","bytes":2335}],"completeness":{"components":10,"with_collisions":7,"with_objects":10,"with_function":10,"with_mass":0,"joints_matching_component":3,"joints":8,"has_contract":true,"has_layout":true,"has_glb":true,"checks_present":["articulation_check","coverage","contract_validation","scene_validation"]},"slug":"azenta_intellixcap_s1_46_0001","chem_id":"CHEM-177","name_en":"Automated tube decapper/recapper","maker":"Azenta Life Sciences","model":"IntelliXcap S1 46-0001","domain":"automation","domain_name":"Automation & Gas/Liquid Supply","path":"assets/basic40_batch02/t5_automation/azenta_intellixcap_s1","glb_up":"y","has_contract":true,"contract":"assets/basic40_batch02/t5_automation/azenta_intellixcap_s1/asset.contract.json","runtime":"scripts/basic40_runtime_automation.py"}
|
data/assets/instrument.binder_vd56.json
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/assets/instrument.biolin_mediuml.json
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/assets/instrument.biolin_thetaflex.json
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/assets/instrument.biotage_extrahera_classic.json
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/assets/instrument.bronkhorst_p702cv_5bar_gauge_n2.json
CHANGED
|
@@ -1 +1 @@
|
|
| 1 |
-
{"tid":"instrument.bronkhorst_p702cv_5bar_gauge_n2","asset_dir":"basic40_batch02/t5_automation/bronkhorst_p702cv","name_zh":"电子背压控制器","category":"自动化与气液供给","description_zh":"CHEM-181,Bronkhorst EL-PRESS P-702CV。固定采用 0–500000 Pa 表压传感器、N2、RS232 + 模拟接口及 1/4 inch OD 压紧接头的配置假设。通过出口节流维持上游压力,不能自行生成压力。full 仅表示本次配置全部功能组件已登记;真实阀容量、完整闭环性能、机器人和硬件未验证。","coordinate_system":{"status":"defined","length_unit":"m","angle_unit":"rad","handedness":"right","up_axis":"+Z","frame":"asset_root:原点为整机台面投影中心,Z=0 为台面;+X 沿气路从 IN 指向 OUT,+Y 为横向,+Z 向上。OBJ/URDF/Blender/GLB 均保留 SI 和 Z 向上;GLB 以 export_yup=False 导出,宿主须读取根节点 units 元数据而非假定 Y 向上。"},"mass_kg":0.7,"size_m":[0.127,0.025,0.123],"bbox_min":[-0.0635,-0.0125,0.0],"bbox_max":[0.0635,0.0125,0.123],"manifest_dimensions_m":[0.127,0.025,0.123],"glb":"assets/basic40_batch02/t5_automation/bronkhorst_p702cv/model.glb","glb_orientation":"already_z_up","usd":null,"urdf":"assets/basic40_batch02/t5_automation/bronkhorst_p702cv/model.urdf","links":{"base_link":"/Geometry/base_link","valve_poppet":"/Geometry/base_link/valve_poppet"},"frames":{"pre_place":[0.0,0.0,0.303],"place":[0.0,0.0,0.173],"post_place":[0.0,0.0,0.303],"joint_valve_poppet_joint":[0.024,0.0,0.047]},"joints":[{"name":"valve_poppet_joint","type":"prismatic","parent":"base_link","child":"valve_poppet","axis":[0.0,0.0,1.0],"lower":0.0,"upper":0.003,"effort":0.0,"mimic":null,"origin_m":[0.024,0.0,0.047],"child_prim":"/Geometry/base_link/valve_poppet","child_bbox_min":[0.02,-0.004,0.04],"child_bbox_max":[0.028,0.004,0.053],"kind":"other"}],"controls":{"buttons":[],"knobs":[]},"slots":[],"hidden_parts":[],"readouts":[],"layout":{"front":[0.0,-1.0,0.0],"front_source":"convention","mount":"bench","weight_class":"robot_portable","mass_kg":0.7,"footprint_m":[0.127,0.025],"height_m":0.123,"clearance_m":{"front":0.25,"back":0.1,"left":0.05,"right":0.05,"top":0.1},"robot_standoff_m":0.35,"work_height_m":0.123,"primary_slot":null,"access":[],"slot_count":0},"components":[{"id":"flow_body","name_zh":"流道阀块","function_zh":"支撑入口测压节点与下游节流通道。","physical_meaning_zh":"容纳上游测压节点和下游节流通道,连接外部气路。内部死体积未知。","subsystem":null,"parent":"root_assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["p702cv__flow_body__machined_block","p702cv__flow_body__block_seam","p702cv__flow_body__block_seam.001","p702cv__flow_body__flow_mark"],"collisions":[{"shape":"box","origin_m":[0,0,0.017],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":null,"material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["simulation.step","simulation.set_boundary"],"bbox_m":null,"raw_keys":["collisions","function_zh","id","joints","name_zh","objects","origin_m","parent","properties"]},{"id":"electronics","name_zh":"控制电子壳","function_zh":"压力目标与阀控制电子组件;无虚构本地显示屏。","physical_meaning_zh":"接收压力设定与控制参数,处理压力读数及阀输出;无虚构本地显示屏。","subsystem":null,"parent":"root_assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["p702cv__electronics__electronics_case","p702cv__electronics__top_cap","p702cv__electronics__diagonal_rail","p702cv__electronics__diagonal_rail.001"],"collisions":[{"shape":"box","origin_m":[-0.015,0,0.0785],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.015,0,0.1218],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","pressure.set_setpoint","control.set_mode","control.set_gain","control.set_ramp_rate","simulation.step"],"bbox_m":null,"raw_keys":["collisions","function_zh","id","joints","name_zh","objects","origin_m","parent","properties"]},{"id":"label_plate","name_zh":"型号标识板","function_zh":"区分P-702CV及本次传感器配置假设。","physical_meaning_zh":"标识 P-702CV 与本次 5 bar 表压假设,避免型号和量程混淆。","subsystem":null,"parent":"root_assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["p702cv__label_plate__yellow_panel","p702cv__label_plate__white_footer","p702cv__label_plate__brand","p702cv__label_plate__series","p702cv__label_plate__model","p702cv__label_plate__configuration","p702cv__label_plate__assumption"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","function_zh","id","joints","name_zh","objects","origin_m","parent","properties"]},{"id":"control_valve","name_zh":"比例电磁节流阀","function_zh":"在测压节点下游改变出口节流;不能产生压力。","physical_meaning_zh":"在测压节点下游调节出口流率,进而影响上游背压;真实 Kv 和阀特性未给定。","subsystem":null,"parent":"root_assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["p702cv__control_valve__valve_neck","p702cv__control_valve__solenoid_coil","p702cv__control_valve__coil_top","p702cv__control_valve__retaining_stud"],"collisions":[{"shape":"cylinder","origin_m":[0.024,0,0.04],"rpy_rad":[0,0,0],"radius_m":0.0085,"length_m":0.012},{"shape":"cylinder","origin_m":[0.024,0,0.0575],"rpy_rad":[0,0,0],"radius_m":0.0105,"length_m":0.025},{"shape":"cylinder","origin_m":[0.024,0,0.071],"rpy_rad":[0,0,0],"radius_m":0.01,"length_m":0.002},{"shape":"cylinder","origin_m":[0.024,0,0.074],"rpy_rad":[0,0,0],"radius_m":0.0028,"length_m":0.004}],"joint":null,"mass_kg":null,"mass_evidence":null,"material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","control.set_mode","valve.set_opening","scene.set_valve_position","simulation.step"],"bbox_m":null,"raw_keys":["collisions","function_zh","id","joints","name_zh","objects","origin_m","parent","properties"]},{"id":"valve_poppet","name_zh":"演示阀芯","function_zh":"隐藏在阀内部的节流阀芯代理;关节行程用于示意。","physical_meaning_zh":"独立教学展示关节,位置可视化不等同实际阀行程或过程开度。","subsystem":null,"parent":"root_assembly","origin_m":[0.024,0,0.047],"rpy_rad":[0,0,0],"objects":["p702cv__valve_poppet__poppet_stem","p702cv__valve_poppet__poppet_head"],"collisions":[{"shape":"cylinder","origin_m":[0,0,0],"rpy_rad":[0,0,0],"radius_m":0.0018,"length_m":0.012},{"shape":"cylinder","origin_m":[0,0,-0.006],"rpy_rad":[0,0,0],"radius_m":0.004,"length_m":0.002}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","function_zh","id","joints","name_zh","objects","origin_m","parent","properties"]},{"id":"pressure_sensor","name_zh":"上游压阻传感器","function_zh":"测量入口侧上游压力;内部几何是教学示意而非厂家剖面CAD。","physical_meaning_zh":"测量节流阀上游节点压力。内部膜片、油隔离及压阻芯片只作定性示意。","subsystem":null,"parent":"root_assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["p702cv__pressure_sensor__sensor_diaphragm","p702cv__pressure_sensor__sensor_capsule"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":null,"material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","simulation.step"],"bbox_m":null,"raw_keys":["collisions","function_zh","id","joints","name_zh","objects","origin_m","parent","properties"]},{"id":"gas_inlet","name_zh":"上游气体入口","function_zh":"1/4英寸OD压紧接头外形配置假设;真实通径与流阻未知。","physical_meaning_zh":"连接受压上游体积,入口节点被压力传感器采样。","subsystem":null,"parent":"root_assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["p702cv__gas_inlet__body_adapter","p702cv__gas_inlet__hex_union","p702cv__gas_inlet__compression_nut","p702cv__gas_inlet__ferrule_rim"],"collisions":[{"shape":"cylinder","origin_m":[-0.042,0,0.013],"rpy_rad":[0,1.5707963267948966,0],"radius_m":0.0065,"length_m":0.007},{"shape":"cylinder","origin_m":[-0.049,0,0.013],"rpy_rad":[0,1.5707963267948966,0],"radius_m":0.008,"length_m":0.009},{"shape":"box","origin_m":[-0.05900000035762787,0.0,0.008112500421702862],"rpy_rad":[-0.0,1.570796251296997,0.0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.05900000035762787,0.0018703652312979102,0.00848453864455223],"rpy_rad":[1.5707961320877075,1.1780973672866821,1.5707961320877075],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.05900000035762787,0.0034559844061732292,0.009544015862047672],"rpy_rad":[1.570796251296997,0.7853980660438538,1.570796251296997],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.05900000035762787,0.004515461158007383,0.011129635386168957],"rpy_rad":[1.570796251296997,0.39269933104515076,1.570796251296997],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.05900000035762787,0.00488749984651804,0.013000000268220901],"rpy_rad":[1.570796251296997,7.549790126404332e-08,1.5707963705062866],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.05900000035762787,0.004515461158007383,0.014870365150272846],"rpy_rad":[1.570796251296997,-0.3926991820335388,1.5707963705062866],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.05900000035762787,0.0034559844061732292,0.016455985605716705],"rpy_rad":[1.570796251296997,-0.7853984236717224,1.5707963705062866],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.05900000035762787,0.0018703652312979102,0.017515461891889572],"rpy_rad":[1.5707961320877075,-1.178097128868103,1.5707964897155762],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.05900000035762787,5.9854613348456915e-19,0.017887499183416367],"rpy_rad":[-3.141592502593994,-1.570796251296997,0.0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.05900000035762787,-0.0018703652312979102,0.017515461891889572],"rpy_rad":[-1.5707961320877075,-1.1780976057052612,-1.5707964897155762],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.05900000035762787,-0.0034559844061732292,0.016455985605716705],"rpy_rad":[-1.570796251296997,-0.7853984236717224,-1.5707963705062866],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.05900000035762787,-0.004515461158007383,0.014870365150272846],"rpy_rad":[-1.570796251296997,-0.3926991820335388,-1.5707963705062866],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.05900000035762787,-0.00488749984651804,0.013000000268220901],"rpy_rad":[-1.570796251296997,7.549790126404332e-08,-1.5707963705062866],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.05900000035762787,-0.004515461158007383,0.011129635386168957],"rpy_rad":[-1.570796251296997,0.39269933104515076,-1.570796251296997],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.05900000035762787,-0.0034559844061732292,0.009544015862047672],"rpy_rad":[-1.570796251296997,0.7853976488113403,-1.570796251296997],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.05900000035762787,-0.0018703652312979102,0.00848453864455223],"rpy_rad":[-1.5707961320877075,1.178096890449524,-1.5707961320877075],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","function_zh","id","joints","name_zh","objects","origin_m","parent","properties"]},{"id":"gas_outlet","name_zh":"下游气体出口","function_zh":"1/4英寸OD压紧接头外形配置假设;真实通径与流阻未知。","physical_meaning_zh":"节流阀之后的出口连接下游压力边界,宿主提供兼容的排出路径。","subsystem":null,"parent":"root_assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["p702cv__gas_outlet__body_adapter","p702cv__gas_outlet__hex_union","p702cv__gas_outlet__compression_nut","p702cv__gas_outlet__ferrule_rim"],"collisions":[{"shape":"cylinder","origin_m":[0.042,0,0.013],"rpy_rad":[0,1.5707963267948966,0],"radius_m":0.0065,"length_m":0.007},{"shape":"cylinder","origin_m":[0.049,0,0.013],"rpy_rad":[0,1.5707963267948966,0],"radius_m":0.008,"length_m":0.009},{"shape":"box","origin_m":[0.05900000035762787,0.0,0.008112500421702862],"rpy_rad":[-0.0,1.570796251296997,0.0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.05900000035762787,0.0018703652312979102,0.00848453864455223],"rpy_rad":[1.5707961320877075,1.1780973672866821,1.5707961320877075],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.05900000035762787,0.0034559844061732292,0.009544015862047672],"rpy_rad":[1.570796251296997,0.7853980660438538,1.570796251296997],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.05900000035762787,0.004515461158007383,0.011129635386168957],"rpy_rad":[1.570796251296997,0.39269933104515076,1.570796251296997],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.05900000035762787,0.00488749984651804,0.013000000268220901],"rpy_rad":[1.570796251296997,7.549790126404332e-08,1.5707963705062866],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.05900000035762787,0.004515461158007383,0.014870365150272846],"rpy_rad":[1.570796251296997,-0.3926991820335388,1.5707963705062866],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.05900000035762787,0.0034559844061732292,0.016455985605716705],"rpy_rad":[1.570796251296997,-0.7853984236717224,1.5707963705062866],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.05900000035762787,0.0018703652312979102,0.017515461891889572],"rpy_rad":[1.5707961320877075,-1.178097128868103,1.5707964897155762],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.05900000035762787,5.9854613348456915e-19,0.017887499183416367],"rpy_rad":[-3.141592502593994,-1.570796251296997,0.0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.05900000035762787,-0.0018703652312979102,0.017515461891889572],"rpy_rad":[-1.5707961320877075,-1.1780976057052612,-1.5707964897155762],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.05900000035762787,-0.0034559844061732292,0.016455985605716705],"rpy_rad":[-1.570796251296997,-0.7853984236717224,-1.5707963705062866],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.05900000035762787,-0.004515461158007383,0.014870365150272846],"rpy_rad":[-1.570796251296997,-0.3926991820335388,-1.5707963705062866],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.05900000035762787,-0.00488749984651804,0.013000000268220901],"rpy_rad":[-1.570796251296997,7.549790126404332e-08,-1.5707963705062866],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.05900000035762787,-0.004515461158007383,0.011129635386168957],"rpy_rad":[-1.570796251296997,0.39269933104515076,-1.570796251296997],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.05900000035762787,-0.0034559844061732292,0.009544015862047672],"rpy_rad":[-1.570796251296997,0.7853976488113403,-1.570796251296997],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.05900000035762787,-0.0018703652312979102,0.00848453864455223],"rpy_rad":[-1.5707961320877075,1.178096890449524,-1.5707961320877075],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","function_zh","id","joints","name_zh","objects","origin_m","parent","properties"]},{"id":"electrical_connector","name_zh":"9针电源与RS232/模拟接口","function_zh":"标准9针D形公座代理;管脚电气与串口硬件未实现。","physical_meaning_zh":"标准 Analog/RS232 9-pin D 形公接口;电气连接和真实串口驱动未实现。","subsystem":null,"parent":"root_assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["p702cv__electrical_connector__connector_flange","p702cv__electrical_connector__dsub_shroud","p702cv__electrical_connector__pin","p702cv__electrical_connector__pin.001","p702cv__electrical_connector__pin.002","p702cv__electrical_connector__pin.003","p702cv__electrical_connector__pin.004","p702cv__electrical_connector__pin.005","p702cv__electrical_connector__pin.006","p702cv__electrical_connector__pin.007","p702cv__electrical_connector__pin.008","p702cv__electrical_connector__screw_boss","p702cv__electrical_connector__screw_boss.001"],"collisions":[{"shape":"box","origin_m":[0.0093,0,0.101],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","function_zh","id","joints","name_zh","objects","origin_m","parent","properties"]},{"id":"fasteners","name_zh":"固定螺钉","function_zh":"装配固定与基座安装;机械参数未知。","physical_meaning_zh":"固定外壳与阀块;紧固力矩、摩擦、接触与安装载荷未知。","subsystem":null,"parent":"root_assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["p702cv__fasteners__base_screw","p702cv__fasteners__base_screw.001","p702cv__fasteners__base_screw.002","p702cv__fasteners__base_screw.003","p702cv__fasteners__cover_screw","p702cv__fasteners__cover_screw.001"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","function_zh","id","joints","name_zh","objects","origin_m","parent","properties"]},{"id":"root_assembly","name_zh":"电子背压控制器整机","function_zh":"装配、整体坐标与整机质量证据。整机靠外部供压,出口节流不产生压力。","physical_meaning_zh":"装配、整体坐标与整机质量证据。整机靠外部供压,出口节流不产生压力。","subsystem":null,"parent":null,"origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["p702cv"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":null,"material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":[]}],"component_source":"geometry_manifest.json + asset.contract.json + collision_proxies.json","capabilities":{"power.set":{"function_zh":"设置模拟供电状态","kind":"device_command","availability":"implemented","component_ids":["electronics","control_valve","pressure_sensor"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":["enabled"]},"pressure.set_setpoint":{"function_zh":"设置选定 5 bar 配置内的背压目标","kind":"device_command","availability":"implemented","component_ids":["electronics"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":["pressure_Pa"]},"control.set_mode":{"function_zh":"切换模拟手动或自动背压模式","kind":"device_command","availability":"implemented","component_ids":["electronics","control_valve"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":["mode"]},"control.set_gain":{"function_zh":"设置仿真积分输出增益","kind":"device_command","availability":"implemented","component_ids":["electronics"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":["gain_per_Pa_s"]},"control.set_ramp_rate":{"function_zh":"设置目标斜坡速率","kind":"device_command","availability":"implemented","component_ids":["electronics"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":["rate_Pa_s"]},"valve.set_opening":{"function_zh":"设置手动模拟出口节流开度","kind":"device_command","availability":"implemented","component_ids":["control_valve"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":["opening"]},"scene.set_valve_position":{"function_zh":"设置独立归一化展示阀芯位置","kind":"simulation","availability":"implemented","component_ids":["control_valve"],"implementation":{"process":"not_applicable","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["position"]},"simulation.step":{"function_zh":"由受信宿主推进指定共同时间步与背压过程","kind":"simulation","availability":"implemented","component_ids":["flow_body","control_valve","pressure_sensor","electronics"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":["dt_s","world_time_s"]},"simulation.set_boundary":{"function_zh":"由受信宿主更新上游流入与下游绝压边界","kind":"simulation","availability":"implemented","component_ids":["flow_body"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":["inflow_mol_s","downstream_absolute_pressure_Pa"]}},"state_slots":{"power.enabled":{"meaning_zh":"模拟供电开关;断电时过程出口开度置零是场景假设,非厂家失电阀状态。","unit":"1","access":"read_write","origin":"setpoint","component_ids":["electronics"],"write_via":"power.set"},"pressure.setpoint_pa":{"meaning_zh":"目标上游表压;本配置只接受 100000–500000 Pa,未设置时为 null。","unit":"Pa","access":"read_write","origin":"setpoint","component_ids":["electronics"],"write_via":"pressure.set_setpoint"},"pressure.active_setpoint_pa":{"meaning_zh":"经过斜坡的活动表压目标;初次设定直接建立目标,以后仅宿主 step 更新。","unit":"Pa","access":"read_only","origin":"derived","component_ids":["electronics"],"write_via":null},"pressure.reading_pa":{"meaning_zh":"理想化上游表压观测,quality=estimated;未建噪声/精度/延迟模型。断电或量程有效段以外返回 null。","unit":"Pa","access":"read_only","origin":"sensor","component_ids":["pressure_sensor"],"write_via":null},"pressure.deviation_pa":{"meaning_zh":"理想化压力读数减活动目标,quality=estimated;缺观测或缺目标返回 null。","unit":"Pa","access":"read_only","origin":"derived","component_ids":["electronics"],"write_via":null},"control.mode":{"meaning_zh":"manual/automatic;自动模式要求供电、已有目标与有效压力读数。","unit":"1","access":"read_write","origin":"setpoint","component_ids":["electronics"],"write_via":"control.set_mode"},"control.gain_per_pa_s":{"meaning_zh":"仿真积分输出增益,由宿主初始显式提供,可通电修改;非厂家控制参数。","unit":"1/(Pa*s)","access":"read_write","origin":"setpoint","component_ids":["electronics"],"write_via":"control.set_gain"},"control.ramp_rate_pa_s":{"meaning_zh":"活动目标斜坡速率;null 表示下一宿主步直接到目标,0 表示保持当前活动目标。","unit":"Pa/s","access":"read_write","origin":"setpoint","component_ids":["electronics"],"write_via":"control.set_ramp_rate"},"control.status":{"meaning_zh":"模拟控制状态;超出有效测量段时保持过程开度并报告 sensor_unavailable,非厂家故障逻辑。","unit":"1","access":"read_only","origin":"derived","component_ids":["electronics"],"write_via":null},"valve.opening":{"meaning_zh":"过程线性节流的归一化有效开度估计;手动模式可写,自动模式由控制器更新。不是测得的真实阀行程。","unit":"1","access":"read_write","origin":"derived","component_ids":["control_valve"],"write_via":"valve.set_opening"},"scene.valve_position":{"meaning_zh":"独立归一化展示阀芯位置;仅通过场景能力修改,不映射过程 valve.opening。","unit":"1","access":"read_write","origin":"scene","component_ids":["control_valve"],"write_via":"scene.set_valve_position"},"process.upstream_absolute_pressure_pa":{"meaning_zh":"受信宿主上游过程体积内的绝对压力真值,pV=nRT。","unit":"Pa","access":"read_only","origin":"process_truth","component_ids":["flow_body"],"write_via":null},"process.upstream_moles_mol":{"meaning_zh":"受信宿主过程体积内的 N2 摩尔数真值。","unit":"mol","access":"read_only","origin":"process_truth","component_ids":["flow_body"],"write_via":null},"process.inflow_mol_s":{"meaning_zh":"外部宿主显式提供的恒定步内流入摩尔流率。","unit":"mol/s","access":"read_only","origin":"process_truth","component_ids":["flow_body"],"write_via":null},"process.downstream_absolute_pressure_pa":{"meaning_zh":"外部宿主显式提供的下游绝压边界。","unit":"Pa","access":"read_only","origin":"process_truth","component_ids":["flow_body"],"write_via":null},"process.outflow_mol_s":{"meaning_zh":"当前状态的瞬时线性节流出口摩尔流率。","unit":"mol/s","access":"read_only","origin":"process_truth","component_ids":["flow_body"],"write_via":null},"process.integrated_inflow_mol":{"meaning_zh":"创建实例后累计进入此过程体积的摩尔量。","unit":"mol","access":"read_only","origin":"process_truth","component_ids":["flow_body"],"write_via":null},"process.integrated_outflow_mol":{"meaning_zh":"创建实例后累计从此过程体积排出的摩尔量。","unit":"mol","access":"read_only","origin":"process_truth","component_ids":["flow_body"],"write_via":null}},"mechanisms":{"isothermal_backpressure":{"meaning_zh":"上游受压容积经出口节流泄压;背压控制器不生成压力。N2 等温理想气体与线性阀是显式数值近似。","implementation":"lumped","equations":["p_abs*V=n*R*T; dn/dt=q_in-q_out","q_out=C*u*max(p_abs-p_down_abs,0); 0<=u<=1","每一步先按宿主 dt 更新活动目标与控制输出;步内固定开度、流入及下游压力,用解析指数解积分气体平衡。","u_next=clip(u+gain*(pressure_reading-active_setpoint)*dt,0,1); 压力过高则增大出口开度。","处于下游压力以下时只累积输入,达到下游压力后才进入正向出口流分支。"],"parameters":{"valve_conductance_mol_s_pa":{"value":null,"unit":"mol/(s*Pa)","evidence":"unknown","meaning_zh":"线性导通系数 C;必须由宿主显式提供,不能代替厂家 Kv。"},"vendor_valve_kv":{"value":null,"unit":"1","evidence":"unknown","meaning_zh":"此配置真实阀容量未给定。"},"upstream_volume_m3":{"value":null,"unit":"m^3","evidence":"unknown","meaning_zh":"上游外部过程体积,宿主必填;非仪器内部死体积。"},"temperature_k":{"value":null,"unit":"K","evidence":"unknown","meaning_zh":"等温气体场景温度,宿主必填;工作范围 263.15–343.15 K。"},"control_gain_per_pa_s":{"value":null,"unit":"1/(Pa*s)","evidence":"unknown","meaning_zh":"仿真积分控制增益,宿主必填;非厂家 PID 参数。"},"pressure_reference_pa":{"value":null,"unit":"Pa","evidence":"unknown","meaning_zh":"表压对应的参考绝压,宿主必填。"}}}},"limitations":["选定型号为 CHEM-181 Bronkhorst EL-PRESS P-702CV;传感器固定 0–500000 Pa 表压且 N2 为本次配置假设,未确认工厂完整订货号。不能以系列 400 bar 作为上限。","保留厂家 P-600/P-700 标准准确度、重复性、量程比及典型稳定性条件;未混用 P-800 性能,也未证明本模型满足厂商精度。","厂家 2 ms 仅传感器响应,未建传感器动态延迟或完整闭环响应模型。实际阀 Kv、真实阀行程、内部死体积及闭环稳定时间为 null。","外形按 A77/B127/C47/H123/K25 mm 解释:A、B、C 同沿 X,H 沿 Z,K 沿 Y;C47 不是整机宽度。局部布局、端口高度、内构件和放大展示行程是重建假设。","URDF 仅使用 box/cylinder/sphere 碰撞体,整机 0.7 kg 和包围盒惯量集中于 base_link;子件质量、惯量、摩擦未知。碰撞文件存在不证明机器人接触或动力学可用。","URDF 展示棱柱关节的 effort=0/velocity=0 是禁用驱动的元数据占位,不是厂家额定参数;该关节只供运动学示意。","展示 scene.valve_position 与过程 valve.opening 是两个不同状态。无过程到几何联动;场景求值验证与过程测试独立记录。","robot/hardware 均 absent;夹持、attach/release、接触抓取、安装约束、真实气路连接由宿主承担且未执行验证。","需先固定传感器压力量程、气体和阀容量;补容积-流量-压力耦合,不能把系列最高400 bar用作此型号上限。 2 ms仅传感器响应,不可作为整个压力闭环的稳定时间。","Host must supply process volume, temperature, initial absolute pressure, downstream absolute pressure, inflow, linear valve conductance, gauge reference and control gain; these are scenario values, not vendor component specifications.","Ideal isothermal N2 gas only: no liquid, real-gas, choking, reverse flow, leakage, noise, hysteresis or calibrated valve characteristic.","Discrete integral output control is a simulation assumption; stability and step size depend on explicit host parameters.","Power-off forces modeled outlet opening to zero as a scenario assumption; unpowered gas accumulation still occurs. Real fail-safe state is unknown.","Scene valve position is independent normalized explanatory state; no process-to-scene actuation or physical valve stroke is claimed.","Agent API filtering is implemented; trusted Python host introspection and file access are outside this boundary.","Idempotency is per principal and instance in memory only; no cross-restart exactly-once promise."],"sources":[],"checks":{"coverage":{"status":"bridged","implemented":["control.set_gain","control.set_mode","control.set_ramp_rate","power.set","pressure.set_setpoint","scene.set_valve_position","simulation.set_boundary","simulation.step","valve.set_opening"],"unsupported":[],"note_zh":"桥接 basic40_runtime_automation.P702CVRuntime(推进方式 step_dt_world),18 个状态槽;与运行层镜像对比全同;受信设置需经 host.call;关节化 USD(1 个按键(碰到即触发));1 个门/盖/升降关节与运行层双向同步;接口点 0 个(无);布局:台面、单人可搬、正面 −y、前方留空 0.25 m"}},"previews":["previews/bronkhorst_p702cv_5bar_gauge_n2/preview.webp","previews/bronkhorst_p702cv_5bar_gauge_n2/preview_cutaway.webp"],"files":[{"name":"asset.contract.json","path":"assets/basic40_batch02/t5_automation/bronkhorst_p702cv/asset.contract.json","bytes":172719},{"name":"collision_proxies.json","path":"assets/basic40_batch02/t5_automation/bronkhorst_p702cv/collision_proxies.json","bytes":16728},{"name":"geometry_manifest.json","path":"assets/basic40_batch02/t5_automation/bronkhorst_p702cv/geometry_manifest.json","bytes":30343},{"name":"model.blend","path":"assets/basic40_batch02/t5_automation/bronkhorst_p702cv/model.blend","bytes":138428},{"name":"model.glb","path":"assets/basic40_batch02/t5_automation/bronkhorst_p702cv/model.glb","bytes":819188},{"name":"model.urdf","path":"assets/basic40_batch02/t5_automation/bronkhorst_p702cv/model.urdf","bytes":14957}],"completeness":{"components":11,"with_collisions":7,"with_objects":11,"with_function":11,"with_mass":0,"joints_matching_component":1,"joints":1,"has_contract":true,"has_layout":true,"has_glb":true,"checks_present":["articulation_check","coverage","contract_validation","runtime_validation","scene_validation"]},"slug":"bronkhorst_p702cv_5bar_gauge_n2","chem_id":"CHEM-181","name_en":"Electronic back-pressure controller","maker":"Bronkhorst","model":"EL-PRESS P-702CV","domain":"automation","domain_name":"Automation & Gas/Liquid Supply","path":"assets/basic40_batch02/t5_automation/bronkhorst_p702cv","glb_up":"z","has_contract":true,"contract":"assets/basic40_batch02/t5_automation/bronkhorst_p702cv/asset.contract.json","runtime":"scripts/basic40_runtime_automation.py"}
|
|
|
|
| 1 |
+
{"tid":"instrument.bronkhorst_p702cv_5bar_gauge_n2","asset_dir":"basic40_batch02/t5_automation/bronkhorst_p702cv","name_zh":"电子背压控制器","category":"自动化与气液供给","description_zh":"CHEM-181,Bronkhorst EL-PRESS P-702CV。固定采用 0–500000 Pa 表压传感器、N2、RS232 + 模拟接口及 1/4 inch OD 压紧接头的配置假设。通过出口节流维持上游压力,不能自行生成压力。full 仅表示本次配置全部功能组件已登记;真实阀容量、完整闭环性能、机器人和硬件未验证。","coordinate_system":{"status":"defined","length_unit":"m","angle_unit":"rad","handedness":"right","up_axis":"+Z","frame":"asset_root:原点为整机台面投影中心,Z=0 为台面;+X 沿气路从 IN 指向 OUT,+Y 为横向,+Z 向上。OBJ/URDF/Blender/GLB 均保留 SI 和 Z 向上;GLB 以 export_yup=False 导出,宿主须读取根节点 units 元数据而非假定 Y 向上。"},"mass_kg":0.7,"size_m":[0.127,0.025,0.123],"bbox_min":[-0.0635,-0.0125,0.0],"bbox_max":[0.0635,0.0125,0.123],"manifest_dimensions_m":[0.127,0.025,0.123],"glb":"assets/basic40_batch02/t5_automation/bronkhorst_p702cv/model.glb","glb_orientation":"already_z_up","usd":null,"urdf":"assets/basic40_batch02/t5_automation/bronkhorst_p702cv/model.urdf","links":{"base_link":"/Geometry/base_link","valve_poppet":"/Geometry/base_link/valve_poppet"},"frames":{"pre_place":[0.0,0.0,0.303],"place":[0.0,0.0,0.173],"post_place":[0.0,0.0,0.303],"joint_valve_poppet_joint":[0.024,0.0,0.047]},"joints":[{"name":"valve_poppet_joint","type":"prismatic","parent":"base_link","child":"valve_poppet","axis":[0.0,0.0,1.0],"lower":0.0,"upper":0.003,"effort":0.0,"mimic":null,"origin_m":[0.024,0.0,0.047],"child_prim":"/Geometry/base_link/valve_poppet","child_bbox_min":[0.02,-0.004,0.04],"child_bbox_max":[0.028,0.004,0.053],"kind":"other"}],"controls":{"buttons":[],"knobs":[]},"slots":[],"hidden_parts":[],"readouts":[],"layout":{"front":[0.0,-1.0,0.0],"front_source":"convention","mount":"bench","weight_class":"robot_portable","mass_kg":0.7,"footprint_m":[0.127,0.025],"height_m":0.123,"clearance_m":{"front":0.25,"back":0.1,"left":0.05,"right":0.05,"top":0.1},"robot_standoff_m":0.35,"work_height_m":0.123,"primary_slot":null,"access":[],"slot_count":0},"components":[{"id":"flow_body","name_zh":"流道阀块","function_zh":"支撑入口测压节点与下游节流通道。","physical_meaning_zh":"容纳上游测压节点和下游节流通道,连接外部气路。内部死体积未知。","subsystem":null,"parent":"root_assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["p702cv__flow_body__machined_block","p702cv__flow_body__block_seam","p702cv__flow_body__block_seam.001","p702cv__flow_body__flow_mark"],"collisions":[{"shape":"box","origin_m":[0,0,0.017],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":null,"material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["simulation.step","simulation.set_boundary"],"bbox_m":null,"raw_keys":["collisions","function_zh","id","joints","name_zh","objects","origin_m","parent","properties"]},{"id":"electronics","name_zh":"控制电子壳","function_zh":"压力目标与阀控制电子组件;无虚构本地显示屏。","physical_meaning_zh":"接收压力设定与控制参数,处理压力读数及阀输出;无虚构本地显示屏。","subsystem":null,"parent":"root_assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["p702cv__electronics__electronics_case","p702cv__electronics__top_cap","p702cv__electronics__diagonal_rail","p702cv__electronics__diagonal_rail.001"],"collisions":[{"shape":"box","origin_m":[-0.015,0,0.0785],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.015,0,0.1218],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","pressure.set_setpoint","control.set_mode","control.set_gain","control.set_ramp_rate","simulation.step"],"bbox_m":null,"raw_keys":["collisions","function_zh","id","joints","name_zh","objects","origin_m","parent","properties"]},{"id":"label_plate","name_zh":"型号标识板","function_zh":"区分P-702CV及本次传感器配置假设。","physical_meaning_zh":"标识 P-702CV 与本次 5 bar 表压假设,避免型号和量程混淆。","subsystem":null,"parent":"root_assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["p702cv__label_plate__yellow_panel","p702cv__label_plate__white_footer","p702cv__label_plate__brand","p702cv__label_plate__series","p702cv__label_plate__model","p702cv__label_plate__configuration","p702cv__label_plate__assumption"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","function_zh","id","joints","name_zh","objects","origin_m","parent","properties"]},{"id":"control_valve","name_zh":"比例电磁节流阀","function_zh":"在测压节点下游改变出口节流;不能产生压力。","physical_meaning_zh":"在测压节点下游调节出口流率,进而影响上游背压;真实 Kv 和阀特性未给定。","subsystem":null,"parent":"root_assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["p702cv__control_valve__valve_neck","p702cv__control_valve__solenoid_coil","p702cv__control_valve__coil_top","p702cv__control_valve__retaining_stud"],"collisions":[{"shape":"cylinder","origin_m":[0.024,0,0.04],"rpy_rad":[0,0,0],"radius_m":0.0085,"length_m":0.012},{"shape":"cylinder","origin_m":[0.024,0,0.0575],"rpy_rad":[0,0,0],"radius_m":0.0105,"length_m":0.025},{"shape":"cylinder","origin_m":[0.024,0,0.071],"rpy_rad":[0,0,0],"radius_m":0.01,"length_m":0.002},{"shape":"cylinder","origin_m":[0.024,0,0.074],"rpy_rad":[0,0,0],"radius_m":0.0028,"length_m":0.004}],"joint":null,"mass_kg":null,"mass_evidence":null,"material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","control.set_mode","valve.set_opening","scene.set_valve_position","simulation.step"],"bbox_m":null,"raw_keys":["collisions","function_zh","id","joints","name_zh","objects","origin_m","parent","properties"]},{"id":"valve_poppet","name_zh":"演示阀芯","function_zh":"隐藏在阀内部的节流阀芯代理;关节行程用于示意。","physical_meaning_zh":"独立教学展示关节,位置可视化不等同实际阀行程或过程开度。","subsystem":null,"parent":"root_assembly","origin_m":[0.024,0,0.047],"rpy_rad":[0,0,0],"objects":["p702cv__valve_poppet__poppet_stem","p702cv__valve_poppet__poppet_head"],"collisions":[{"shape":"cylinder","origin_m":[0,0,0],"rpy_rad":[0,0,0],"radius_m":0.0018,"length_m":0.012},{"shape":"cylinder","origin_m":[0,0,-0.006],"rpy_rad":[0,0,0],"radius_m":0.004,"length_m":0.002}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","function_zh","id","joints","name_zh","objects","origin_m","parent","properties"]},{"id":"pressure_sensor","name_zh":"上游压阻传感器","function_zh":"测量入口侧上游压力;内部几何是教学示意而非厂家剖面CAD。","physical_meaning_zh":"测量节流阀上游节点压力。内部膜片、油隔离及压阻芯片只作定性示意。","subsystem":null,"parent":"root_assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["p702cv__pressure_sensor__sensor_diaphragm","p702cv__pressure_sensor__sensor_capsule"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":null,"material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","simulation.step"],"bbox_m":null,"raw_keys":["collisions","function_zh","id","joints","name_zh","objects","origin_m","parent","properties"]},{"id":"gas_inlet","name_zh":"上游气体入口","function_zh":"1/4英寸OD压紧接头外形配置假设;真实通径与流阻未知。","physical_meaning_zh":"连接受压上游体积,入口节点被压力传感器采样。","subsystem":null,"parent":"root_assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["p702cv__gas_inlet__body_adapter","p702cv__gas_inlet__hex_union","p702cv__gas_inlet__compression_nut","p702cv__gas_inlet__ferrule_rim"],"collisions":[{"shape":"cylinder","origin_m":[-0.042,0,0.013],"rpy_rad":[0,1.5707963267948966,0],"radius_m":0.0065,"length_m":0.007},{"shape":"cylinder","origin_m":[-0.049,0,0.013],"rpy_rad":[0,1.5707963267948966,0],"radius_m":0.008,"length_m":0.009},{"shape":"box","origin_m":[-0.05900000035762787,0.0,0.008112500421702862],"rpy_rad":[-0.0,1.570796251296997,0.0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.05900000035762787,0.0018703652312979102,0.00848453864455223],"rpy_rad":[1.5707961320877075,1.1780973672866821,1.5707961320877075],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.05900000035762787,0.0034559844061732292,0.009544015862047672],"rpy_rad":[1.570796251296997,0.7853980660438538,1.570796251296997],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.05900000035762787,0.004515461158007383,0.011129635386168957],"rpy_rad":[1.570796251296997,0.39269933104515076,1.570796251296997],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.05900000035762787,0.00488749984651804,0.013000000268220901],"rpy_rad":[1.570796251296997,7.549790126404332e-08,1.5707963705062866],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.05900000035762787,0.004515461158007383,0.014870365150272846],"rpy_rad":[1.570796251296997,-0.3926991820335388,1.5707963705062866],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.05900000035762787,0.0034559844061732292,0.016455985605716705],"rpy_rad":[1.570796251296997,-0.7853984236717224,1.5707963705062866],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.05900000035762787,0.0018703652312979102,0.017515461891889572],"rpy_rad":[1.5707961320877075,-1.178097128868103,1.5707964897155762],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.05900000035762787,5.9854613348456915e-19,0.017887499183416367],"rpy_rad":[-3.141592502593994,-1.570796251296997,0.0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.05900000035762787,-0.0018703652312979102,0.017515461891889572],"rpy_rad":[-1.5707961320877075,-1.1780976057052612,-1.5707964897155762],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.05900000035762787,-0.0034559844061732292,0.016455985605716705],"rpy_rad":[-1.570796251296997,-0.7853984236717224,-1.5707963705062866],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.05900000035762787,-0.004515461158007383,0.014870365150272846],"rpy_rad":[-1.570796251296997,-0.3926991820335388,-1.5707963705062866],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.05900000035762787,-0.00488749984651804,0.013000000268220901],"rpy_rad":[-1.570796251296997,7.549790126404332e-08,-1.5707963705062866],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.05900000035762787,-0.004515461158007383,0.011129635386168957],"rpy_rad":[-1.570796251296997,0.39269933104515076,-1.570796251296997],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.05900000035762787,-0.0034559844061732292,0.009544015862047672],"rpy_rad":[-1.570796251296997,0.7853976488113403,-1.570796251296997],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.05900000035762787,-0.0018703652312979102,0.00848453864455223],"rpy_rad":[-1.5707961320877075,1.178096890449524,-1.5707961320877075],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","function_zh","id","joints","name_zh","objects","origin_m","parent","properties"]},{"id":"gas_outlet","name_zh":"下游气体出口","function_zh":"1/4英寸OD压紧接头外形配置假设;真实通径与流阻未知。","physical_meaning_zh":"节流阀之后的出口连接下游压力边界,宿主提供兼容的排出路径。","subsystem":null,"parent":"root_assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["p702cv__gas_outlet__body_adapter","p702cv__gas_outlet__hex_union","p702cv__gas_outlet__compression_nut","p702cv__gas_outlet__ferrule_rim"],"collisions":[{"shape":"cylinder","origin_m":[0.042,0,0.013],"rpy_rad":[0,1.5707963267948966,0],"radius_m":0.0065,"length_m":0.007},{"shape":"cylinder","origin_m":[0.049,0,0.013],"rpy_rad":[0,1.5707963267948966,0],"radius_m":0.008,"length_m":0.009},{"shape":"box","origin_m":[0.05900000035762787,0.0,0.008112500421702862],"rpy_rad":[-0.0,1.570796251296997,0.0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.05900000035762787,0.0018703652312979102,0.00848453864455223],"rpy_rad":[1.5707961320877075,1.1780973672866821,1.5707961320877075],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.05900000035762787,0.0034559844061732292,0.009544015862047672],"rpy_rad":[1.570796251296997,0.7853980660438538,1.570796251296997],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.05900000035762787,0.004515461158007383,0.011129635386168957],"rpy_rad":[1.570796251296997,0.39269933104515076,1.570796251296997],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.05900000035762787,0.00488749984651804,0.013000000268220901],"rpy_rad":[1.570796251296997,7.549790126404332e-08,1.5707963705062866],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.05900000035762787,0.004515461158007383,0.014870365150272846],"rpy_rad":[1.570796251296997,-0.3926991820335388,1.5707963705062866],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.05900000035762787,0.0034559844061732292,0.016455985605716705],"rpy_rad":[1.570796251296997,-0.7853984236717224,1.5707963705062866],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.05900000035762787,0.0018703652312979102,0.017515461891889572],"rpy_rad":[1.5707961320877075,-1.178097128868103,1.5707964897155762],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.05900000035762787,5.9854613348456915e-19,0.017887499183416367],"rpy_rad":[-3.141592502593994,-1.570796251296997,0.0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.05900000035762787,-0.0018703652312979102,0.017515461891889572],"rpy_rad":[-1.5707961320877075,-1.1780976057052612,-1.5707964897155762],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.05900000035762787,-0.0034559844061732292,0.016455985605716705],"rpy_rad":[-1.570796251296997,-0.7853984236717224,-1.5707963705062866],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.05900000035762787,-0.004515461158007383,0.014870365150272846],"rpy_rad":[-1.570796251296997,-0.3926991820335388,-1.5707963705062866],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.05900000035762787,-0.00488749984651804,0.013000000268220901],"rpy_rad":[-1.570796251296997,7.549790126404332e-08,-1.5707963705062866],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.05900000035762787,-0.004515461158007383,0.011129635386168957],"rpy_rad":[-1.570796251296997,0.39269933104515076,-1.570796251296997],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.05900000035762787,-0.0034559844061732292,0.009544015862047672],"rpy_rad":[-1.570796251296997,0.7853976488113403,-1.570796251296997],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.05900000035762787,-0.0018703652312979102,0.00848453864455223],"rpy_rad":[-1.5707961320877075,1.178096890449524,-1.5707961320877075],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","function_zh","id","joints","name_zh","objects","origin_m","parent","properties"]},{"id":"electrical_connector","name_zh":"9针电源与RS232/模拟接口","function_zh":"标准9针D形公座代理;管脚电气与串口硬件未实现。","physical_meaning_zh":"标准 Analog/RS232 9-pin D 形公接口;电气连接和真实串口驱动未实现。","subsystem":null,"parent":"root_assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["p702cv__electrical_connector__connector_flange","p702cv__electrical_connector__dsub_shroud","p702cv__electrical_connector__pin","p702cv__electrical_connector__pin.001","p702cv__electrical_connector__pin.002","p702cv__electrical_connector__pin.003","p702cv__electrical_connector__pin.004","p702cv__electrical_connector__pin.005","p702cv__electrical_connector__pin.006","p702cv__electrical_connector__pin.007","p702cv__electrical_connector__pin.008","p702cv__electrical_connector__screw_boss","p702cv__electrical_connector__screw_boss.001"],"collisions":[{"shape":"box","origin_m":[0.0093,0,0.101],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","function_zh","id","joints","name_zh","objects","origin_m","parent","properties"]},{"id":"fasteners","name_zh":"固定螺钉","function_zh":"装配固定与基座安装;机械参数未知。","physical_meaning_zh":"固定外壳与阀块;紧固力矩、摩擦、接触与安装载荷未知。","subsystem":null,"parent":"root_assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["p702cv__fasteners__base_screw","p702cv__fasteners__base_screw.001","p702cv__fasteners__base_screw.002","p702cv__fasteners__base_screw.003","p702cv__fasteners__cover_screw","p702cv__fasteners__cover_screw.001"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","function_zh","id","joints","name_zh","objects","origin_m","parent","properties"]},{"id":"root_assembly","name_zh":"电子背压控制器整机","function_zh":"装配、整体坐标与整机质量证据。整机靠外部供压,出口节流不产生压力。","physical_meaning_zh":"装配、整体坐标与整机质量证据。整机靠外部供压,出口节流不产生压力。","subsystem":null,"parent":null,"origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["p702cv"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":null,"material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":[]}],"component_source":"geometry_manifest.json + asset.contract.json + collision_proxies.json","capabilities":{"power.set":{"function_zh":"设置模拟供电状态","kind":"device_command","availability":"implemented","component_ids":["electronics","control_valve","pressure_sensor"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":["enabled"]},"pressure.set_setpoint":{"function_zh":"设置选定 5 bar 配置内的背压目标","kind":"device_command","availability":"implemented","component_ids":["electronics"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":["pressure_Pa"]},"control.set_mode":{"function_zh":"切换模拟手动或自动背压模式","kind":"device_command","availability":"implemented","component_ids":["electronics","control_valve"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":["mode"]},"control.set_gain":{"function_zh":"设置仿真积分输出增益","kind":"device_command","availability":"implemented","component_ids":["electronics"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":["gain_per_Pa_s"]},"control.set_ramp_rate":{"function_zh":"设置目标斜坡速率","kind":"device_command","availability":"implemented","component_ids":["electronics"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":["rate_Pa_s"]},"valve.set_opening":{"function_zh":"设置手动模拟出口节流开度","kind":"device_command","availability":"implemented","component_ids":["control_valve"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":["opening"]},"scene.set_valve_position":{"function_zh":"设置独立归一化展示阀芯位置","kind":"simulation","availability":"implemented","component_ids":["control_valve"],"implementation":{"process":"not_applicable","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["position"]},"simulation.step":{"function_zh":"由受信宿主推进指定共同时间步与背压过程","kind":"simulation","availability":"implemented","component_ids":["flow_body","control_valve","pressure_sensor","electronics"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":["dt_s","world_time_s"]},"simulation.set_boundary":{"function_zh":"由受信宿主更新上游流入与下游绝压边界","kind":"simulation","availability":"implemented","component_ids":["flow_body"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":["inflow_mol_s","downstream_absolute_pressure_Pa"]}},"state_slots":{"power.enabled":{"meaning_zh":"模拟供电开关;断电时过程出口开度置零是场景假设,非厂家失电阀状态。","unit":"1","access":"read_write","origin":"setpoint","component_ids":["electronics"],"write_via":"power.set"},"pressure.setpoint_pa":{"meaning_zh":"目标上游表压;本配置只接受 100000–500000 Pa,未设置时为 null。","unit":"Pa","access":"read_write","origin":"setpoint","component_ids":["electronics"],"write_via":"pressure.set_setpoint"},"pressure.active_setpoint_pa":{"meaning_zh":"经过斜坡的活动表压目标;初次设定直接建立目标,以后仅宿主 step 更新。","unit":"Pa","access":"read_only","origin":"derived","component_ids":["electronics"],"write_via":null},"pressure.reading_pa":{"meaning_zh":"理想化上游表压观测,quality=estimated;未建噪声/精度/延迟模型。断电或量程有效段以外返回 null。","unit":"Pa","access":"read_only","origin":"sensor","component_ids":["pressure_sensor"],"write_via":null},"pressure.deviation_pa":{"meaning_zh":"理想化压力读数减活动目标,quality=estimated;缺观测或缺目标返回 null。","unit":"Pa","access":"read_only","origin":"derived","component_ids":["electronics"],"write_via":null},"control.mode":{"meaning_zh":"manual/automatic;自动模式要求供电、已有目标与有效压力读数。","unit":"1","access":"read_write","origin":"setpoint","component_ids":["electronics"],"write_via":"control.set_mode"},"control.gain_per_pa_s":{"meaning_zh":"仿真积分输出增益,由宿主初始显式提供,可通电修改;非厂家控制参数。","unit":"1/(Pa*s)","access":"read_write","origin":"setpoint","component_ids":["electronics"],"write_via":"control.set_gain"},"control.ramp_rate_pa_s":{"meaning_zh":"活动目标斜坡速率;null 表示下一宿主步直接到目标,0 表示保持当前活动目标。","unit":"Pa/s","access":"read_write","origin":"setpoint","component_ids":["electronics"],"write_via":"control.set_ramp_rate"},"control.status":{"meaning_zh":"模拟控制状态;超出有效测量段时保持过程开度并报告 sensor_unavailable,非厂家故障逻辑。","unit":"1","access":"read_only","origin":"derived","component_ids":["electronics"],"write_via":null},"valve.opening":{"meaning_zh":"过程线性节流的归一化有效开度估计;手动模式可写,自动模式由控制器更新。不是测得的真实阀行程。","unit":"1","access":"read_write","origin":"derived","component_ids":["control_valve"],"write_via":"valve.set_opening"},"scene.valve_position":{"meaning_zh":"独立归一化展示阀芯位置;仅通过场景能力修改,不映射过程 valve.opening。","unit":"1","access":"read_write","origin":"scene","component_ids":["control_valve"],"write_via":"scene.set_valve_position"},"process.upstream_absolute_pressure_pa":{"meaning_zh":"受信宿主上游过程体积内的绝对压力真值,pV=nRT。","unit":"Pa","access":"read_only","origin":"process_truth","component_ids":["flow_body"],"write_via":null},"process.upstream_moles_mol":{"meaning_zh":"受信宿主过程体积内的 N2 摩尔数真值。","unit":"mol","access":"read_only","origin":"process_truth","component_ids":["flow_body"],"write_via":null},"process.inflow_mol_s":{"meaning_zh":"外部宿主显式提供的恒定步内流入摩尔流率。","unit":"mol/s","access":"read_only","origin":"process_truth","component_ids":["flow_body"],"write_via":null},"process.downstream_absolute_pressure_pa":{"meaning_zh":"外部宿主显式提供的下游绝压边界。","unit":"Pa","access":"read_only","origin":"process_truth","component_ids":["flow_body"],"write_via":null},"process.outflow_mol_s":{"meaning_zh":"当前状态的瞬时线性节流出口摩尔流率。","unit":"mol/s","access":"read_only","origin":"process_truth","component_ids":["flow_body"],"write_via":null},"process.integrated_inflow_mol":{"meaning_zh":"创建实例后累计进入此过程体积的摩尔量。","unit":"mol","access":"read_only","origin":"process_truth","component_ids":["flow_body"],"write_via":null},"process.integrated_outflow_mol":{"meaning_zh":"创建实例后累计从此过程体积排出的摩尔量。","unit":"mol","access":"read_only","origin":"process_truth","component_ids":["flow_body"],"write_via":null}},"mechanisms":{"isothermal_backpressure":{"meaning_zh":"上游受压容积经出口节流泄压;背压控制器不生成压力。N2 等温理想气体与线性阀是显式数值近似。","implementation":"lumped","equations":["p_abs*V=n*R*T; dn/dt=q_in-q_out","q_out=C*u*max(p_abs-p_down_abs,0); 0<=u<=1","每一步先按宿主 dt 更新活动目标与控制输出;步内固定开度、流入及下游压力,用解析指数解积分气体平衡。","u_next=clip(u+gain*(pressure_reading-active_setpoint)*dt,0,1); 压力过高则增大出口开度。","处于下游压力以下时只累积输入,达到下游压力后才进入正向出口流分支。"],"parameters":{"valve_conductance_mol_s_pa":{"value":null,"unit":"mol/(s*Pa)","evidence":"unknown","meaning_zh":"线性导通系数 C;必须由宿主显式提供,不能代替厂家 Kv。"},"vendor_valve_kv":{"value":null,"unit":"1","evidence":"unknown","meaning_zh":"此配置真实阀容量未给定。"},"upstream_volume_m3":{"value":null,"unit":"m^3","evidence":"unknown","meaning_zh":"上游外部过程体积,宿主必填;非仪器内部死体积。"},"temperature_k":{"value":null,"unit":"K","evidence":"unknown","meaning_zh":"等温气体场景温度,宿主必填;工作范围 263.15–343.15 K。"},"control_gain_per_pa_s":{"value":null,"unit":"1/(Pa*s)","evidence":"unknown","meaning_zh":"仿真积分控制增益,宿主必填;非厂家 PID 参数。"},"pressure_reference_pa":{"value":null,"unit":"Pa","evidence":"unknown","meaning_zh":"表压对应的参考绝压,宿主必填。"}}}},"limitations":["选定型号为 CHEM-181 Bronkhorst EL-PRESS P-702CV;传感器固定 0–500000 Pa 表压且 N2 为本次配置假设,未确认工厂完整订货号。不能以系列 400 bar 作为上限。","保留厂家 P-600/P-700 标准准确度、重复性、量程比及典型稳定性条件;未混用 P-800 性能,也未证明本模型满足厂商精度。","厂家 2 ms 仅传感器响应,未建传感器动态延迟或完整闭环响应模型。实际阀 Kv、真实阀行程、内部死体积及闭环稳定时间为 null。","外形按 A77/B127/C47/H123/K25 mm 解释:A、B、C 同沿 X,H 沿 Z,K 沿 Y;C47 不是整机宽度。局部布局、端口高度、内构件和放大展示行程是重建假设。","URDF 仅使用 box/cylinder/sphere 碰撞体,整机 0.7 kg 和包围盒惯量集中于 base_link;子件质量、惯量、摩擦未知。碰撞文件存在不证明机器人接触或动力学可用。","URDF 展示棱柱关节的 effort=0/velocity=0 是禁用驱动的元数据占位,不是厂家额定参数;该关节只供运动学示意。","展示 scene.valve_position 与过程 valve.opening 是两个不同状态。无过程到几何联动;场景求值验证与过程测试独立记录。","robot/hardware 均 absent;夹持、attach/release、接触抓取、安装约束、真实气路连接由宿主承担且未执行验证。","需先固定传感器压力量程、气体和阀容量;补容积-流量-压力耦合,不能把系列最高400 bar用作此型号上限。 2 ms仅传感器响应,不可作为整个压力闭环的稳定时间。","Host must supply process volume, temperature, initial absolute pressure, downstream absolute pressure, inflow, linear valve conductance, gauge reference and control gain; these are scenario values, not vendor component specifications.","Ideal isothermal N2 gas only: no liquid, real-gas, choking, reverse flow, leakage, noise, hysteresis or calibrated valve characteristic.","Discrete integral output control is a simulation assumption; stability and step size depend on explicit host parameters.","Power-off forces modeled outlet opening to zero as a scenario assumption; unpowered gas accumulation still occurs. Real fail-safe state is unknown.","Scene valve position is independent normalized explanatory state; no process-to-scene actuation or physical valve stroke is claimed.","Agent API filtering is implemented; trusted Python host introspection and file access are outside this boundary.","Idempotency is per principal and instance in memory only; no cross-restart exactly-once promise."],"sources":[],"checks":{"coverage":{"status":"bridged","implemented":["control.set_gain","control.set_mode","control.set_ramp_rate","power.set","pressure.set_setpoint","scene.set_valve_position","simulation.set_boundary","simulation.step","valve.set_opening"],"unsupported":[],"note_zh":"桥接 basic40_runtime_automation.P702CVRuntime(推进方式 step_dt_world),18 个状态槽;与运行层镜像对比全同;受信设置需经 host.call;关节化 USD(1 个按键(碰到即触发));1 个门/盖/升降关节与运行层双向同步;接口点 0 个(无);布局:台面、单人可搬、正面 −y、前方留空 0.25 m"}},"previews":["previews/bronkhorst_p702cv_5bar_gauge_n2/preview.webp","previews/bronkhorst_p702cv_5bar_gauge_n2/preview_cutaway.webp"],"files":[{"name":"asset.contract.json","path":"assets/basic40_batch02/t5_automation/bronkhorst_p702cv/asset.contract.json","bytes":173012},{"name":"collision_proxies.json","path":"assets/basic40_batch02/t5_automation/bronkhorst_p702cv/collision_proxies.json","bytes":16728},{"name":"geometry_manifest.json","path":"assets/basic40_batch02/t5_automation/bronkhorst_p702cv/geometry_manifest.json","bytes":30343},{"name":"model.blend","path":"assets/basic40_batch02/t5_automation/bronkhorst_p702cv/model.blend","bytes":139496},{"name":"model.glb","path":"assets/basic40_batch02/t5_automation/bronkhorst_p702cv/model.glb","bytes":819188},{"name":"model.urdf","path":"assets/basic40_batch02/t5_automation/bronkhorst_p702cv/model.urdf","bytes":14957}],"completeness":{"components":11,"with_collisions":7,"with_objects":11,"with_function":11,"with_mass":0,"joints_matching_component":1,"joints":1,"has_contract":true,"has_layout":true,"has_glb":true,"checks_present":["articulation_check","coverage","contract_validation","runtime_validation","scene_validation"]},"slug":"bronkhorst_p702cv_5bar_gauge_n2","chem_id":"CHEM-181","name_en":"Electronic back-pressure controller","maker":"Bronkhorst","model":"EL-PRESS P-702CV","domain":"automation","domain_name":"Automation & Gas/Liquid Supply","path":"assets/basic40_batch02/t5_automation/bronkhorst_p702cv","glb_up":"z","has_contract":true,"contract":"assets/basic40_batch02/t5_automation/bronkhorst_p702cv/asset.contract.json","runtime":"scripts/basic40_runtime_automation.py"}
|
data/assets/instrument.brooks_preciseflex_400.json
CHANGED
|
@@ -1 +1 @@
|
|
| 1 |
-
{"tid":"instrument.brooks_preciseflex_400","asset_dir":"basic40_batch02/t5_automation/preciseflex_400","name_zh":"实验室样品转运机械臂 — Brooks Automation PreciseFlex 400 标准臂400 mm行程","category":"automation.sample_transfer","description_zh":"CHEM-178,三张源表第183行。4轴SCARA型样品转运机械臂及原装伺服夹爪的明确近似模型;本批提供分件、运动学、宿主确认与样品拓扑接口,不承担化学测量。full仅表示本批功能组件已登记,不代表真实机器人/硬件/接触动力学已实现。","coordinate_system":{"status":"defined","length_unit":"m","angle_unit":"rad","handedness":"right","up_axis":"+Z","frame":"asset_root:基座台面投影中心;z=0在台面,+X为假设零位伸臂方向,+Y构成右手系;厂家零位标定变换未知。"},"mass_kg":20.0,"size_m":[0.715,0.2111,0.682],"bbox_min":[-0.115,-0.104,0.0],"bbox_max":[0.6,0.1071,0.682],"manifest_dimensions_m":null,"glb":"assets/basic40_batch02/t5_automation/preciseflex_400/model.glb","glb_orientation":"gltf_y_up_rotated","usd":null,"urdf":"assets/basic40_batch02/t5_automation/preciseflex_400/model.urdf","links":{"base_link":"/Geometry/base_link","lift":"/Geometry/base_link/lift","upper_arm":"/Geometry/base_link/lift/upper_arm","forearm":"/Geometry/base_link/lift/upper_arm/forearm","wrist":"/Geometry/base_link/lift/upper_arm/forearm/wrist"},"frames":{"pre_place":[0.2425,0.0016,0.862],"place":[0.2425,0.0016,0.732],"post_place":[0.2425,0.0016,0.862],"joint_j1_z":[0.0,0.0,0.0],"joint_j2_shoulder":[0.0,0.0,0.2],"joint_j3_elbow":[0.25,0.0,0.2],"joint_j4_wrist":[0.5,0.0,0.2]},"joints":[{"name":"j1_z","type":"prismatic","parent":"base_link","child":"lift","axis":[0.0,0.0,1.0],"lower":0.0,"upper":0.4,"effort":0.0,"mimic":null,"origin_m":[0.0,0.0,0.0],"child_prim":"/Geometry/base_link/lift","child_bbox_min":[-0.0585,-0.07,0.16],"child_bbox_max":[0.6,0.07,0.3925],"kind":"other"},{"name":"j2_shoulder","type":"revolute","parent":"lift","child":"upper_arm","axis":[0.0,0.0,1.0],"lower":-1.6231562043547265,"upper":1.6231562043547265,"effort":0.0,"mimic":null,"origin_m":[0.0,0.0,0.2],"child_prim":"/Geometry/base_link/lift/upper_arm","child_bbox_min":[-0.0585,-0.07,0.16],"child_bbox_max":[0.6,0.07,0.3925],"kind":"other"},{"name":"j3_elbow","type":"revolute","parent":"upper_arm","child":"forearm","axis":[0.0,0.0,1.0],"lower":-2.9321531433504737,"upper":2.9321531433504737,"effort":0.0,"mimic":null,"origin_m":[0.25,0.0,0.2],"child_prim":"/Geometry/base_link/lift/upper_arm/forearm","child_bbox_min":[0.201,-0.07,0.16],"child_bbox_max":[0.6,0.07,0.3925],"kind":"other"},{"name":"j4_wrist","type":"revolute","parent":"forearm","child":"wrist","axis":[0.0,0.0,1.0],"lower":-16.755160819145562,"upper":16.755160819145562,"effort":0.0,"mimic":null,"origin_m":[0.5,0.0,0.2],"child_prim":"/Geometry/base_link/lift/upper_arm/forearm/wrist","child_bbox_min":[0.461,-0.07,0.16],"child_bbox_max":[0.6,0.07,0.3665],"kind":"other"}],"controls":{"buttons":[],"knobs":[]},"slots":[{"name":"gripper","link":"wrist","part":"gripper","pos":[0.4925,0.0,0.2],"rot":[0.0,0.0,0.0,1.0],"pos_link":[-0.0075,0.0,0.0],"rot_link":[0.0,0.0,0.0,1.0],"radius_m":0.0125,"kind":"clamp","fits":["plate_96"],"anchor":"center","insert_axis":[0.0,0.0,1.0],"capture_m":0.03,"access":[],"modelled_occupant":false}],"hidden_parts":[],"readouts":[],"layout":{"front":[0.0,-1.0,0.0],"front_source":"convention","mount":"bench","weight_class":"one_person","mass_kg":20.0,"footprint_m":[0.715,0.2111],"height_m":0.682,"clearance_m":{"front":0.25,"back":0.15,"left":0.05,"right":0.05,"top":0.1},"robot_standoff_m":0.35,"work_height_m":0.2,"primary_slot":"gripper","access":[],"slot_count":1},"components":[{"id":"base","name_zh":"台面安装底座","function_zh":"运动链与安装、连接或夹持边界;由模型及能力引用确定职责。","physical_meaning_zh":"组件几何是带证据说明的代理。实体材料、真实质量与惯量不由外观推算成已知值。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["pf400__base_shell","pf400__base_plate","pf400__mount_recess","pf400__mount_head","pf400__mount_recess.001","pf400__mount_head.001","pf400__mount_recess.002","pf400__mount_head.002","pf400__mount_recess.003","pf400__mount_head.003","pf400__rear_port_label"],"collisions":[{"shape":"box","origin_m":[0,0,0.022],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0,0.004],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":null,"material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.10999999940395355,-0.10000000149011612,0.0],[0.10999999940395355,0.1071000024676323,0.041999999433755875]],"raw_keys":["authored_dimensions_m","bbox_inertia_evidence","bbox_inertia_per_unit_mass_m2","bbox_local_m","collisions","dimensions_evidence","frame_object","id","mesh_path","name_zh","objects","origin_m","parent","physical_properties"]},{"id":"column","name_zh":"Z轴立柱与导轨","function_zh":"运动链与安装、连接或夹持边界;由模型及能力引用确定职责。","physical_meaning_zh":"组件几何是带证据说明的代理。实体材料、真实质量与惯量不由外观推算成已知值。","subsystem":null,"parent":"base","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["pf400__column_spine","pf400__column_rear_cover","pf400__column_top_cap","pf400__belt_slot","pf400__vertical_guide","pf400__vertical_guide.001","pf400__column_fastener","pf400__column_fastener.001","pf400__column_fastener.002","pf400__column_fastener.003","pf400__brand_badge","pf400__brand_label","pf400__model_label","pf400__model_number","pf400__axis_label"],"collisions":[{"shape":"box","origin_m":[-0.06,0,0.354],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.109,0,0.35],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.061,0,0.675],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.01,0,0.351],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.007,-0.044,0.35],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.007,0.044,0.35],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":null,"material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.11499999463558197,-0.06199999898672104,0.03999999165534973],[-0.0024999999441206455,0.06199999898672104,0.6820000410079956]],"raw_keys":["authored_dimensions_m","bbox_inertia_evidence","bbox_inertia_per_unit_mass_m2","bbox_local_m","collisions","dimensions_evidence","frame_object","id","mesh_path","name_zh","objects","origin_m","parent","physical_properties"]},{"id":"lift","name_zh":"升降滑座","function_zh":"运动链与安装、连接或夹持边界;由模型及能力引用确定职责。","physical_meaning_zh":"组件几何是带证据说明的代理。实体材料、真实质量与惯量不由外观推算成已知值。","subsystem":null,"parent":"base","origin_m":[0.0,0.0,0.0],"rpy_rad":[0,0,0],"objects":["pf400__lift_carriage","pf400__lift_face","pf400__lift_face_fastener","pf400__lift_face_fastener.001"],"collisions":[{"shape":"box","origin_m":[0.012,0,0.235],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.027,0,0.235],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":null,"material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["motion.set_joints","simulation.commit_pose"],"bbox_m":[[-0.009999999776482582,-0.06650000065565109,0.18000000715255737],[0.05350000038743019,0.06650000065565109,0.28999999165534973]],"raw_keys":["authored_dimensions_m","bbox_inertia_evidence","bbox_inertia_per_unit_mass_m2","bbox_local_m","collisions","dimensions_evidence","frame_object","id","mesh_path","name_zh","objects","origin_m","parent","physical_properties"]},{"id":"upper_arm","name_zh":"肩关节与内臂","function_zh":"运动链与安装、连接或夹持边界;由模型及能力引用确定职责。","physical_meaning_zh":"组件几何是带证据说明的代理。实体材料、真实质量与惯量不由外观推算成已知值。","subsystem":null,"parent":"lift","origin_m":[0.0,0.0,0.20000000298023224],"rpy_rad":[0,0,0],"objects":["pf400__shoulder_hub","pf400__shoulder_ring","pf400__upper_arm_shell","pf400__upper_arm_inlay","pf400__upper_label"],"collisions":[{"shape":"cylinder","origin_m":[0,0,0.051],"rpy_rad":[0,0,0],"radius_m":0.058,"length_m":0.089},{"shape":"box","origin_m":[0.125,0,0.073],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"cylinder","origin_m":[0,0,0.073],"rpy_rad":[0,0,0],"radius_m":0.0525,"length_m":0.065},{"shape":"cylinder","origin_m":[0.25,0,0.073],"rpy_rad":[0,0,0],"radius_m":0.0525,"length_m":0.065},{"shape":"box","origin_m":[0.125,0,0.11],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"cylinder","origin_m":[0,0,0.11],"rpy_rad":[0,0,0],"radius_m":0.044,"length_m":0.008},{"shape":"cylinder","origin_m":[0.25,0,0.11],"rpy_rad":[0,0,0],"radius_m":0.044,"length_m":0.008}],"joint":null,"mass_kg":null,"mass_evidence":null,"material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["motion.set_joints","motion.forward_kinematics","simulation.commit_pose"],"bbox_m":[[-0.05849999934434891,-0.05849999934434891,0.006499983370304108],[0.30250000953674316,0.05849999934434891,0.11400000005960464]],"raw_keys":["authored_dimensions_m","bbox_inertia_evidence","bbox_inertia_per_unit_mass_m2","bbox_local_m","collisions","dimensions_evidence","frame_object","id","mesh_path","name_zh","objects","origin_m","parent","physical_properties"]},{"id":"forearm","name_zh":"肘关节与外臂","function_zh":"运动链与安装、连接或夹持边界;由模型及能力引用确定职责。","physical_meaning_zh":"组件几何是带证据说明的代理。实体材料、真实质量与惯量不由外观推算成已知值。","subsystem":null,"parent":"upper_arm","origin_m":[0.25,0.0,0.0],"rpy_rad":[0,0,0],"objects":["pf400__elbow_rotor","pf400__forearm_shell","pf400__forearm_top","pf400__elbow_cap","pf400__arm_cap_screw","pf400__arm_cap_screw.001"],"collisions":[{"shape":"cylinder","origin_m":[0,0,0.116],"rpy_rad":[0,0,0],"radius_m":0.049,"length_m":0.028},{"shape":"box","origin_m":[0.125,0,0.151],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"cylinder","origin_m":[0,0,0.151],"rpy_rad":[0,0,0],"radius_m":0.0415,"length_m":0.052},{"shape":"cylinder","origin_m":[0.25,0,0.151],"rpy_rad":[0,0,0],"radius_m":0.0415,"length_m":0.052},{"shape":"box","origin_m":[0.125,0,0.18],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"cylinder","origin_m":[0,0,0.18],"rpy_rad":[0,0,0],"radius_m":0.0345,"length_m":0.006},{"shape":"cylinder","origin_m":[0.25,0,0.18],"rpy_rad":[0,0,0],"radius_m":0.0345,"length_m":0.006}],"joint":null,"mass_kg":null,"mass_evidence":null,"material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["motion.set_joints","motion.forward_kinematics","simulation.commit_pose"],"bbox_m":[[-0.04899999871850014,-0.04899999871850014,0.10199998319149017],[0.2915000021457672,0.04899999871850014,0.1925000101327896]],"raw_keys":["authored_dimensions_m","bbox_inertia_evidence","bbox_inertia_per_unit_mass_m2","bbox_local_m","collisions","dimensions_evidence","frame_object","id","mesh_path","name_zh","objects","origin_m","parent","physical_properties"]},{"id":"wrist","name_zh":"腕轴与工具法兰","function_zh":"运动链与安装、连接或夹持边界;由模型及能力引用确定职责。","physical_meaning_zh":"组件几何是带证据说明的代理。实体材料、真实质量与惯量不由外观推算成已知值。","subsystem":null,"parent":"forearm","origin_m":[0.25,0.0,0.0],"rpy_rad":[0,0,0],"objects":["pf400__wrist_housing","pf400__wrist_shaft","pf400__wrist_flange"],"collisions":[{"shape":"cylinder","origin_m":[0,0,0.129],"rpy_rad":[0,0,0],"radius_m":0.036,"length_m":0.075},{"shape":"cylinder","origin_m":[0,0,0.057],"rpy_rad":[0,0,0],"radius_m":0.022,"length_m":0.072},{"shape":"cylinder","origin_m":[0,0,0.012],"rpy_rad":[0,0,0],"radius_m":0.039,"length_m":0.018}],"joint":null,"mass_kg":null,"mass_evidence":null,"material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["motion.set_joints","motion.forward_kinematics","simulation.commit_pose"],"bbox_m":[[-0.039000000804662704,-0.039000000804662704,0.0029999949038028717],[0.039000000804662704,0.039000000804662704,0.1665000021457672]],"raw_keys":["authored_dimensions_m","bbox_inertia_evidence","bbox_inertia_per_unit_mass_m2","bbox_local_m","collisions","dimensions_evidence","frame_object","id","mesh_path","name_zh","objects","origin_m","parent","physical_properties"]},{"id":"gripper","name_zh":"伺服夹爪背板代理","function_zh":"运动链与安装、连接或夹持边界;由模型及能力引用确定职责。","physical_meaning_zh":"组件几何是带证据说明的代理。实体材料、真实质量与惯量不由外观推算成已知值。","subsystem":null,"parent":"wrist","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["pf400__gripper"],"collisions":[{"shape":"box","origin_m":[-0.0075,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":null,"material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["motion.forward_kinematics","sample.attach","sample.release","robot.contact_grasp","simulation.commit_pose"],"bbox_m":[[-0.019999992102384567,-0.07000000029802322,-0.03999999910593033],[0.005000007338821888,0.07000000029802322,0.03999999910593033]],"raw_keys":["authored_dimensions_m","bbox_inertia_evidence","bbox_inertia_per_unit_mass_m2","bbox_local_m","collisions","dimensions_evidence","frame_object","id","mesh_path","name_zh","objects","origin_m","parent","physical_properties"]},{"id":"finger_left","name_zh":"左夹指代理","function_zh":"运动链与安装、连接或夹持边界;由模型及能力引用确定职责。","physical_meaning_zh":"组件几何是带证据说明的代理。实体材料、真实质量与惯量不由外观推算成已知值。","subsystem":null,"parent":"wrist","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["pf400__finger_left"],"collisions":[{"shape":"box","origin_m":[0.0525,0.064,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":null,"material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[0.005000010132789612,0.058000002056360245,-0.03999999910593033],[0.10000000894069672,0.07000000029802322,0.03999999910593033]],"raw_keys":["authored_dimensions_m","bbox_inertia_evidence","bbox_inertia_per_unit_mass_m2","bbox_local_m","collisions","dimensions_evidence","frame_object","id","mesh_path","name_zh","objects","origin_m","parent","physical_properties"]},{"id":"finger_right","name_zh":"右夹指代理","function_zh":"运动链与安装、连接或夹持边界;由模型及能力引用确定职责。","physical_meaning_zh":"组件几何是带证据说明的代理。实体材料、真实质量与惯量不由外观推算成已知值。","subsystem":null,"parent":"wrist","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["pf400__finger_right"],"collisions":[{"shape":"box","origin_m":[0.0525,-0.064,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":null,"material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[0.005000010132789612,-0.07000000029802322,-0.03999999910593033],[0.10000000894069672,-0.058000002056360245,0.03999999910593033]],"raw_keys":["authored_dimensions_m","bbox_inertia_evidence","bbox_inertia_per_unit_mass_m2","bbox_local_m","collisions","dimensions_evidence","frame_object","id","mesh_path","name_zh","objects","origin_m","parent","physical_properties"]},{"id":"controller","name_zh":"集成控制面板","function_zh":"运动链与安装、连接或夹持边界;由模型及能力引用确定职责。","physical_meaning_zh":"组件几何是带证据说明的代理。实体材料、真实质量与惯量不由外观推算成已知值。","subsystem":null,"parent":"base","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["pf400__control_panel","pf400__control_label","pf400__power_status"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":null,"material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","state.read","motion.set_tcp_velocity"],"bbox_m":[[-0.027000000700354576,-0.10400000214576721,0.013000000268220901],[0.07699999958276749,-0.0989999994635582,0.03500000014901161]],"raw_keys":["authored_dimensions_m","bbox_inertia_evidence","bbox_inertia_per_unit_mass_m2","bbox_local_m","collisions","dimensions_evidence","frame_object","id","mesh_path","name_zh","objects","origin_m","parent","physical_properties"]},{"id":"power_port","name_zh":"电源连接可视代理","function_zh":"运动链与安装、连接或夹持边界;由模型及能力引用确定职责。","physical_meaning_zh":"组件几何是带证据说明的代理。实体材料、真实质量与惯量不由外观推算成已知值。","subsystem":null,"parent":"base","origin_m":[-0.08699999749660492,0.10100000351667404,0.024000000208616257],"rpy_rad":[0,0,0],"objects":["pf400__power_socket","pf400__power_pin"],"collisions":[{"shape":"cylinder","origin_m":[0,0,0],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.01,"length_m":0.006}],"joint":null,"mass_kg":null,"mass_evidence":null,"material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.009999999776482582,-0.0030000004917383194,-0.009999999776482582],[0.009999999776482582,0.00499999662861228,0.009999999776482582]],"raw_keys":["authored_dimensions_m","bbox_inertia_evidence","bbox_inertia_per_unit_mass_m2","bbox_local_m","collisions","dimensions_evidence","frame_object","id","mesh_path","name_zh","objects","origin_m","parent","physical_properties"]},{"id":"data_port","name_zh":"数据连接可视代理","function_zh":"运动链与安装、连接或夹持边界;由模型及能力引用确定职责。","physical_meaning_zh":"组件几何是带证据说明的代理。实体材料、真实质量与惯量不由外观推算成已知值。","subsystem":null,"parent":"base","origin_m":[-0.03799999877810478,0.10100000351667404,0.02500000037252903],"rpy_rad":[0,0,0],"objects":["pf400__network_bezel","pf400__network_socket"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":null,"material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.013500000350177288,-0.0042500002309679985,-0.007000000216066837],[0.013500000350177288,0.0042500002309679985,0.007000000216066837]],"raw_keys":["authored_dimensions_m","bbox_inertia_evidence","bbox_inertia_per_unit_mass_m2","bbox_local_m","collisions","dimensions_evidence","frame_object","id","mesh_path","name_zh","objects","origin_m","parent","physical_properties"]}],"component_source":"geometry_manifest.json + asset.contract.json + collision_proxies.json","capabilities":{"power.set":{"function_zh":"设置运行层供电状态;断电保留关节、待执行目标及已有约束。","kind":"device_command","availability":"implemented","component_ids":["controller"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":["enabled"]},"motion.set_joints":{"function_zh":"检查关节限位并同步写目标;宿主场景确认前实际姿态不变。","kind":"device_command","availability":"implemented","component_ids":["lift","upper_arm","forearm","wrist"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":["joints"]},"motion.forward_kinematics":{"function_zh":"查询目标关节对应的TCP、偏航及末端几何包围盒,不写状态或推进时间。","kind":"query","availability":"implemented","component_ids":["upper_arm","forearm","wrist","gripper"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":["joints"]},"state.read":{"function_zh":"读取允许观测的统一状态快照,不推进共同时间。","kind":"query","availability":"implemented","component_ids":["controller"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":[]},"sample.attach":{"function_zh":"已登记容器、已登记约束、端口位置与负载检查通过后,调用宿主attach约束并记录明确回执。","kind":"device_command","availability":"implemented","component_ids":["gripper"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["container_id","constraint_id"]},"sample.release":{"function_zh":"在已登记接收端口调用宿主release约束,确认后登记容器拓扑与事件。","kind":"device_command","availability":"implemented","component_ids":["gripper"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["receiver_port_id"]},"robot.contact_grasp":{"function_zh":"接触抓取、机器人规划和真实夹爪驱动未实现。","kind":"robot_skill","availability":"unsupported","component_ids":["gripper"],"implementation":{"process":"absent","scene":"not_applicable","robot":"absent","hardware":"absent","host":"absent"},"input":[]},"motion.set_tcp_velocity":{"function_zh":"无轨迹执行器,典型整机TCP速度不作为可执行的速度设定。","kind":"device_command","availability":"unsupported","component_ids":["controller"],"implementation":{"process":"absent","scene":"not_applicable","robot":"absent","hardware":"absent","host":"absent"},"input":["velocity_m_s"]},"simulation.commit_pose":{"function_zh":"可信宿主直接调用:写入四轴模型并校验依赖图求值的关节、TCP和末端包围盒;匹配目标才确认到位。","kind":"simulation","availability":"implemented","component_ids":["lift","upper_arm","forearm","wrist","gripper"],"implementation":{"process":"implemented","scene":"verified","host":"implemented","robot":"absent","hardware":"absent"},"input":["joints","world_time_s"]}},"state_slots":{"power.enabled":{"meaning_zh":"power.enabled;见运行层语义和访问边界。","unit":"1","access":"read_write","origin":"setpoint","component_ids":["controller"],"write_via":"power.set"},"motion.target_joints":{"meaning_zh":"motion.target_joints;见运行层语义和访问边界。","unit":"1","access":"read_write","origin":"setpoint","component_ids":["controller"],"write_via":"motion.set_joints"},"motion.status":{"meaning_zh":"motion.status;见运行层语义和访问边界。","unit":"1","access":"read_only","origin":"derived","component_ids":["controller"],"write_via":null},"scene.joints":{"meaning_zh":"scene.joints;见运行层语义和访问边界。","unit":"1","access":"read_only","origin":"scene","component_ids":["controller"],"write_via":null},"scene.tcp_position_m":{"meaning_zh":"scene.tcp_position_m;见运行层语义和访问边界。","unit":"m","access":"read_only","origin":"scene","component_ids":["controller"],"write_via":null},"scene.tool_yaw_rad":{"meaning_zh":"scene.tool_yaw_rad;见运行层语义和访问边界。","unit":"rad","access":"read_only","origin":"scene","component_ids":["controller"],"write_via":null},"scene.end_effector_aabb_m":{"meaning_zh":"scene.end_effector_aabb_m;见运行层语义和访问边界。","unit":"m","access":"read_only","origin":"scene","component_ids":["controller"],"write_via":null},"scene.sample_time_s":{"meaning_zh":"scene.sample_time_s;见运行层语义和访问边界。","unit":"s","access":"read_only","origin":"scene","component_ids":["controller"],"write_via":null},"sample.attached_container_id":{"meaning_zh":"sample.attached_container_id;见运行层语义和访问边界。","unit":"1","access":"read_only","origin":"scene","component_ids":["gripper"],"write_via":null},"sample.constraint_id":{"meaning_zh":"sample.constraint_id;见运行层语义和访问边界。","unit":"1","access":"read_only","origin":"scene","component_ids":["gripper"],"write_via":null},"sample.events":{"meaning_zh":"sample.events;见运行层语义和访问边界。","unit":"1","access":"read_only","origin":"scene","component_ids":["gripper"],"write_via":null},"sample.container_ids":{"meaning_zh":"sample.container_ids;见运行层语义和访问边界。","unit":"1","access":"read_only","origin":"scene","component_ids":["gripper"],"write_via":null},"sample.receiver_port_ids":{"meaning_zh":"sample.receiver_port_ids;见运行层语义和访问边界。","unit":"1","access":"read_only","origin":"scene","component_ids":["gripper"],"write_via":null},"host.scene_bound":{"meaning_zh":"host.scene_bound;见运行层语义和访问边界。","unit":"1","access":"read_only","origin":"derived","component_ids":["controller"],"write_via":null},"truth.registered_payloads":{"meaning_zh":"truth.registered_payloads;见运行层语义和访问边界。","unit":"1","access":"read_only","origin":"process_truth","component_ids":["controller"],"write_via":null}},"mechanisms":{"kinematics":{"meaning_zh":"假设连杆几何的4轴正运动学;末端8角经累计yaw旋转得包围盒。","implementation":"numerical","equations":["yaw=shoulder+elbow+wrist","x=L1*cos(shoulder)+L2*cos(shoulder+elbow)+tool_x*cos(yaw)","y=L1*sin(shoulder)+L2*sin(shoulder+elbow)+tool_x*sin(yaw)","z=z_home+qz"],"parameters":{"l1":{"value":0.25,"unit":"m","evidence":"assumption","meaning_zh":"作者定义的模型几何,不是厂家部件规格。"},"l2":{"value":0.25,"unit":"m","evidence":"assumption","meaning_zh":"作者定义的模型几何,不是厂家部件规格。"},"tool_x":{"value":0.079,"unit":"m","evidence":"assumption","meaning_zh":"作者定义的模型几何,不是厂家部件规格。"},"z_home":{"value":0.2,"unit":"m","evidence":"assumption","meaning_zh":"作者定义的模型几何,不是厂家部件规格。"}}}},"limitations":["目标关节写入是同步设定,不表示实际运动完成。可信宿主提供共同时间并通过求值场景回调确认关节、TCP与末端包围盒。没有轨迹、动力学或碰撞规避。","典型TCP速度0.5 m/s、最大加速度2 m/s²、重复定位±90 µm只作为整机证据,不推导各关节速度、部件误差、碰撞或运动时长。","attach/release由预注册宿主约束回调执行;容器、端口、位置容差、gross payload及证据由宿主明确登记;没有接触抓取、夹爪力、摩擦或硬件驱动。","清单Rev B原文为with Servo Gripper的0.5 kg负载;不同文档版本的口径仍需按实物配置核验。gross_payload_kg保守记录容器、内容物、额外夹具,以及宿主按配置计入的末端工具总外载;宿主必须明确提供,未给则null且不可attach。本模拟不授予实机载荷使用许可。","J1范围0..0.4 m,J2±93°、J3±168°、J4±960°来自Rev B网页索引;直接PDF失效,图纸尺寸尚未可靠取得。两段0.25 m连杆和0.079 m腕到TCP偏置是明确的代理几何假设,真实部件尺寸仍为null。","目标位姿通过有界关节目标与正运动学表达;尚无逆运动学、任务队列调度、原厂设备握手协议或可执行的TCP速度设定。宿主求值与约束回执仅为本仿真适配接口。","样品拓扑仅搬运完整容器;不改变内容物或推断其组成。容器/端口唯一性与跨仪器约束一致性由外层世界注册表保证。","本模块无气路端口。整机20 kg与0.5 kg额定负载不能代替连杆质量、惯量、夹具重量或材料参数;未知属性保持null。","回调异常后外部副作用未知,motion.status=fault阻止重复附着和移动;只能由可信宿主在外部状态核实后恢复。","身份来自可信宿主;API过滤不是Python或共享文件系统隔离。请求去重仅当前进程内存有效。","分件OBJ和GLB保存导出姿态;原生可编辑关节在Blender及URDF。","URDF为运动学/碰撞代理描述,碰撞只盒柱球;没有未知连杆质量对应的inertial。各link绝对惯量为null,单位质量包围盒系数和整机姿态包围盒惯量为assumption。","伺服夹爪外形已建,夹指开合行程/力未校准,当前固定开口;attach/release由外部宿主约束。","真实图纸外形核对、真实硬件、接触碰撞、轨迹时间、机器人路径规划均not_run。"],"sources":[],"checks":{"coverage":{"status":"bridged","implemented":["motion.forward_kinematics","motion.set_joints","power.set","sample.attach","sample.release","state.read"],"unsupported":["motion.set_tcp_velocity","robot.contact_grasp","simulation.commit_pose"],"note_zh":"桥接 basic40_runtime_automation.PreciseFlex400Runtime(推进方式 host_set_clock_abs),15 个状态槽;与运行层镜像对比全同;受信设置需经 host.call;关节化 USD(4 个门/盖/阀等被动关节);接口点 1 个(夹持);布局:台面、单人可搬、正面 −y、前方留空 0.25 m"}},"previews":["previews/brooks_preciseflex_400/preview_articulated.webp","previews/brooks_preciseflex_400/preview_neutral.webp"],"files":[{"name":"asset.contract.json","path":"assets/basic40_batch02/t5_automation/preciseflex_400/asset.contract.json","bytes":188072},{"name":"collision_proxies.json","path":"assets/basic40_batch02/t5_automation/preciseflex_400/collision_proxies.json","bytes":7559},{"name":"geometry_manifest.json","path":"assets/basic40_batch02/t5_automation/preciseflex_400/geometry_manifest.json","bytes":35698},{"name":"model.blend","path":"assets/basic40_batch02/t5_automation/preciseflex_400/model.blend","bytes":135067},{"name":"model.glb","path":"assets/basic40_batch02/t5_automation/preciseflex_400/model.glb","bytes":1490228},{"name":"model.urdf","path":"assets/basic40_batch02/t5_automation/preciseflex_400/model.urdf","bytes":9712}],"completeness":{"components":12,"with_collisions":11,"with_objects":12,"with_function":12,"with_mass":0,"joints_matching_component":4,"joints":4,"has_contract":true,"has_layout":true,"has_glb":true,"checks_present":["articulation_check","coverage","validation_summary","contract_validation","runtime_validation","scene_validation"]},"slug":"brooks_preciseflex_400","chem_id":"CHEM-178","name_en":"Lab sample-transfer robot arm","maker":"Brooks Automation","model":"PreciseFlex 400","domain":"automation","domain_name":"Automation & Gas/Liquid Supply","path":"assets/basic40_batch02/t5_automation/preciseflex_400","glb_up":"z","has_contract":true,"contract":"assets/basic40_batch02/t5_automation/preciseflex_400/asset.contract.json","runtime":"scripts/basic40_runtime_automation.py"}
|
|
|
|
| 1 |
+
{"tid":"instrument.brooks_preciseflex_400","asset_dir":"basic40_batch02/t5_automation/preciseflex_400","name_zh":"实验室样品转运机械臂 — Brooks Automation PreciseFlex 400 标准臂400 mm行程","category":"automation.sample_transfer","description_zh":"CHEM-178,三张源表第183行。4轴SCARA型样品转运机械臂及原装伺服夹爪的明确近似模型;本批提供分件、运动学、宿主确认与样品拓扑接口,不承担化学测量。full仅表示本批功能组件已登记,不代表真实机器人/硬件/接触动力学已实现。","coordinate_system":{"status":"defined","length_unit":"m","angle_unit":"rad","handedness":"right","up_axis":"+Z","frame":"asset_root:基座台面投影中心;z=0在台面,+X为假设零位伸臂方向,+Y构成右手系;厂家零位标定变换未知。"},"mass_kg":20.0,"size_m":[0.715,0.2111,0.682],"bbox_min":[-0.115,-0.104,0.0],"bbox_max":[0.6,0.1071,0.682],"manifest_dimensions_m":null,"glb":"assets/basic40_batch02/t5_automation/preciseflex_400/model.glb","glb_orientation":"gltf_y_up_rotated","usd":null,"urdf":"assets/basic40_batch02/t5_automation/preciseflex_400/model.urdf","links":{"base_link":"/Geometry/base_link","lift":"/Geometry/base_link/lift","upper_arm":"/Geometry/base_link/lift/upper_arm","forearm":"/Geometry/base_link/lift/upper_arm/forearm","wrist":"/Geometry/base_link/lift/upper_arm/forearm/wrist"},"frames":{"pre_place":[0.2425,0.0016,0.862],"place":[0.2425,0.0016,0.732],"post_place":[0.2425,0.0016,0.862],"joint_j1_z":[0.0,0.0,0.0],"joint_j2_shoulder":[0.0,0.0,0.2],"joint_j3_elbow":[0.25,0.0,0.2],"joint_j4_wrist":[0.5,0.0,0.2]},"joints":[{"name":"j1_z","type":"prismatic","parent":"base_link","child":"lift","axis":[0.0,0.0,1.0],"lower":0.0,"upper":0.4,"effort":0.0,"mimic":null,"origin_m":[0.0,0.0,0.0],"child_prim":"/Geometry/base_link/lift","child_bbox_min":[-0.0585,-0.07,0.16],"child_bbox_max":[0.6,0.07,0.3925],"kind":"other"},{"name":"j2_shoulder","type":"revolute","parent":"lift","child":"upper_arm","axis":[0.0,0.0,1.0],"lower":-1.6231562043547265,"upper":1.6231562043547265,"effort":0.0,"mimic":null,"origin_m":[0.0,0.0,0.2],"child_prim":"/Geometry/base_link/lift/upper_arm","child_bbox_min":[-0.0585,-0.07,0.16],"child_bbox_max":[0.6,0.07,0.3925],"kind":"other"},{"name":"j3_elbow","type":"revolute","parent":"upper_arm","child":"forearm","axis":[0.0,0.0,1.0],"lower":-2.9321531433504737,"upper":2.9321531433504737,"effort":0.0,"mimic":null,"origin_m":[0.25,0.0,0.2],"child_prim":"/Geometry/base_link/lift/upper_arm/forearm","child_bbox_min":[0.201,-0.07,0.16],"child_bbox_max":[0.6,0.07,0.3925],"kind":"other"},{"name":"j4_wrist","type":"revolute","parent":"forearm","child":"wrist","axis":[0.0,0.0,1.0],"lower":-16.755160819145562,"upper":16.755160819145562,"effort":0.0,"mimic":null,"origin_m":[0.5,0.0,0.2],"child_prim":"/Geometry/base_link/lift/upper_arm/forearm/wrist","child_bbox_min":[0.461,-0.07,0.16],"child_bbox_max":[0.6,0.07,0.3665],"kind":"other"}],"controls":{"buttons":[],"knobs":[]},"slots":[{"name":"gripper","link":"wrist","part":"gripper","pos":[0.4925,0.0,0.2],"rot":[0.0,0.0,0.0,1.0],"pos_link":[-0.0075,0.0,0.0],"rot_link":[0.0,0.0,0.0,1.0],"radius_m":0.0125,"kind":"clamp","fits":["plate_96"],"anchor":"center","insert_axis":[0.0,0.0,1.0],"capture_m":0.03,"access":[],"modelled_occupant":false}],"hidden_parts":[],"readouts":[],"layout":{"front":[0.0,-1.0,0.0],"front_source":"convention","mount":"bench","weight_class":"one_person","mass_kg":20.0,"footprint_m":[0.715,0.2111],"height_m":0.682,"clearance_m":{"front":0.25,"back":0.15,"left":0.05,"right":0.05,"top":0.1},"robot_standoff_m":0.35,"work_height_m":0.2,"primary_slot":"gripper","access":[],"slot_count":1},"components":[{"id":"base","name_zh":"台面安装底座","function_zh":"运动链与安装、连接或夹持边界;由模型及能力引用确定职责。","physical_meaning_zh":"组件几何是带证据说明的代理。实体材料、真实质量与惯量不由外观推算成已知值。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["pf400__base_shell","pf400__base_plate","pf400__mount_recess","pf400__mount_head","pf400__mount_recess.001","pf400__mount_head.001","pf400__mount_recess.002","pf400__mount_head.002","pf400__mount_recess.003","pf400__mount_head.003","pf400__rear_port_label"],"collisions":[{"shape":"box","origin_m":[0,0,0.022],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0,0.004],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":null,"material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.10999999940395355,-0.10000000149011612,0.0],[0.10999999940395355,0.1071000024676323,0.041999999433755875]],"raw_keys":["authored_dimensions_m","bbox_inertia_evidence","bbox_inertia_per_unit_mass_m2","bbox_local_m","collisions","dimensions_evidence","frame_object","id","mesh_path","name_zh","objects","origin_m","parent","physical_properties"]},{"id":"column","name_zh":"Z轴立柱与导轨","function_zh":"运动链与安装、连接或夹持边界;由模型及能力引用确定职责。","physical_meaning_zh":"组件几何是带证据说明的代理。实体材料、真实质量与惯量不由外观推算成已知值。","subsystem":null,"parent":"base","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["pf400__column_spine","pf400__column_rear_cover","pf400__column_top_cap","pf400__belt_slot","pf400__vertical_guide","pf400__vertical_guide.001","pf400__column_fastener","pf400__column_fastener.001","pf400__column_fastener.002","pf400__column_fastener.003","pf400__brand_badge","pf400__brand_label","pf400__model_label","pf400__model_number","pf400__axis_label"],"collisions":[{"shape":"box","origin_m":[-0.06,0,0.354],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.109,0,0.35],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.061,0,0.675],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.01,0,0.351],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.007,-0.044,0.35],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.007,0.044,0.35],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":null,"material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.11499999463558197,-0.06199999898672104,0.03999999165534973],[-0.0024999999441206455,0.06199999898672104,0.6820000410079956]],"raw_keys":["authored_dimensions_m","bbox_inertia_evidence","bbox_inertia_per_unit_mass_m2","bbox_local_m","collisions","dimensions_evidence","frame_object","id","mesh_path","name_zh","objects","origin_m","parent","physical_properties"]},{"id":"lift","name_zh":"升降滑座","function_zh":"运动链与安装、连接或夹持边界;由模型及能力引用确定职责。","physical_meaning_zh":"组件几何是带证据说明的代理。实体材料、真实质量与惯量不由外观推算成已知值。","subsystem":null,"parent":"base","origin_m":[0.0,0.0,0.0],"rpy_rad":[0,0,0],"objects":["pf400__lift_carriage","pf400__lift_face","pf400__lift_face_fastener","pf400__lift_face_fastener.001"],"collisions":[{"shape":"box","origin_m":[0.012,0,0.235],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.027,0,0.235],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":null,"material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["motion.set_joints","simulation.commit_pose"],"bbox_m":[[-0.009999999776482582,-0.06650000065565109,0.18000000715255737],[0.05350000038743019,0.06650000065565109,0.28999999165534973]],"raw_keys":["authored_dimensions_m","bbox_inertia_evidence","bbox_inertia_per_unit_mass_m2","bbox_local_m","collisions","dimensions_evidence","frame_object","id","mesh_path","name_zh","objects","origin_m","parent","physical_properties"]},{"id":"upper_arm","name_zh":"肩关节与内臂","function_zh":"运动链与安装、连接或夹持边界;由模型及能力引用确定职责。","physical_meaning_zh":"组件几何是带证据说明的代理。实体材料、真实质量与惯量不由外观推算成已知值。","subsystem":null,"parent":"lift","origin_m":[0.0,0.0,0.20000000298023224],"rpy_rad":[0,0,0],"objects":["pf400__shoulder_hub","pf400__shoulder_ring","pf400__upper_arm_shell","pf400__upper_arm_inlay","pf400__upper_label"],"collisions":[{"shape":"cylinder","origin_m":[0,0,0.051],"rpy_rad":[0,0,0],"radius_m":0.058,"length_m":0.089},{"shape":"box","origin_m":[0.125,0,0.073],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"cylinder","origin_m":[0,0,0.073],"rpy_rad":[0,0,0],"radius_m":0.0525,"length_m":0.065},{"shape":"cylinder","origin_m":[0.25,0,0.073],"rpy_rad":[0,0,0],"radius_m":0.0525,"length_m":0.065},{"shape":"box","origin_m":[0.125,0,0.11],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"cylinder","origin_m":[0,0,0.11],"rpy_rad":[0,0,0],"radius_m":0.044,"length_m":0.008},{"shape":"cylinder","origin_m":[0.25,0,0.11],"rpy_rad":[0,0,0],"radius_m":0.044,"length_m":0.008}],"joint":null,"mass_kg":null,"mass_evidence":null,"material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["motion.set_joints","motion.forward_kinematics","simulation.commit_pose"],"bbox_m":[[-0.05849999934434891,-0.05849999934434891,0.006499983370304108],[0.30250000953674316,0.05849999934434891,0.11400000005960464]],"raw_keys":["authored_dimensions_m","bbox_inertia_evidence","bbox_inertia_per_unit_mass_m2","bbox_local_m","collisions","dimensions_evidence","frame_object","id","mesh_path","name_zh","objects","origin_m","parent","physical_properties"]},{"id":"forearm","name_zh":"肘关节与外臂","function_zh":"运动链与安装、连接或夹持边界;由模型及能力引用确定职责。","physical_meaning_zh":"组件几何是带证据说明的代理。实体材料、真实质量与惯量不由外观推算成已知值。","subsystem":null,"parent":"upper_arm","origin_m":[0.25,0.0,0.0],"rpy_rad":[0,0,0],"objects":["pf400__elbow_rotor","pf400__forearm_shell","pf400__forearm_top","pf400__elbow_cap","pf400__arm_cap_screw","pf400__arm_cap_screw.001"],"collisions":[{"shape":"cylinder","origin_m":[0,0,0.116],"rpy_rad":[0,0,0],"radius_m":0.049,"length_m":0.028},{"shape":"box","origin_m":[0.125,0,0.151],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"cylinder","origin_m":[0,0,0.151],"rpy_rad":[0,0,0],"radius_m":0.0415,"length_m":0.052},{"shape":"cylinder","origin_m":[0.25,0,0.151],"rpy_rad":[0,0,0],"radius_m":0.0415,"length_m":0.052},{"shape":"box","origin_m":[0.125,0,0.18],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"cylinder","origin_m":[0,0,0.18],"rpy_rad":[0,0,0],"radius_m":0.0345,"length_m":0.006},{"shape":"cylinder","origin_m":[0.25,0,0.18],"rpy_rad":[0,0,0],"radius_m":0.0345,"length_m":0.006}],"joint":null,"mass_kg":null,"mass_evidence":null,"material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["motion.set_joints","motion.forward_kinematics","simulation.commit_pose"],"bbox_m":[[-0.04899999871850014,-0.04899999871850014,0.10199998319149017],[0.2915000021457672,0.04899999871850014,0.1925000101327896]],"raw_keys":["authored_dimensions_m","bbox_inertia_evidence","bbox_inertia_per_unit_mass_m2","bbox_local_m","collisions","dimensions_evidence","frame_object","id","mesh_path","name_zh","objects","origin_m","parent","physical_properties"]},{"id":"wrist","name_zh":"腕轴与工具法兰","function_zh":"运动链与安装、连接或夹持边界;由模型及能力引用确定职责。","physical_meaning_zh":"组件几何是带证据说明的代理。实体材料、真实质量与惯量不由外观推算成已知值。","subsystem":null,"parent":"forearm","origin_m":[0.25,0.0,0.0],"rpy_rad":[0,0,0],"objects":["pf400__wrist_housing","pf400__wrist_shaft","pf400__wrist_flange"],"collisions":[{"shape":"cylinder","origin_m":[0,0,0.129],"rpy_rad":[0,0,0],"radius_m":0.036,"length_m":0.075},{"shape":"cylinder","origin_m":[0,0,0.057],"rpy_rad":[0,0,0],"radius_m":0.022,"length_m":0.072},{"shape":"cylinder","origin_m":[0,0,0.012],"rpy_rad":[0,0,0],"radius_m":0.039,"length_m":0.018}],"joint":null,"mass_kg":null,"mass_evidence":null,"material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["motion.set_joints","motion.forward_kinematics","simulation.commit_pose"],"bbox_m":[[-0.039000000804662704,-0.039000000804662704,0.0029999949038028717],[0.039000000804662704,0.039000000804662704,0.1665000021457672]],"raw_keys":["authored_dimensions_m","bbox_inertia_evidence","bbox_inertia_per_unit_mass_m2","bbox_local_m","collisions","dimensions_evidence","frame_object","id","mesh_path","name_zh","objects","origin_m","parent","physical_properties"]},{"id":"gripper","name_zh":"伺服夹爪背板代理","function_zh":"运动链与安装、连接或夹持边界;由模型及能力引用确定职责。","physical_meaning_zh":"组件几何是带证据说明的代理。实体材料、真实质量与惯量不由外观推算成已知值。","subsystem":null,"parent":"wrist","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["pf400__gripper"],"collisions":[{"shape":"box","origin_m":[-0.0075,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":null,"material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["motion.forward_kinematics","sample.attach","sample.release","robot.contact_grasp","simulation.commit_pose"],"bbox_m":[[-0.019999992102384567,-0.07000000029802322,-0.03999999910593033],[0.005000007338821888,0.07000000029802322,0.03999999910593033]],"raw_keys":["authored_dimensions_m","bbox_inertia_evidence","bbox_inertia_per_unit_mass_m2","bbox_local_m","collisions","dimensions_evidence","frame_object","id","mesh_path","name_zh","objects","origin_m","parent","physical_properties"]},{"id":"finger_left","name_zh":"左夹指代理","function_zh":"运动链与安装、连接或夹持边界;由模型及能力引用确定职责。","physical_meaning_zh":"组件几何是带证据说明的代理。实体材料、真实质量与惯量不由外观推算成已知值。","subsystem":null,"parent":"wrist","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["pf400__finger_left"],"collisions":[{"shape":"box","origin_m":[0.0525,0.064,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":null,"material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[0.005000010132789612,0.058000002056360245,-0.03999999910593033],[0.10000000894069672,0.07000000029802322,0.03999999910593033]],"raw_keys":["authored_dimensions_m","bbox_inertia_evidence","bbox_inertia_per_unit_mass_m2","bbox_local_m","collisions","dimensions_evidence","frame_object","id","mesh_path","name_zh","objects","origin_m","parent","physical_properties"]},{"id":"finger_right","name_zh":"右夹指代理","function_zh":"运动链与安装、连接或夹持边界;由模型及能力引用确定职责。","physical_meaning_zh":"组件几何是带证据说明的代理。实体材料、真实质量与惯量不由外观推算成已知值。","subsystem":null,"parent":"wrist","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["pf400__finger_right"],"collisions":[{"shape":"box","origin_m":[0.0525,-0.064,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":null,"material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[0.005000010132789612,-0.07000000029802322,-0.03999999910593033],[0.10000000894069672,-0.058000002056360245,0.03999999910593033]],"raw_keys":["authored_dimensions_m","bbox_inertia_evidence","bbox_inertia_per_unit_mass_m2","bbox_local_m","collisions","dimensions_evidence","frame_object","id","mesh_path","name_zh","objects","origin_m","parent","physical_properties"]},{"id":"controller","name_zh":"集成控制面板","function_zh":"运动链与安装、连接或夹持边界;由模型及能力引用确定职责。","physical_meaning_zh":"组件几何是带证据说明的代理。实体材料、真实质量与惯量不由外观推算成已知值。","subsystem":null,"parent":"base","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["pf400__control_panel","pf400__control_label","pf400__power_status"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":null,"material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","state.read","motion.set_tcp_velocity"],"bbox_m":[[-0.027000000700354576,-0.10400000214576721,0.013000000268220901],[0.07699999958276749,-0.0989999994635582,0.03500000014901161]],"raw_keys":["authored_dimensions_m","bbox_inertia_evidence","bbox_inertia_per_unit_mass_m2","bbox_local_m","collisions","dimensions_evidence","frame_object","id","mesh_path","name_zh","objects","origin_m","parent","physical_properties"]},{"id":"power_port","name_zh":"电源连接可视代理","function_zh":"运动链与安装、连接或夹持边界;由模型及能力引用确定职责。","physical_meaning_zh":"组件几何是带证据说明的代理。实体��料、真实质量与惯量不由外观推算成已知值。","subsystem":null,"parent":"base","origin_m":[-0.08699999749660492,0.10100000351667404,0.024000000208616257],"rpy_rad":[0,0,0],"objects":["pf400__power_socket","pf400__power_pin"],"collisions":[{"shape":"cylinder","origin_m":[0,0,0],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.01,"length_m":0.006}],"joint":null,"mass_kg":null,"mass_evidence":null,"material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.009999999776482582,-0.0030000004917383194,-0.009999999776482582],[0.009999999776482582,0.00499999662861228,0.009999999776482582]],"raw_keys":["authored_dimensions_m","bbox_inertia_evidence","bbox_inertia_per_unit_mass_m2","bbox_local_m","collisions","dimensions_evidence","frame_object","id","mesh_path","name_zh","objects","origin_m","parent","physical_properties"]},{"id":"data_port","name_zh":"数据连接可视代理","function_zh":"运动链与安装、连接或夹持边界;由模型及能力引用确定职责。","physical_meaning_zh":"组件几何是带证据说明的代理。实体材料、真实质量与惯量不由外观推算成已知值。","subsystem":null,"parent":"base","origin_m":[-0.03799999877810478,0.10100000351667404,0.02500000037252903],"rpy_rad":[0,0,0],"objects":["pf400__network_bezel","pf400__network_socket"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":null,"material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.013500000350177288,-0.0042500002309679985,-0.007000000216066837],[0.013500000350177288,0.0042500002309679985,0.007000000216066837]],"raw_keys":["authored_dimensions_m","bbox_inertia_evidence","bbox_inertia_per_unit_mass_m2","bbox_local_m","collisions","dimensions_evidence","frame_object","id","mesh_path","name_zh","objects","origin_m","parent","physical_properties"]}],"component_source":"geometry_manifest.json + asset.contract.json + collision_proxies.json","capabilities":{"power.set":{"function_zh":"设置运行层供电状态;断电保留关节、待执行目标及已有约束。","kind":"device_command","availability":"implemented","component_ids":["controller"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":["enabled"]},"motion.set_joints":{"function_zh":"检查关节限位并同步写目标;宿主场景确认前实际姿态不变。","kind":"device_command","availability":"implemented","component_ids":["lift","upper_arm","forearm","wrist"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":["joints"]},"motion.forward_kinematics":{"function_zh":"查询目标关节对应的TCP、偏航及末端几何包围盒,不写状态或推进时间。","kind":"query","availability":"implemented","component_ids":["upper_arm","forearm","wrist","gripper"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":["joints"]},"state.read":{"function_zh":"读取允许观测的统一状态快照,不推进共同时间。","kind":"query","availability":"implemented","component_ids":["controller"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":[]},"sample.attach":{"function_zh":"已登记容器、已登记约束、端口位置与负载检查通过后,调用宿主attach约束并记录明确回执。","kind":"device_command","availability":"implemented","component_ids":["gripper"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["container_id","constraint_id"]},"sample.release":{"function_zh":"在已登记接收端口调用宿主release约束,确认后登记容器拓扑与事件。","kind":"device_command","availability":"implemented","component_ids":["gripper"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["receiver_port_id"]},"robot.contact_grasp":{"function_zh":"接触抓取、机器人规划和真实夹爪驱动未实现。","kind":"robot_skill","availability":"unsupported","component_ids":["gripper"],"implementation":{"process":"absent","scene":"not_applicable","robot":"absent","hardware":"absent","host":"absent"},"input":[]},"motion.set_tcp_velocity":{"function_zh":"无轨迹执行器,典型整机TCP速度不作为可执行的速度设定。","kind":"device_command","availability":"unsupported","component_ids":["controller"],"implementation":{"process":"absent","scene":"not_applicable","robot":"absent","hardware":"absent","host":"absent"},"input":["velocity_m_s"]},"simulation.commit_pose":{"function_zh":"可信宿主直接调用:写入四轴模型并校验依赖图求值的关节、TCP和末端包围盒;匹配目标才确认到位。","kind":"simulation","availability":"implemented","component_ids":["lift","upper_arm","forearm","wrist","gripper"],"implementation":{"process":"implemented","scene":"verified","host":"implemented","robot":"absent","hardware":"absent"},"input":["joints","world_time_s"]}},"state_slots":{"power.enabled":{"meaning_zh":"power.enabled;见运行层语义和访问边界。","unit":"1","access":"read_write","origin":"setpoint","component_ids":["controller"],"write_via":"power.set"},"motion.target_joints":{"meaning_zh":"motion.target_joints;见运行层语义和访问边界。","unit":"1","access":"read_write","origin":"setpoint","component_ids":["controller"],"write_via":"motion.set_joints"},"motion.status":{"meaning_zh":"motion.status;见运行层语义和访问边界。","unit":"1","access":"read_only","origin":"derived","component_ids":["controller"],"write_via":null},"scene.joints":{"meaning_zh":"scene.joints;见运行层语义和访问边界。","unit":"1","access":"read_only","origin":"scene","component_ids":["controller"],"write_via":null},"scene.tcp_position_m":{"meaning_zh":"scene.tcp_position_m;见运行层语义和访问边界。","unit":"m","access":"read_only","origin":"scene","component_ids":["controller"],"write_via":null},"scene.tool_yaw_rad":{"meaning_zh":"scene.tool_yaw_rad;见运行层语义和访问边界。","unit":"rad","access":"read_only","origin":"scene","component_ids":["controller"],"write_via":null},"scene.end_effector_aabb_m":{"meaning_zh":"scene.end_effector_aabb_m;见运行层语义和访问边界。","unit":"m","access":"read_only","origin":"scene","component_ids":["controller"],"write_via":null},"scene.sample_time_s":{"meaning_zh":"scene.sample_time_s;见运行层语义和访问边界。","unit":"s","access":"read_only","origin":"scene","component_ids":["controller"],"write_via":null},"sample.attached_container_id":{"meaning_zh":"sample.attached_container_id;见运行层语义和访问边界。","unit":"1","access":"read_only","origin":"scene","component_ids":["gripper"],"write_via":null},"sample.constraint_id":{"meaning_zh":"sample.constraint_id;见运行层语义和访问边界。","unit":"1","access":"read_only","origin":"scene","component_ids":["gripper"],"write_via":null},"sample.events":{"meaning_zh":"sample.events;见运行层语义和访问边界。","unit":"1","access":"read_only","origin":"scene","component_ids":["gripper"],"write_via":null},"sample.container_ids":{"meaning_zh":"sample.container_ids;见运行层语义和访问边界。","unit":"1","access":"read_only","origin":"scene","component_ids":["gripper"],"write_via":null},"sample.receiver_port_ids":{"meaning_zh":"sample.receiver_port_ids;见运行层语义和访问边界。","unit":"1","access":"read_only","origin":"scene","component_ids":["gripper"],"write_via":null},"host.scene_bound":{"meaning_zh":"host.scene_bound;见运行层语义和访问边界。","unit":"1","access":"read_only","origin":"derived","component_ids":["controller"],"write_via":null},"truth.registered_payloads":{"meaning_zh":"truth.registered_payloads;见运行层语义和访问边界。","unit":"1","access":"read_only","origin":"process_truth","component_ids":["controller"],"write_via":null}},"mechanisms":{"kinematics":{"meaning_zh":"假设连杆几何的4轴正运动学;末端8角经累计yaw旋转得包围盒。","implementation":"numerical","equations":["yaw=shoulder+elbow+wrist","x=L1*cos(shoulder)+L2*cos(shoulder+elbow)+tool_x*cos(yaw)","y=L1*sin(shoulder)+L2*sin(shoulder+elbow)+tool_x*sin(yaw)","z=z_home+qz"],"parameters":{"l1":{"value":0.25,"unit":"m","evidence":"assumption","meaning_zh":"作者定义的模型几何,不是厂家部件规格。"},"l2":{"value":0.25,"unit":"m","evidence":"assumption","meaning_zh":"作者定义的模型几何,不是厂家部件规格。"},"tool_x":{"value":0.079,"unit":"m","evidence":"assumption","meaning_zh":"作者定义的模型几何,不是厂家部件规格。"},"z_home":{"value":0.2,"unit":"m","evidence":"assumption","meaning_zh":"作者定义的模型几何,不是厂家部件规格。"}}}},"limitations":["目标关节写入是同步设定,不表示实际运动完成。可信宿主提供共同时间并通过求值场景回调确认关节、TCP与末端包围盒。没有轨迹、动力学或碰撞规避。","典型TCP速度0.5 m/s、最大加速度2 m/s²、重复定位±90 µm只作为整机证据,不推导各关节速度、部件误差、碰撞或运动时长。","attach/release由预注册宿主约束回调执行;容器、端口、位置容差、gross payload及证据由宿主明确登记;没有接触抓取、夹爪力、摩擦或硬件驱动。","清单Rev B原文为with Servo Gripper的0.5 kg负载;不同文档版本的口径仍需按实物配置核验。gross_payload_kg保守记录容器、内容物、额外夹具,以及宿主按配置计入的末端工具总外载;宿主必须明���提供,未给则null且不可attach。本模拟不授予实机载荷使用许可。","J1范围0..0.4 m,J2±93°、J3±168°、J4±960°来自Rev B网页索引;直接PDF失效,图纸尺寸尚未可靠取得。两段0.25 m连杆和0.079 m腕到TCP偏置是明确的代理几何假设,真实部件尺寸仍为null。","目标位姿通过有界关节目标与正运动学表达;尚无逆运动学、任务队列调度、原厂设备握手协议或可执行的TCP速度设定。宿主求值与约束回执仅为本仿真适配接口。","样品拓扑仅搬运完整容器;不改变内容物或推断其组成。容器/端口唯一性与跨仪器约束一致性由外层世界注册表保证。","本模块无气路端口。整机20 kg与0.5 kg额定负载不能代替连杆质量、惯量、夹具重量或材料参数;未知属性保持null。","回调异常后外部副作用未知,motion.status=fault阻止重复附着和移动;只能由可信宿主在外部状态核实后恢复。","身份来自可信宿主;API过滤不是Python或共享文件系统隔离。请求去重仅当前进程内存有效。","分件OBJ和GLB保存导出姿态;原生可编辑关节在Blender及URDF。","URDF为运动学/碰撞代理描述,碰撞只盒柱球;没有未知连杆质量对应的inertial。各link绝对惯量为null,单位质量包围盒系数和整机姿态包围盒惯量为assumption。","伺服夹爪外形已建,夹指开合行程/力未校准,当前固定开口;attach/release由外部宿主约束。","真实图纸外形核对、真实硬件、接触碰撞、轨迹时间、机器人路径规划均not_run。"],"sources":[],"checks":{"coverage":{"status":"bridged","implemented":["motion.forward_kinematics","motion.set_joints","power.set","sample.attach","sample.release","state.read"],"unsupported":["motion.set_tcp_velocity","robot.contact_grasp","simulation.commit_pose"],"note_zh":"桥接 basic40_runtime_automation.PreciseFlex400Runtime(推进方式 host_set_clock_abs),15 个状态槽;与运行层镜像对比全同;受信设置需经 host.call;关节化 USD(4 个门/盖/阀等被动关节);接口点 1 个(夹持);布局:台面、单人可搬、正面 −y、前方留空 0.25 m"}},"previews":["previews/brooks_preciseflex_400/preview_articulated.webp","previews/brooks_preciseflex_400/preview_neutral.webp"],"files":[{"name":"asset.contract.json","path":"assets/basic40_batch02/t5_automation/preciseflex_400/asset.contract.json","bytes":188298},{"name":"collision_proxies.json","path":"assets/basic40_batch02/t5_automation/preciseflex_400/collision_proxies.json","bytes":7559},{"name":"geometry_manifest.json","path":"assets/basic40_batch02/t5_automation/preciseflex_400/geometry_manifest.json","bytes":35698},{"name":"model.blend","path":"assets/basic40_batch02/t5_automation/preciseflex_400/model.blend","bytes":135067},{"name":"model.glb","path":"assets/basic40_batch02/t5_automation/preciseflex_400/model.glb","bytes":1490228},{"name":"model.urdf","path":"assets/basic40_batch02/t5_automation/preciseflex_400/model.urdf","bytes":9712}],"completeness":{"components":12,"with_collisions":11,"with_objects":12,"with_function":12,"with_mass":0,"joints_matching_component":4,"joints":4,"has_contract":true,"has_layout":true,"has_glb":true,"checks_present":["articulation_check","coverage","validation_summary","contract_validation","runtime_validation","scene_validation"]},"slug":"brooks_preciseflex_400","chem_id":"CHEM-178","name_en":"Lab sample-transfer robot arm","maker":"Brooks Automation","model":"PreciseFlex 400","domain":"automation","domain_name":"Automation & Gas/Liquid Supply","path":"assets/basic40_batch02/t5_automation/preciseflex_400","glb_up":"z","has_contract":true,"contract":"assets/basic40_batch02/t5_automation/preciseflex_400/asset.contract.json","runtime":"scripts/basic40_runtime_automation.py"}
|
data/assets/instrument.buchi_lyovapor_l250_pro.json
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/assets/instrument.carbolite_tf1_12_60_300.json
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/assets/instrument.cytiva_biacoret200.json
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/assets/instrument.elga_purelab_flex3.json
CHANGED
|
@@ -1 +1 @@
|
|
| 1 |
-
{"tid":"instrument.elga_purelab_flex3","asset_dir":"basic40_batch02/t2_vacuum/elga_purelab_flex3","name_zh":"实验室超纯水系统","category":"环境与公用系统","description_zh":"CHEM-190 ELGA LabWater PURELAB flex 3。覆盖本批已登记组件与八项简化运行功能;full不表示全部厂家功能或所有物理层已验证。","coordinate_system":{"status":"defined","length_unit":"m","angle_unit":"rad","handedness":"right","up_axis":"+Z","frame":"asset_root:台面投影中心;+X右、+Y后、+Z上。"},"mass_kg":23.0,"size_m":[0.236,0.47,0.9],"bbox_min":[-0.118,-0.235,0.0],"bbox_max":[0.118,0.235,0.9],"manifest_dimensions_m":[0.236,0.47,0.9],"glb":"assets/basic40_batch02/t2_vacuum/elga_purelab_flex3/model.glb","glb_orientation":"already_z_up","usd":null,"urdf":"assets/basic40_batch02/t2_vacuum/elga_purelab_flex3/model.urdf","links":{"base_link":"/Geometry/base_link","adjustable_arm":"/Geometry/base_link/adjustable_arm","btn_dispense_controls_dispense_button_link":"/Geometry/base_link/adjustable_arm/btn_dispense_controls_dispense_button_link","btn_dispense_controls_button_volume_link":"/Geometry/base_link/adjustable_arm/btn_dispense_controls_button_volume_link","btn_dispense_controls_button_up_link":"/Geometry/base_link/adjustable_arm/btn_dispense_controls_button_up_link","btn_dispense_controls_button_accept_link":"/Geometry/base_link/adjustable_arm/btn_dispense_controls_button_accept_link","btn_dispense_controls_button_down_link":"/Geometry/base_link/adjustable_arm/btn_dispense_controls_button_down_link"},"frames":{"pre_place":[0.0,0.0,1.08],"place":[0.0,0.0,0.95],"post_place":[0.0,0.0,1.08],"joint_arm_joint":[0.0,0.0,0.0],"joint_btn_dispense_controls_dispense_button":[0.0,-0.212,0.761],"joint_btn_dispense_controls_button_volume":[0.0,-0.218,0.661],"joint_btn_dispense_controls_button_up":[0.0,-0.218,0.647],"joint_btn_dispense_controls_button_accept":[0.0,-0.218,0.635],"joint_btn_dispense_controls_button_down":[0.0,-0.218,0.623]},"joints":[{"name":"arm_joint","type":"prismatic","parent":"base_link","child":"adjustable_arm","axis":[0.0,0.0,1.0],"lower":0.0,"upper":0.12,"effort":1.0,"mimic":null,"origin_m":[0.0,0.0,0.0],"child_prim":"/Geometry/base_link/adjustable_arm","child_bbox_min":[-0.036,-0.22202,0.234],"child_bbox_max":[0.036,0.02518,0.9],"kind":"other"},{"name":"btn_dispense_controls_dispense_button","type":"prismatic","parent":"dispense_controls","child":"btn_dispense_controls_dispense_button_link","axis":[0.0,1.0,-0.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[0.0,-0.212,0.761],"child_prim":"/Geometry/base_link/adjustable_arm/btn_dispense_controls_dispense_button_link","child_bbox_min":[-0.0195,-0.21602,0.755],"child_bbox_max":[0.0195,-0.209,0.767],"kind":"button"},{"name":"btn_dispense_controls_button_volume","type":"prismatic","parent":"dispense_controls","child":"btn_dispense_controls_button_volume_link","axis":[-0.0,1.0,-0.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[0.0,-0.218,0.661],"child_prim":"/Geometry/base_link/adjustable_arm/btn_dispense_controls_button_volume_link","child_bbox_min":[-0.015,-0.22202,0.656],"child_bbox_max":[0.015,-0.215,0.666],"kind":"button"},{"name":"btn_dispense_controls_button_up","type":"prismatic","parent":"dispense_controls","child":"btn_dispense_controls_button_up_link","axis":[-0.0,1.0,0.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[0.0,-0.218,0.647],"child_prim":"/Geometry/base_link/adjustable_arm/btn_dispense_controls_button_up_link","child_bbox_min":[-0.015,-0.22202,0.642],"child_bbox_max":[0.015,-0.215,0.652],"kind":"button"},{"name":"btn_dispense_controls_button_accept","type":"prismatic","parent":"dispense_controls","child":"btn_dispense_controls_button_accept_link","axis":[-0.0,1.0,-0.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[0.0,-0.218,0.635],"child_prim":"/Geometry/base_link/adjustable_arm/btn_dispense_controls_button_accept_link","child_bbox_min":[-0.015,-0.22202,0.63],"child_bbox_max":[0.015,-0.215,0.64],"kind":"button"},{"name":"btn_dispense_controls_button_down","type":"prismatic","parent":"dispense_controls","child":"btn_dispense_controls_button_down_link","axis":[-0.0,1.0,-0.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[0.0,-0.218,0.623],"child_prim":"/Geometry/base_link/adjustable_arm/btn_dispense_controls_button_down_link","child_bbox_min":[-0.015,-0.22202,0.618],"child_bbox_max":[0.015,-0.215,0.628],"kind":"button"}],"controls":{"buttons":["btn_dispense_controls_purelab__dispense_button","btn_dispense_controls_purelab__button_volume","btn_dispense_controls_purelab__button_up","btn_dispense_controls_purelab__button_accept","btn_dispense_controls_purelab__button_down"],"knobs":[]},"slots":[{"name":"dispense","link":"adjustable_arm","part":"adjustable_arm","pos":[0.0,-0.175,0.0],"rot":[0.0,0.0,0.0,1.0],"pos_link":[0.0,-0.175,0.0],"rot_link":[0.0,0.0,0.0,1.0],"radius_m":0.08,"kind":"dispense","fits":["beaker","flask","bottle","cylinder"],"anchor":"base","insert_axis":[0.0,0.0,1.0],"capture_m":0.03,"access":[],"modelled_occupant":false}],"hidden_parts":[],"readouts":[],"layout":{"front":[0.0,-1.0,0.0],"front_source":"controls","mount":"bench_or_wall","weight_class":"one_person","mass_kg":23.0,"footprint_m":[0.236,0.47],"height_m":0.9,"clearance_m":{"front":0.25,"back":0.1,"left":0.05,"right":0.05,"top":0.1},"robot_standoff_m":0.35,"work_height_m":0.0,"primary_slot":"dispense","access":[],"slot_count":1},"components":[{"id":"housing","name_zh":"机壳和承载底座","function_zh":"承载净化部件、内部储水结构和取水臂;封闭外壳为外观简化。","physical_meaning_zh":"承载净化部件、内部储水结构和取水臂;封闭外壳为外观简化。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["purelab__base","purelab__rear_housing","purelab__top_deck","purelab__front_center_spine","purelab__front_low_trim","purelab__arm_receiver","purelab__tube_receiver","purelab__body_model","purelab__body_brand"],"collisions":[{"shape":"box","origin_m":[0,0,0.021],"rpy_rad":[0,0,0],"size_m":[0.236,0.47,0.028]},{"shape":"box","origin_m":[-0.11,0.09,0.245],"rpy_rad":[0,0,0],"size_m":[0.016,0.27,0.42]},{"shape":"box","origin_m":[0.11,0.09,0.245],"rpy_rad":[0,0,0],"size_m":[0.016,0.27,0.42]},{"shape":"box","origin_m":[0,0.217,0.245],"rpy_rad":[0,0,0],"size_m":[0.22,0.018,0.42]},{"shape":"box","origin_m":[0,0.002,0.466],"rpy_rad":[0,0,0],"size_m":[0.228,0.446,0.02]},{"shape":"box","origin_m":[0,-0.196,0.248],"rpy_rad":[0,0,0],"size_m":[0.02,0.05,0.406]},{"shape":"box","origin_m":[0,-0.217,0.061],"rpy_rad":[0,0,0],"size_m":[0.222,0.032,0.06]},{"shape":"box","origin_m":[0,-0.092,0.462],"rpy_rad":[0,0,0],"size_m":[0.061,0.085,0.024]},{"shape":"cylinder","origin_m":[0,0.012,0.475],"rpy_rad":[0,0,0],"radius_m":0.017,"length_m":0.012}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"厂家手册第6页布局;局部尺寸为比例估计,非厂家CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.11800000071525574,-0.23499999940395355,0.006999999284744263],[0.11800000071525574,0.23499999940395355,0.48100000619888306]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh","properties","root_object"]},{"id":"feet","name_zh":"支脚","function_zh":"仪器与台面的支撑接触。","physical_meaning_zh":"仪器与台面的支撑接触。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["purelab__foot_0","purelab__foot_1","purelab__foot_2","purelab__foot_3"],"collisions":[{"shape":"cylinder","origin_m":[-0.086,-0.181,0.006],"rpy_rad":[0,0,0],"radius_m":0.02,"length_m":0.012},{"shape":"cylinder","origin_m":[0.086,-0.181,0.006],"rpy_rad":[0,0,0],"radius_m":0.02,"length_m":0.012},{"shape":"cylinder","origin_m":[-0.086,0.181,0.006],"rpy_rad":[0,0,0],"radius_m":0.02,"length_m":0.012},{"shape":"cylinder","origin_m":[0.086,0.181,0.006],"rpy_rad":[0,0,0],"radius_m":0.02,"length_m":0.012}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"厂家手册第6页布局;局部尺寸为比例估计,非厂家CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.10600000619888306,-0.20099999010562897,0.0],[0.10600000619888306,0.20099999010562897,0.012000000104308128]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh","properties","root_object"]},{"id":"access_doors","name_zh":"双侧访问门","function_zh":"覆盖UV灯和净化包;本资产静态门板,不声明开门驱动。","physical_meaning_zh":"覆盖UV灯和净化包;本资产静态门板,不声明开门驱动。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["purelab__access_door_left","purelab__door_top_left","purelab__door_bottom_left","purelab__door_edge_left","purelab__door_side_left","purelab__access_door_right","purelab__door_top_right","purelab__door_bottom_right","purelab__door_edge_right","purelab__door_side_right"],"collisions":[{"shape":"box","origin_m":[-0.061,-0.201,0.261],"rpy_rad":[0,0,0],"size_m":[0.103,0.047,0.348]},{"shape":"box","origin_m":[-0.061,-0.201,0.444],"rpy_rad":[0,0,0],"size_m":[0.108,0.055,0.018]},{"shape":"box","origin_m":[-0.061,-0.201,0.079],"rpy_rad":[0,0,0],"size_m":[0.108,0.05,0.018]},{"shape":"box","origin_m":[-0.11,-0.19,0.263],"rpy_rad":[0,0,0],"size_m":[0.005,0.052,0.345]},{"shape":"box","origin_m":[-0.113,-0.109,0.261],"rpy_rad":[0,0,0],"size_m":[0.009,0.178,0.348]},{"shape":"box","origin_m":[0.061,-0.201,0.261],"rpy_rad":[0,0,0],"size_m":[0.103,0.047,0.348]},{"shape":"box","origin_m":[0.061,-0.201,0.444],"rpy_rad":[0,0,0],"size_m":[0.108,0.055,0.018]},{"shape":"box","origin_m":[0.061,-0.201,0.079],"rpy_rad":[0,0,0],"size_m":[0.108,0.05,0.018]},{"shape":"box","origin_m":[0.11,-0.19,0.263],"rpy_rad":[0,0,0],"size_m":[0.005,0.052,0.345]},{"shape":"box","origin_m":[0.113,-0.109,0.261],"rpy_rad":[0,0,0],"size_m":[0.009,0.178,0.348]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"厂家手册第6页布局;局部尺寸为比例估计,非厂家CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["consumables.reset"],"bbox_m":[[-0.11749999970197678,-0.22850000858306885,0.07000000774860382],[0.11749999970197678,-0.019999995827674866,0.453000009059906]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh","properties","root_object"]},{"id":"adjustable_arm","name_zh":"可调取水臂","function_zh":"单Z升降示意;0–0.12m为总体高度差的工程映射。","physical_meaning_zh":"单Z升降示意;0–0.12m为总体高度差的工程映射。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["purelab__arm_mast","purelab__arm_front","purelab__arm_brand","purelab__arm_adjust_knob","purelab__knob_grip"],"collisions":[{"shape":"box","origin_m":[0,-0.096,0.452],"rpy_rad":[0,0,0],"size_m":[0.046,0.042,0.436]},{"shape":"box","origin_m":[0,-0.123,0.525],"rpy_rad":[0,0,0],"size_m":[0.049,0.019,0.269]},{"shape":"cylinder","origin_m":[0,-0.144,0.421],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.024,"length_m":0.015},{"shape":"box","origin_m":[0,-0.152,0.421],"rpy_rad":[0,0,0],"size_m":[0.009,0.006,0.034]}],"joint":{"type":"prismatic","axis":[0,0,1],"limits":[0,0.12],"state_id":null,"accessor":null},"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"厂家手册第6页布局;局部尺寸为比例估计,非厂家CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["arm.set_height"],"bbox_m":[[-0.02449999935925007,-0.1550000011920929,0.23399999737739563],[0.02449999935925007,-0.07500000298023224,0.6699999570846558]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh","properties","root_object"]},{"id":"flexible_tube","name_zh":"绿色柔性取水管","function_zh":"连接取水端;弯曲外形示意,没有软体或流固耦合。","physical_meaning_zh":"连接取水端;弯曲外形示意,没有软体或流固耦合。","subsystem":null,"parent":"adjustable_arm","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["purelab__flexible_tube"],"collisions":[{"shape":"cylinder","origin_m":[0.0,0.012000000104308128,0.48000001907348633],"rpy_rad":[0.0,-0.0,0.0],"radius_m":0.011,"length_m":0.38000002035969127},{"shape":"cylinder","origin_m":[0.0,0.00800000037997961,0.7440000176429749],"rpy_rad":[0.054001498967409134,0.0,0.0],"radius_m":0.011,"length_m":0.14821606189953554},{"shape":"cylinder","origin_m":[0.0,-0.017999999225139618,0.8519999980926514],"rpy_rad":[0.5743051171302795,0.0,0.0],"radius_m":0.011,"length_m":0.08099379104682872},{"shape":"cylinder","origin_m":[0.0,-0.06650000065565109,0.8830000162124634],"rpy_rad":[1.6835237741470337,0.0,0.0],"radius_m":0.011,"length_m":0.053338543483924916},{"shape":"cylinder","origin_m":[0.0,-0.12350000441074371,0.8395000100135803],"rpy_rad":[2.4961190223693848,0.0,0.0],"radius_m":0.011,"length_m":0.10140017228215346},{"shape":"cylinder","origin_m":[0.0,-0.16749998927116394,0.7705000042915344],"rpy_rad":[2.69921875,0.0,0.0],"radius_m":0.011,"length_m":0.06307142337265888}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"厂家手册第6页布局;局部尺寸为比例估计,非厂家CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["arm.set_height"],"bbox_m":[[-0.011000002734363079,-0.19093595445156097,0.2899588346481323],[0.011000002734363079,0.02517778053879738,0.8999999761581421]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh","properties","root_object"]},{"id":"handset_cradle","name_zh":"手持显示器支架","function_zh":"固定和定位手持显示器,随取水臂升降。","physical_meaning_zh":"固定和定位手持显示器,随取水臂升降。","subsystem":null,"parent":"adjustable_arm","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["purelab__cradle_mount","purelab__cradle_side_-0.031","purelab__cradle_side_0.031"],"collisions":[{"shape":"box","origin_m":[0,-0.139,0.6759999999999999],"rpy_rad":[0,0,0],"size_m":[0.056,0.058,0.028]},{"shape":"box","origin_m":[-0.031,-0.18,0.683],"rpy_rad":[0,0,0],"size_m":[0.01,0.04,0.113]},{"shape":"box","origin_m":[0.031,-0.18,0.683],"rpy_rad":[0,0,0],"size_m":[0.01,0.04,0.113]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"厂家手册第6页布局;局部尺寸为比例估计,非厂家CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["arm.set_height"],"bbox_m":[[-0.035999998450279236,-0.20000000298023224,0.6264999508857727],[0.035999998450279236,-0.10999999940395355,0.7394999861717224]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh","properties","root_object"]},{"id":"display_handset","name_zh":"手持取水显示器外壳","function_zh":"容纳显示和按钮的取水手柄;本批次不模拟脱离支架。","physical_meaning_zh":"容纳显示和按钮的取水手柄;本批次不模拟脱离支架。","subsystem":null,"parent":"adjustable_arm","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["purelab__handset","purelab__handset_face","purelab__handset_brand","purelab__handset_subbrand","purelab__handset_elga"],"collisions":[{"shape":"box","origin_m":[0,-0.187,0.6759999999999999],"rpy_rad":[0,0,0],"size_m":[0.061,0.041,0.181]},{"shape":"box","origin_m":[0,-0.211,0.683],"rpy_rad":[0,0,0],"size_m":[0.056,0.009,0.147]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"厂家手册第6页布局;局部尺寸为比例估计,非厂家CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","arm.set_height"],"bbox_m":[[-0.030500000342726707,-0.21701499819755554,0.5855000019073486],[0.030500000342726707,-0.1665000021457672,0.7664999961853027]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh","properties","root_object"]},{"id":"display","name_zh":"纯度与状态显示屏","function_zh":"显示纯度、取水体积、流量和耗材状态;数据通过可编辑FONT绑定。","physical_meaning_zh":"显示纯度、取水体积、流量和耗材状态;数据通过可编辑FONT绑定。","subsystem":null,"parent":"adjustable_arm","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["purelab__screen","purelab__display_text","purelab__screen_units"],"collisions":[{"shape":"box","origin_m":[0,-0.217,0.702],"rpy_rad":[0,0,0],"size_m":[0.047,0.003,0.062]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"厂家手册第6页布局;局部尺寸为比例估计,非厂家CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","arm.set_height","water.set_volume","water.set_flow_rate","water.start","water.stop","water.set_mode","consumables.reset"],"bbox_m":[[-0.023499999195337296,-0.21931500732898712,0.6710000038146973],[0.023499999195337296,-0.21549999713897705,0.7330000400543213]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh","properties","root_object"]},{"id":"dispense_controls","name_zh":"取水与导航按钮","function_zh":"取水按钮、自动体积和上下确认键外观;按键行程未知。","physical_meaning_zh":"取水按钮、自动体积和上下确认键外观;按键行程未知。","subsystem":null,"parent":"adjustable_arm","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["purelab__dispense_button","purelab__dispense_mark","purelab__button_volume","purelab__button_volume_mark","purelab__button_up","purelab__button_up_mark","purelab__button_accept","purelab__button_accept_mark","purelab__button_down","purelab__button_down_mark"],"collisions":[{"shape":"box","origin_m":[0,-0.212,0.7609999999999999],"rpy_rad":[0,0,0],"size_m":[0.039,0.006,0.012]},{"shape":"box","origin_m":[0,-0.218,0.661],"rpy_rad":[0,0,0],"size_m":[0.03,0.006,0.01]},{"shape":"box","origin_m":[0,-0.218,0.647],"rpy_rad":[0,0,0],"size_m":[0.03,0.006,0.01]},{"shape":"box","origin_m":[0,-0.218,0.635],"rpy_rad":[0,0,0],"size_m":[0.03,0.006,0.01]},{"shape":"box","origin_m":[0,-0.218,0.623],"rpy_rad":[0,0,0],"size_m":[0.03,0.006,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"厂家手册第6页布局;局部尺寸为比例估计,非厂家CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["arm.set_height","water.set_volume","water.set_flow_rate","water.start","water.stop","water.set_mode"],"bbox_m":[[-0.019500000402331352,-0.22201500833034515,0.6179999709129333],[0.019500000402331352,-0.20899999141693115,0.7669999599456787]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh","properties","root_object"]},{"id":"nozzle","name_zh":"取水喷嘴","function_zh":"朝下取水出口;没有默认终端微生物滤器配置。","physical_meaning_zh":"朝下取水出口;没有默认终端微生物滤器配置。","subsystem":null,"parent":"adjustable_arm","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["purelab__nozzle_seal","purelab__nozzle","purelab__nozzle_bore"],"collisions":[{"shape":"cylinder","origin_m":[0,-0.187,0.587],"rpy_rad":[0,0,0],"radius_m":0.011,"length_m":0.01},{"shape":"cylinder","origin_m":[0,-0.187,0.575],"rpy_rad":[0,0,0],"radius_m":0.0065,"length_m":0.017}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"厂家手册第6页布局;局部尺寸为比例估计,非厂家CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["arm.set_height","water.set_flow_rate","water.start","water.stop"],"bbox_m":[[-0.010999999940395355,-0.1980000138282776,0.5662499666213989],[0.010999999940395355,-0.17599999904632568,0.5920000076293945]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh","properties","root_object"]},{"id":"purification_pack","name_zh":"净化包","function_zh":"按手册布局登记可替换净化耗材;内部构造、寿命和部件质量未知。","physical_meaning_zh":"按手册布局登记可替换净化耗材;内部构造、寿命和部件质量未知。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["purelab__purification_pack","purelab__pack_cap_0.11","purelab__pack_cap_0.42","purelab__pack_label"],"collisions":[{"shape":"cylinder","origin_m":[0.06,-0.148,0.263],"rpy_rad":[0,0,0],"radius_m":0.03,"length_m":0.313},{"shape":"cylinder","origin_m":[0.06,-0.148,0.11],"rpy_rad":[0,0,0],"radius_m":0.033,"length_m":0.014},{"shape":"cylinder","origin_m":[0.06,-0.148,0.42],"rpy_rad":[0,0,0],"radius_m":0.033,"length_m":0.014}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"厂家手册第6页布局;局部尺寸为比例估计,非厂家CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["water.start","water.set_mode","consumables.reset"],"bbox_m":[[0.026999998837709427,-0.1809999942779541,0.10300000011920929],[0.09299999475479126,-0.11500000208616257,0.4269999861717224]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh","properties","root_object"]},{"id":"uv_lamp","name_zh":"紫外灯组件","function_zh":"手册指定内部UV灯外壳示意;不模拟紫外辐照场。","physical_meaning_zh":"手册指定内部UV灯外壳示意;不模拟紫外辐照场。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["purelab__uv_lamp","purelab__uv_top","purelab__uv_warning","purelab__uv_vent_-0.074","purelab__uv_vent_-0.067","purelab__uv_vent_-0.06","purelab__uv_vent_-0.053","purelab__uv_vent_-0.046"],"collisions":[{"shape":"cylinder","origin_m":[-0.06,-0.148,0.266],"rpy_rad":[0,0,0],"radius_m":0.026,"length_m":0.3},{"shape":"cylinder","origin_m":[-0.06,-0.148,0.425],"rpy_rad":[0,0,0],"radius_m":0.01,"length_m":0.02}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"厂家手册第6页布局;局部尺寸为比例估计,非厂家CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["water.set_mode","consumables.reset"],"bbox_m":[[-0.085999995470047,-0.1744999885559082,0.11599999666213989],[-0.03399999812245369,-0.12200000137090683,0.4350000023841858]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh","properties","root_object"]},{"id":"ro_module","name_zh":"反渗透组件","function_zh":"主机内部RO补水模块符号几何,具体布置和尺寸未知。","physical_meaning_zh":"主机内部RO补水模块符号几何,具体布置和尺寸未知。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["purelab__ro_module"],"collisions":[{"shape":"cylinder","origin_m":[0.0,0.052000001072883606,0.11999999731779099],"rpy_rad":[-0.0,1.570796251296997,0.0],"radius_m":0.028,"length_m":0.13400000628384176}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"engineering_assumption","geometry_note_zh":"仅作内部存在性示意,内部安装位置未由厂家CAD核实。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["water.set_mode","consumables.reset"],"bbox_m":[[-0.06700000166893005,0.024000000208616257,0.09199999272823334],[0.06700000166893005,0.07999999821186066,0.14800000190734863]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh","properties","root_object"]},{"id":"reservoir","name_zh":"内置储水组件","function_zh":"内部储水体积的几何占位;不赋予未知几何容量。","physical_meaning_zh":"内部储水体积的几何占位;不赋予未知几何容量。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["purelab__reservoir"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"engineering_assumption","geometry_note_zh":"内部轮廓为占位示意,不用于推导储水容量。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["water.start","water.stop","water.set_mode"],"bbox_m":[[-0.08100000023841858,0.008500002324581146,0.14499999582767487],[0.08100000023841858,0.19350001215934753,0.4010000228881836]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh","properties","root_object"]},{"id":"vent_filter","name_zh":"复合通气滤器","function_zh":"手册标出的机顶耗材;性能依具体配置。","physical_meaning_zh":"手册标出的机顶耗材;性能依具体配置。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["purelab__vent_filter","purelab__vent_filter_top"],"collisions":[{"shape":"cylinder","origin_m":[0.047,0.079,0.481],"rpy_rad":[0,0,0],"radius_m":0.021,"length_m":0.013}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"厂家手册第6页布局;局部尺寸为比例估计,非厂家CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["water.set_mode","consumables.reset"],"bbox_m":[[0.025999998673796654,0.05800000578165054,0.47450000047683716],[0.06799999624490738,0.10000000149011612,0.4909999966621399]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh","properties","root_object"]},{"id":"fluid_ports","name_zh":"进水、溢流、排水与纯水接口","function_zh":"机后流体连接;端口位置由示意图估计。","physical_meaning_zh":"机后流体连接;端口位置由示意图估计。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["purelab__rear_port_plate","purelab__water_inlet_socket","purelab__water_inlet","purelab__water_inlet_label","purelab__overflow_socket","purelab__overflow","purelab__overflow_label","purelab__drain_socket","purelab__drain","purelab__drain_label","purelab__purified_water_outlet_socket","purelab__purified_water_outlet","purelab__purified_water_outlet_label"],"collisions":[{"shape":"box","origin_m":[0,0.219,0.081],"rpy_rad":[0,0,0],"size_m":[0.209,0.014,0.094]},{"shape":"cylinder","origin_m":[-0.078,0.23,0.059],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.012,"length_m":0.01},{"shape":"cylinder","origin_m":[-0.078,0.233,0.059],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.006,"length_m":0.004},{"shape":"cylinder","origin_m":[-0.026,0.23,0.059],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.012,"length_m":0.01},{"shape":"cylinder","origin_m":[-0.026,0.233,0.059],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.006,"length_m":0.004},{"shape":"cylinder","origin_m":[0.026,0.23,0.059],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.012,"length_m":0.01},{"shape":"cylinder","origin_m":[0.026,0.233,0.059],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.006,"length_m":0.004},{"shape":"cylinder","origin_m":[0.078,0.23,0.059],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.012,"length_m":0.01},{"shape":"cylinder","origin_m":[0.078,0.233,0.059],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.006,"length_m":0.004}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"厂家手册第6页布局;局部尺寸为比例估计,非厂家CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["water.start","water.set_mode"],"bbox_m":[[-0.10450000315904617,0.21199999749660492,0.03400000184774399],[0.10450000315904617,0.23499999940395355,0.12799999117851257]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh","properties","root_object"]},{"id":"electrical_ports","name_zh":"电源和数据接口","function_zh":"24Vdc电源、BMS、脚踏和USB接口外观;没有真实硬件驱动。","physical_meaning_zh":"24Vdc电源、BMS、脚踏和USB接口外观;没有真实硬件驱动。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["purelab__power_socket","purelab__power_bore","purelab__footswitch_socket","purelab__footswitch_bore","purelab__rear_power_label","purelab__rear_foot_label","purelab__bms_socket","purelab__usb_socket"],"collisions":[{"shape":"cylinder","origin_m":[-0.052,0.228,0.111],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.006,"length_m":0.006},{"shape":"cylinder","origin_m":[0.052,0.228,0.111],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.005,"length_m":0.006},{"shape":"box","origin_m":[0,0.229,0.111],"rpy_rad":[0,0,0],"size_m":[0.02,0.007,0.009]},{"shape":"box","origin_m":[0.114,-0.137,0.044],"rpy_rad":[0,0,0],"size_m":[0.005,0.015,0.007]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"厂家手册第6页布局;局部尺寸为比例估计,非厂家CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set"],"bbox_m":[[-0.058500003069639206,-0.1444999873638153,0.04050000011920929],[0.11649999767541885,0.23250000178813934,0.12756399810314178]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh","properties","root_object"]}],"component_source":"geometry_manifest.json + asset.contract.json + collision_proxies.json","capabilities":{"power.set":{"function_zh":"设置供电;断电停止取水/冲洗/循环并保留已经转移的水量","kind":"device_command","availability":"implemented","component_ids":["electrical_ports","display","display_handset"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["enabled"]},"arm.set_height":{"function_zh":"手动配置取水臂相对最低位置的升高量","kind":"configuration","availability":"implemented","component_ids":["adjustable_arm","flexible_tube","handset_cradle","display_handset","display","dispense_controls","nozzle"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["height_m"]},"water.set_volume":{"function_zh":"设置本次定量目标,有限正值,无无依据的每日硬限","kind":"device_command","availability":"implemented","component_ids":["display","dispense_controls"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["volume_m3"]},"water.set_flow_rate":{"function_zh":"设置取水流量,最高2 L/min","kind":"device_command","availability":"implemented","component_ids":["display","dispense_controls","nozzle"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["flow_m3_s"]},"water.start":{"function_zh":"启动新的定量取水;流体仅由宿主step推进","kind":"device_command","availability":"implemented","component_ids":["display","dispense_controls","nozzle","reservoir","purification_pack","fluid_ports"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":[]},"water.stop":{"function_zh":"停止后续定量取水,保留本次已经转移的水量","kind":"device_command","availability":"implemented","component_ids":["display","dispense_controls","nozzle","reservoir"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":[]},"water.set_mode":{"function_zh":"切换待机、循环补水、冲洗简化模式","kind":"device_command","availability":"implemented","component_ids":["display","dispense_controls","purification_pack","uv_lamp","ro_module","reservoir","vent_filter","fluid_ports"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["mode"]},"consumables.reset":{"function_zh":"使用宿主一次性更换确认复位耗材通量,不伪造寿命百分比","kind":"device_command","availability":"implemented","component_ids":["display","purification_pack","uv_lamp","ro_module","vent_filter","access_doors"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":[]}},"state_slots":{"power.enabled":{"meaning_zh":"供电目标","unit":"1","access":"read_write","origin":"setpoint","component_ids":["electrical_ports","display"],"write_via":"power.set"},"arm.height_m":{"meaning_zh":"取水臂相对最低位置的手动升高量","unit":"m","access":"read_write","origin":"scene","component_ids":["adjustable_arm","display_handset","nozzle"],"write_via":"arm.set_height"},"water.target_volume_m3":{"meaning_zh":"本次取水体积目标;未设置为null","unit":"m^3","access":"read_write","origin":"setpoint","component_ids":["nozzle","display"],"write_via":"water.set_volume"},"water.flow_rate_m3_s":{"meaning_zh":"取水体积流量目标;未设置为null","unit":"m^3/s","access":"read_write","origin":"setpoint","component_ids":["nozzle","display"],"write_via":"water.set_flow_rate"},"water.mode":{"meaning_zh":"待机、假设循环补水或假设冲洗模式","unit":"1","access":"read_write","origin":"setpoint","component_ids":["nozzle","display"],"write_via":"water.set_mode"},"water.dispensing":{"meaning_zh":"定量取水过程正在运行","unit":"1","access":"read_only","origin":"derived","component_ids":["nozzle","display"],"write_via":null},"water.dispense_status":{"meaning_zh":"定量取水状态;停止后保留部分效果","unit":"1","access":"read_only","origin":"derived","component_ids":["nozzle","display"],"write_via":null},"water.indicated_dispensed_volume_m3":{"meaning_zh":"本次已取水量的理想合成读数;非流量计精度声明","unit":"m^3","access":"read_only","origin":"derived","component_ids":["nozzle","display"],"write_via":null},"water.source_connected":{"meaning_zh":"宿主已配置外部进水与净水缓冲边界","unit":"1","access":"read_only","origin":"derived","component_ids":["fluid_ports"],"write_via":null},"water.receiver_connected":{"meaning_zh":"宿主已配置接收容器","unit":"1","access":"read_only","origin":"derived","component_ids":["nozzle","display"],"write_via":null},"water.qualified_feed":{"meaning_zh":"宿主对进水合格性的外部确认;非化学分析结果","unit":"1","access":"read_only","origin":"derived","component_ids":["fluid_ports"],"write_via":null},"water.resistivity_ohm_m":{"meaning_zh":"宿主输入电阻率观测;默认不可用,不保证18.2 MΩ·cm","unit":"ohm*m","access":"read_only","origin":"sensor","component_ids":["display","purification_pack"],"write_via":null},"water.temperature_k":{"meaning_zh":"宿主输入水质读数对应温度;默认不可用","unit":"K","access":"read_only","origin":"sensor","component_ids":["display","purification_pack"],"write_via":null},"water.toc_mass_fraction":{"meaning_zh":"宿主输入TOC质量分数;默认不可用,不将典型<5ppb作保证","unit":"1","access":"read_only","origin":"sensor","component_ids":["display","purification_pack"],"write_via":null},"consumables.installed":{"meaning_zh":"宿主确认已装耗材","unit":"1","access":"read_only","origin":"derived","component_ids":["purification_pack","display"],"write_via":null},"consumables.status":{"meaning_zh":"耗材安装/更换确认状态;未评估寿命","unit":"1","access":"read_only","origin":"derived","component_ids":["purification_pack","display"],"write_via":null},"consumables.remaining_life_fraction":{"meaning_zh":"缺少滤柱寿命依据,始终null","unit":"1","access":"read_only","origin":"derived","component_ids":["purification_pack","display"],"write_via":null},"consumables.throughput_m3":{"meaning_zh":"自最近已确认更换复位后流经抛光回路的合成累计体积","unit":"m^3","access":"read_only","origin":"derived","component_ids":["purification_pack","display"],"write_via":null},"water.dispensed_volume_m3":{"meaning_zh":"本次实际转移的合成过程真值","unit":"m^3","access":"read_only","origin":"process_truth","component_ids":["nozzle","display"],"write_via":null},"water.total_dispensed_volume_m3":{"meaning_zh":"实例创建以来累计转移给接收容器的合成体积","unit":"m^3","access":"read_only","origin":"process_truth","component_ids":["nozzle","display"],"write_via":null},"water.feed_volume_m3":{"meaning_zh":"外部进水边界剩余体积","unit":"m^3","access":"read_only","origin":"process_truth","component_ids":["fluid_ports"],"write_via":null},"water.buffer_volume_m3":{"meaning_zh":"宿主净水缓冲边界剩余体积;不是已知内部储罐参数","unit":"m^3","access":"read_only","origin":"process_truth","component_ids":["reservoir","ro_module"],"write_via":null},"water.receiver_volume_m3":{"meaning_zh":"外部接收容器当前体积","unit":"m^3","access":"read_only","origin":"process_truth","component_ids":["nozzle","display"],"write_via":null},"water.waste_volume_m3":{"meaning_zh":"RO浓水与冲洗排水的累计合成体积","unit":"m^3","access":"read_only","origin":"process_truth","component_ids":["fluid_ports"],"write_via":null},"water.ro_product_volume_m3":{"meaning_zh":"累计RO补充的净水体积","unit":"m^3","access":"read_only","origin":"process_truth","component_ids":["reservoir","ro_module"],"write_via":null},"consumables.cumulative_throughput_m3":{"meaning_zh":"实例创建以来流经抛光回路的体积;复位不清除此审计量","unit":"m^3","access":"read_only","origin":"process_truth","component_ids":["purification_pack","display"],"write_via":null}},"mechanisms":{"water_balance":{"meaning_zh":"有限进水、缓冲与接收容器之间的分段水量转移;engineering_assumption。循环模式的RO补水、定量与冲洗互斥。","implementation":"lumped","equations":["dispense_dV=min(Q_set*dt, target_remaining, buffer_available, receiver_free)","flush_dV=min(Q_flush_host*dt, buffer_available); waste += flush_dV","recirculate_ro_dV=min(Q_ro*dt, buffer_free, feed_available*recovery_fraction); feed -= ro_dV/recovery_fraction; waste += feed_used-ro_dV"],"parameters":{"maximum_dispense_flow":{"value":3.3333333333333335e-05,"unit":"m^3/s","evidence":"documented","meaning_zh":"清单额定整机取水上限。"},"maximum_ro_makeup_flow":{"value":5.555555555555556e-06,"unit":"m^3/s","evidence":"documented","meaning_zh":"清单额定RO补水上限。"},"calibrated_quality_flow_relation":{"value":null,"unit":"1","evidence":"unknown","meaning_zh":"未补齐水质、耗材寿命与流量关联。"},"real_reservoir_capacity":{"value":null,"unit":"m^3","evidence":"unknown","meaning_zh":"宿主缓冲为场景边界,不声明厂家内部容量。"}}}},"limitations":["Engineering-assumption volume bookkeeping only; not a manufacturer controller, purification, hydraulics, thermal, contaminant, microbial or filter-life model.","The host explicitly supplies qualified feed, available purified-water buffer and receiver boundaries; buffer capacity is a simulation boundary, not a claimed internal tank specification.","RO replenishment occurs only in recirculate mode; dispense, flush and RO replenishment are mutually exclusive engineering simplifications. RO recovery fraction and recirculation/flush rates require host provenance and have no manufacturer default.","The 10 L/day catalog usage figure is a nominal application rating, not an enforced daily quota. Dispense flow is capped at 2 L/min and RO product flow at 20 L/h.","Resistivity, temperature and TOC remain null until a trusted host supplies observations with provenance. 182000 ohm*m at 298.15 K is the catalog reference, never an automatically guaranteed output; typical TOC <5 ppb is feed-dependent, not a default reading.","Consumable lifetime, remaining fraction and performance degradation remain unknown/null. Throughput is a synthetic cumulative counter; reset requires a one-use trusted-host replacement confirmation.","Arm height is a manually positioned simulation configuration with 0..0.12 m travel from the catalog overall height span; no powered arm, robot action, collision or hardware driver is claimed.","Device commands are synchronous state transitions; water transfer happens only on the shared host step. Stop, power-off, buffer exhaustion and receiver-full retain partial transferred volume.","Scene callbacks receive public observations only; a command callback failure leaves process state unchanged but scene effects unknown. Host-step callback failure retains committed material transfers and time.","Session filtering is an API boundary, not Python memory/filesystem/process isolation; trusted host methods and debug snapshots must remain outside agent transport.","Request deduplication is in memory per principal and instance and does not survive restart. This water asset has no vacuum dependency.","清单外未知物性保持null;场景尺寸为估计而非厂家CAD。","23kg工作质量只记整机;均匀包围盒惯量是engineering_assumption。子连杆未给惯性,接触动力学未验证。","URDF effort=1、velocity=0.05仅用于语法交换的engineering_assumption占位;真实臂推力和速度为null,禁止将占位当厂家或部件参数。","本配置无外部真空口,不创建或依赖共用真空泵。","未默认配置POU/Biofilter,不保证微生物、内毒素或颗粒指标。","18.2MΩ·cm及TOC<5ppb为清单额定/典型指标,实例默认读数null,不能以模拟值证明水质。","GLB与OBJ保存低位静态状态;动态联动须加载原生Blender并注册本目录scene_adapter。","API权限过滤不隔离Python对象内存或本地文件;不受信任代理部署仍需受信任宿主进程边界。"],"sources":[],"checks":{"coverage":{"status":"bridged","implemented":["arm.set_height","consumables.reset","power.set","water.set_flow_rate","water.set_mode","water.set_volume","water.start","water.stop"],"unsupported":[],"note_zh":"桥接 basic40_runtime_vacuum.PurelabHost(推进方式 step_dt),26 个状态槽;与运行层镜像对比全同;受信设置需经 host.call;关节化 USD(5 个按键(碰到即触发)、1 个门/盖/阀等被动关节);1 个门/盖/升降关节与运行层双向同步;接口点 1 个(出液位);布局:台面或挂墙、单人可搬、正面 −y、前方留空 0.25 m;面板为菜单/文字屏(待办)"}},"previews":["previews/elga_purelab_flex3/preview.webp","previews/elga_purelab_flex3/preview_operating.webp","previews/elga_purelab_flex3/preview_rear.webp","previews/elga_purelab_flex3/preview_service.webp"],"files":[{"name":"asset.contract.json","path":"assets/basic40_batch02/t2_vacuum/elga_purelab_flex3/asset.contract.json","bytes":175140},{"name":"collision_proxies.json","path":"assets/basic40_batch02/t2_vacuum/elga_purelab_flex3/collision_proxies.json","bytes":22767},{"name":"geometry_manifest.json","path":"assets/basic40_batch02/t2_vacuum/elga_purelab_flex3/geometry_manifest.json","bytes":50159},{"name":"model.blend","path":"assets/basic40_batch02/t2_vacuum/elga_purelab_flex3/model.blend","bytes":156194},{"name":"model.glb","path":"assets/basic40_batch02/t2_vacuum/elga_purelab_flex3/model.glb","bytes":1361288},{"name":"model.urdf","path":"assets/basic40_batch02/t2_vacuum/elga_purelab_flex3/model.urdf","bytes":17862},{"name":"scene_adapter.py","path":"assets/basic40_batch02/t2_vacuum/elga_purelab_flex3/scene_adapter.py","bytes":2117}],"completeness":{"components":17,"with_collisions":16,"with_objects":17,"with_function":17,"with_mass":0,"joints_matching_component":1,"joints":6,"has_contract":true,"has_layout":true,"has_glb":true,"checks_present":["articulation_check","coverage","validation_summary","contract_validation","runtime_validation","scene_validation"]},"slug":"elga_purelab_flex3","chem_id":"CHEM-190","name_en":"Lab ultrapure water system","maker":"ELGA LabWater","model":"PURELAB flex 3","domain":"facility","domain_name":"Lab Environment & Utilities","path":"assets/basic40_batch02/t2_vacuum/elga_purelab_flex3","glb_up":"z","has_contract":true,"contract":"assets/basic40_batch02/t2_vacuum/elga_purelab_flex3/asset.contract.json","runtime":"scripts/basic40_runtime_vacuum.py"}
|
|
|
|
| 1 |
+
{"tid":"instrument.elga_purelab_flex3","asset_dir":"basic40_batch02/t2_vacuum/elga_purelab_flex3","name_zh":"实验室超纯水系统","category":"环境与公用系统","description_zh":"CHEM-190 ELGA LabWater PURELAB flex 3。覆盖本批已登记组件与八项简化运行功能;full不表示全部厂家功能或所有物理层已验证。","coordinate_system":{"status":"defined","length_unit":"m","angle_unit":"rad","handedness":"right","up_axis":"+Z","frame":"asset_root:台面投影中心;+X右、+Y后、+Z上。"},"mass_kg":23.0,"size_m":[0.236,0.47,0.9],"bbox_min":[-0.118,-0.235,0.0],"bbox_max":[0.118,0.235,0.9],"manifest_dimensions_m":[0.236,0.47,0.9],"glb":"assets/basic40_batch02/t2_vacuum/elga_purelab_flex3/model.glb","glb_orientation":"already_z_up","usd":null,"urdf":"assets/basic40_batch02/t2_vacuum/elga_purelab_flex3/model.urdf","links":{"base_link":"/Geometry/base_link","adjustable_arm":"/Geometry/base_link/adjustable_arm","btn_dispense_controls_dispense_button_link":"/Geometry/base_link/adjustable_arm/btn_dispense_controls_dispense_button_link","btn_dispense_controls_button_volume_link":"/Geometry/base_link/adjustable_arm/btn_dispense_controls_button_volume_link","btn_dispense_controls_button_up_link":"/Geometry/base_link/adjustable_arm/btn_dispense_controls_button_up_link","btn_dispense_controls_button_accept_link":"/Geometry/base_link/adjustable_arm/btn_dispense_controls_button_accept_link","btn_dispense_controls_button_down_link":"/Geometry/base_link/adjustable_arm/btn_dispense_controls_button_down_link"},"frames":{"pre_place":[0.0,0.0,1.08],"place":[0.0,0.0,0.95],"post_place":[0.0,0.0,1.08],"joint_arm_joint":[0.0,0.0,0.0],"joint_btn_dispense_controls_dispense_button":[0.0,-0.212,0.761],"joint_btn_dispense_controls_button_volume":[0.0,-0.218,0.661],"joint_btn_dispense_controls_button_up":[0.0,-0.218,0.647],"joint_btn_dispense_controls_button_accept":[0.0,-0.218,0.635],"joint_btn_dispense_controls_button_down":[0.0,-0.218,0.623]},"joints":[{"name":"arm_joint","type":"prismatic","parent":"base_link","child":"adjustable_arm","axis":[0.0,0.0,1.0],"lower":0.0,"upper":0.12,"effort":1.0,"mimic":null,"origin_m":[0.0,0.0,0.0],"child_prim":"/Geometry/base_link/adjustable_arm","child_bbox_min":[-0.036,-0.22202,0.234],"child_bbox_max":[0.036,0.02518,0.9],"kind":"other"},{"name":"btn_dispense_controls_dispense_button","type":"prismatic","parent":"dispense_controls","child":"btn_dispense_controls_dispense_button_link","axis":[0.0,1.0,-0.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[0.0,-0.212,0.761],"child_prim":"/Geometry/base_link/adjustable_arm/btn_dispense_controls_dispense_button_link","child_bbox_min":[-0.0195,-0.21602,0.755],"child_bbox_max":[0.0195,-0.209,0.767],"kind":"button"},{"name":"btn_dispense_controls_button_volume","type":"prismatic","parent":"dispense_controls","child":"btn_dispense_controls_button_volume_link","axis":[-0.0,1.0,-0.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[0.0,-0.218,0.661],"child_prim":"/Geometry/base_link/adjustable_arm/btn_dispense_controls_button_volume_link","child_bbox_min":[-0.015,-0.22202,0.656],"child_bbox_max":[0.015,-0.215,0.666],"kind":"button"},{"name":"btn_dispense_controls_button_up","type":"prismatic","parent":"dispense_controls","child":"btn_dispense_controls_button_up_link","axis":[-0.0,1.0,0.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[0.0,-0.218,0.647],"child_prim":"/Geometry/base_link/adjustable_arm/btn_dispense_controls_button_up_link","child_bbox_min":[-0.015,-0.22202,0.642],"child_bbox_max":[0.015,-0.215,0.652],"kind":"button"},{"name":"btn_dispense_controls_button_accept","type":"prismatic","parent":"dispense_controls","child":"btn_dispense_controls_button_accept_link","axis":[-0.0,1.0,-0.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[0.0,-0.218,0.635],"child_prim":"/Geometry/base_link/adjustable_arm/btn_dispense_controls_button_accept_link","child_bbox_min":[-0.015,-0.22202,0.63],"child_bbox_max":[0.015,-0.215,0.64],"kind":"button"},{"name":"btn_dispense_controls_button_down","type":"prismatic","parent":"dispense_controls","child":"btn_dispense_controls_button_down_link","axis":[-0.0,1.0,-0.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[0.0,-0.218,0.623],"child_prim":"/Geometry/base_link/adjustable_arm/btn_dispense_controls_button_down_link","child_bbox_min":[-0.015,-0.22202,0.618],"child_bbox_max":[0.015,-0.215,0.628],"kind":"button"}],"controls":{"buttons":["btn_dispense_controls_purelab__dispense_button","btn_dispense_controls_purelab__button_volume","btn_dispense_controls_purelab__button_up","btn_dispense_controls_purelab__button_accept","btn_dispense_controls_purelab__button_down"],"knobs":[]},"slots":[{"name":"dispense","link":"adjustable_arm","part":"adjustable_arm","pos":[0.0,-0.175,0.0],"rot":[0.0,0.0,0.0,1.0],"pos_link":[0.0,-0.175,0.0],"rot_link":[0.0,0.0,0.0,1.0],"radius_m":0.08,"kind":"dispense","fits":["beaker","flask","bottle","cylinder"],"anchor":"base","insert_axis":[0.0,0.0,1.0],"capture_m":0.03,"access":[],"modelled_occupant":false}],"hidden_parts":[],"readouts":[],"layout":{"front":[0.0,-1.0,0.0],"front_source":"controls","mount":"bench_or_wall","weight_class":"one_person","mass_kg":23.0,"footprint_m":[0.236,0.47],"height_m":0.9,"clearance_m":{"front":0.25,"back":0.1,"left":0.05,"right":0.05,"top":0.1},"robot_standoff_m":0.35,"work_height_m":0.0,"primary_slot":"dispense","access":[],"slot_count":1},"components":[{"id":"housing","name_zh":"机壳和承载底座","function_zh":"承载净化部件、内部储水结构和取水臂;封闭外壳为外观简化。","physical_meaning_zh":"承载净化部件、内部储水结构和取水臂;封闭外壳为外观简化。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["purelab__base","purelab__rear_housing","purelab__top_deck","purelab__front_center_spine","purelab__front_low_trim","purelab__arm_receiver","purelab__tube_receiver","purelab__body_model","purelab__body_brand"],"collisions":[{"shape":"box","origin_m":[0,0,0.021],"rpy_rad":[0,0,0],"size_m":[0.236,0.47,0.028]},{"shape":"box","origin_m":[-0.11,0.09,0.245],"rpy_rad":[0,0,0],"size_m":[0.016,0.27,0.42]},{"shape":"box","origin_m":[0.11,0.09,0.245],"rpy_rad":[0,0,0],"size_m":[0.016,0.27,0.42]},{"shape":"box","origin_m":[0,0.217,0.245],"rpy_rad":[0,0,0],"size_m":[0.22,0.018,0.42]},{"shape":"box","origin_m":[0,0.002,0.466],"rpy_rad":[0,0,0],"size_m":[0.228,0.446,0.02]},{"shape":"box","origin_m":[0,-0.196,0.248],"rpy_rad":[0,0,0],"size_m":[0.02,0.05,0.406]},{"shape":"box","origin_m":[0,-0.217,0.061],"rpy_rad":[0,0,0],"size_m":[0.222,0.032,0.06]},{"shape":"box","origin_m":[0,-0.092,0.462],"rpy_rad":[0,0,0],"size_m":[0.061,0.085,0.024]},{"shape":"cylinder","origin_m":[0,0.012,0.475],"rpy_rad":[0,0,0],"radius_m":0.017,"length_m":0.012}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"厂家手册第6页布局;局部尺寸为比例估计,非厂家CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.11800000071525574,-0.23499999940395355,0.006999999284744263],[0.11800000071525574,0.23499999940395355,0.48100000619888306]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh","properties","root_object"]},{"id":"feet","name_zh":"支脚","function_zh":"仪器与台面的支撑接触。","physical_meaning_zh":"仪器与台面的支撑接触。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["purelab__foot_0","purelab__foot_1","purelab__foot_2","purelab__foot_3"],"collisions":[{"shape":"cylinder","origin_m":[-0.086,-0.181,0.006],"rpy_rad":[0,0,0],"radius_m":0.02,"length_m":0.012},{"shape":"cylinder","origin_m":[0.086,-0.181,0.006],"rpy_rad":[0,0,0],"radius_m":0.02,"length_m":0.012},{"shape":"cylinder","origin_m":[-0.086,0.181,0.006],"rpy_rad":[0,0,0],"radius_m":0.02,"length_m":0.012},{"shape":"cylinder","origin_m":[0.086,0.181,0.006],"rpy_rad":[0,0,0],"radius_m":0.02,"length_m":0.012}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"厂家手册第6��布局;局部尺寸为比例估计,非厂家CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.10600000619888306,-0.20099999010562897,0.0],[0.10600000619888306,0.20099999010562897,0.012000000104308128]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh","properties","root_object"]},{"id":"access_doors","name_zh":"双侧访问门","function_zh":"覆盖UV灯和净化包;本资产静态门板,不声明开门驱动。","physical_meaning_zh":"覆盖UV灯和净化包;本资产静态门板,不声明开门驱动。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["purelab__access_door_left","purelab__door_top_left","purelab__door_bottom_left","purelab__door_edge_left","purelab__door_side_left","purelab__access_door_right","purelab__door_top_right","purelab__door_bottom_right","purelab__door_edge_right","purelab__door_side_right"],"collisions":[{"shape":"box","origin_m":[-0.061,-0.201,0.261],"rpy_rad":[0,0,0],"size_m":[0.103,0.047,0.348]},{"shape":"box","origin_m":[-0.061,-0.201,0.444],"rpy_rad":[0,0,0],"size_m":[0.108,0.055,0.018]},{"shape":"box","origin_m":[-0.061,-0.201,0.079],"rpy_rad":[0,0,0],"size_m":[0.108,0.05,0.018]},{"shape":"box","origin_m":[-0.11,-0.19,0.263],"rpy_rad":[0,0,0],"size_m":[0.005,0.052,0.345]},{"shape":"box","origin_m":[-0.113,-0.109,0.261],"rpy_rad":[0,0,0],"size_m":[0.009,0.178,0.348]},{"shape":"box","origin_m":[0.061,-0.201,0.261],"rpy_rad":[0,0,0],"size_m":[0.103,0.047,0.348]},{"shape":"box","origin_m":[0.061,-0.201,0.444],"rpy_rad":[0,0,0],"size_m":[0.108,0.055,0.018]},{"shape":"box","origin_m":[0.061,-0.201,0.079],"rpy_rad":[0,0,0],"size_m":[0.108,0.05,0.018]},{"shape":"box","origin_m":[0.11,-0.19,0.263],"rpy_rad":[0,0,0],"size_m":[0.005,0.052,0.345]},{"shape":"box","origin_m":[0.113,-0.109,0.261],"rpy_rad":[0,0,0],"size_m":[0.009,0.178,0.348]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"厂家手册第6页布局;局部尺寸为比例估计,非厂家CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["consumables.reset"],"bbox_m":[[-0.11749999970197678,-0.22850000858306885,0.07000000774860382],[0.11749999970197678,-0.019999995827674866,0.453000009059906]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh","properties","root_object"]},{"id":"adjustable_arm","name_zh":"可调取水臂","function_zh":"单Z升降示意;0–0.12m为总体高度差的工程映射。","physical_meaning_zh":"单Z升降示意;0–0.12m为总体高度差的工程映射。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["purelab__arm_mast","purelab__arm_front","purelab__arm_brand","purelab__arm_adjust_knob","purelab__knob_grip"],"collisions":[{"shape":"box","origin_m":[0,-0.096,0.452],"rpy_rad":[0,0,0],"size_m":[0.046,0.042,0.436]},{"shape":"box","origin_m":[0,-0.123,0.525],"rpy_rad":[0,0,0],"size_m":[0.049,0.019,0.269]},{"shape":"cylinder","origin_m":[0,-0.144,0.421],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.024,"length_m":0.015},{"shape":"box","origin_m":[0,-0.152,0.421],"rpy_rad":[0,0,0],"size_m":[0.009,0.006,0.034]}],"joint":{"type":"prismatic","axis":[0,0,1],"limits":[0,0.12],"state_id":null,"accessor":null},"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"厂家手册第6页布局;局部尺寸为比例估计,非厂家CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["arm.set_height"],"bbox_m":[[-0.02449999935925007,-0.1550000011920929,0.23399999737739563],[0.02449999935925007,-0.07500000298023224,0.6699999570846558]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh","properties","root_object"]},{"id":"flexible_tube","name_zh":"绿色柔性取水管","function_zh":"连接取水端;弯曲外形示意,没有软体或流固耦合。","physical_meaning_zh":"连接取水端;弯曲外形示意,没有软体或流固耦合。","subsystem":null,"parent":"adjustable_arm","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["purelab__flexible_tube"],"collisions":[{"shape":"cylinder","origin_m":[0.0,0.012000000104308128,0.48000001907348633],"rpy_rad":[0.0,-0.0,0.0],"radius_m":0.011,"length_m":0.38000002035969127},{"shape":"cylinder","origin_m":[0.0,0.00800000037997961,0.7440000176429749],"rpy_rad":[0.054001498967409134,0.0,0.0],"radius_m":0.011,"length_m":0.14821606189953554},{"shape":"cylinder","origin_m":[0.0,-0.017999999225139618,0.8519999980926514],"rpy_rad":[0.5743051171302795,0.0,0.0],"radius_m":0.011,"length_m":0.08099379104682872},{"shape":"cylinder","origin_m":[0.0,-0.06650000065565109,0.8830000162124634],"rpy_rad":[1.6835237741470337,0.0,0.0],"radius_m":0.011,"length_m":0.053338543483924916},{"shape":"cylinder","origin_m":[0.0,-0.12350000441074371,0.8395000100135803],"rpy_rad":[2.4961190223693848,0.0,0.0],"radius_m":0.011,"length_m":0.10140017228215346},{"shape":"cylinder","origin_m":[0.0,-0.16749998927116394,0.7705000042915344],"rpy_rad":[2.69921875,0.0,0.0],"radius_m":0.011,"length_m":0.06307142337265888}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"厂家手册第6页布局;局部尺寸为比例估计,非厂家CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["arm.set_height"],"bbox_m":[[-0.011000002734363079,-0.19093595445156097,0.2899588346481323],[0.011000002734363079,0.02517778053879738,0.8999999761581421]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh","properties","root_object"]},{"id":"handset_cradle","name_zh":"手持显示器支架","function_zh":"固定和定位手持显示器,随取水臂升降。","physical_meaning_zh":"固定和定位手持显示器,随取水臂升降。","subsystem":null,"parent":"adjustable_arm","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["purelab__cradle_mount","purelab__cradle_side_-0.031","purelab__cradle_side_0.031"],"collisions":[{"shape":"box","origin_m":[0,-0.139,0.6759999999999999],"rpy_rad":[0,0,0],"size_m":[0.056,0.058,0.028]},{"shape":"box","origin_m":[-0.031,-0.18,0.683],"rpy_rad":[0,0,0],"size_m":[0.01,0.04,0.113]},{"shape":"box","origin_m":[0.031,-0.18,0.683],"rpy_rad":[0,0,0],"size_m":[0.01,0.04,0.113]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"厂家手册第6页布局;局部尺寸为比例估计,非厂家CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["arm.set_height"],"bbox_m":[[-0.035999998450279236,-0.20000000298023224,0.6264999508857727],[0.035999998450279236,-0.10999999940395355,0.7394999861717224]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh","properties","root_object"]},{"id":"display_handset","name_zh":"手持取水显示器外壳","function_zh":"容纳显示和按钮的取水手柄;本批次不模拟脱离支架。","physical_meaning_zh":"容纳显示和按钮的取水手柄;本批次不模拟脱离支架。","subsystem":null,"parent":"adjustable_arm","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["purelab__handset","purelab__handset_face","purelab__handset_brand","purelab__handset_subbrand","purelab__handset_elga"],"collisions":[{"shape":"box","origin_m":[0,-0.187,0.6759999999999999],"rpy_rad":[0,0,0],"size_m":[0.061,0.041,0.181]},{"shape":"box","origin_m":[0,-0.211,0.683],"rpy_rad":[0,0,0],"size_m":[0.056,0.009,0.147]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"厂家手册第6页布局;局部尺寸为比例估计,非厂家CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","arm.set_height"],"bbox_m":[[-0.030500000342726707,-0.21701499819755554,0.5855000019073486],[0.030500000342726707,-0.1665000021457672,0.7664999961853027]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh","properties","root_object"]},{"id":"display","name_zh":"纯度与状态显示屏","function_zh":"显示纯度、取水体积、流量和耗材状态;数据通过可编辑FONT绑定。","physical_meaning_zh":"显示纯度、取水体积、流量和耗材状态;数据通过可编辑FONT绑定。","subsystem":null,"parent":"adjustable_arm","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["purelab__screen","purelab__display_text","purelab__screen_units"],"collisions":[{"shape":"box","origin_m":[0,-0.217,0.702],"rpy_rad":[0,0,0],"size_m":[0.047,0.003,0.062]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"厂家手册第6页布局;局部尺寸为比例估计,非厂家CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","arm.set_height","water.set_volume","water.set_flow_rate","water.start","water.stop","water.set_mode","consumables.reset"],"bbox_m":[[-0.023499999195337296,-0.21931500732898712,0.6710000038146973],[0.023499999195337296,-0.21549999713897705,0.7330000400543213]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh","properties","root_object"]},{"id":"dispense_controls","name_zh":"取水与导航按钮","function_zh":"取水按钮、自动体积和上下确认键外观;按键行程未知。","physical_meaning_zh":"取水按钮、自动体积和上下确认键外观;按键行程未知。","subsystem":null,"parent":"adjustable_arm","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["purelab__dispense_button","purelab__dispense_mark","purelab__button_volume","purelab__button_volume_mark","purelab__button_up","purelab__button_up_mark","purelab__button_accept","purelab__button_accept_mark","purelab__button_down","purelab__button_down_mark"],"collisions":[{"shape":"box","origin_m":[0,-0.212,0.7609999999999999],"rpy_rad":[0,0,0],"size_m":[0.039,0.006,0.012]},{"shape":"box","origin_m":[0,-0.218,0.661],"rpy_rad":[0,0,0],"size_m":[0.03,0.006,0.01]},{"shape":"box","origin_m":[0,-0.218,0.647],"rpy_rad":[0,0,0],"size_m":[0.03,0.006,0.01]},{"shape":"box","origin_m":[0,-0.218,0.635],"rpy_rad":[0,0,0],"size_m":[0.03,0.006,0.01]},{"shape":"box","origin_m":[0,-0.218,0.623],"rpy_rad":[0,0,0],"size_m":[0.03,0.006,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"厂家手册第6页布局;局部尺寸为比例估计,非厂家CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["arm.set_height","water.set_volume","water.set_flow_rate","water.start","water.stop","water.set_mode"],"bbox_m":[[-0.019500000402331352,-0.22201500833034515,0.6179999709129333],[0.019500000402331352,-0.20899999141693115,0.7669999599456787]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh","properties","root_object"]},{"id":"nozzle","name_zh":"取水喷嘴","function_zh":"朝下取水出口;没有默认终端微生物滤器配置。","physical_meaning_zh":"朝下取水出口;没有默认终端微生物滤器配置。","subsystem":null,"parent":"adjustable_arm","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["purelab__nozzle_seal","purelab__nozzle","purelab__nozzle_bore"],"collisions":[{"shape":"cylinder","origin_m":[0,-0.187,0.587],"rpy_rad":[0,0,0],"radius_m":0.011,"length_m":0.01},{"shape":"cylinder","origin_m":[0,-0.187,0.575],"rpy_rad":[0,0,0],"radius_m":0.0065,"length_m":0.017}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"厂家手册第6页布局;局部尺寸为比例估计,非厂家CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["arm.set_height","water.set_flow_rate","water.start","water.stop"],"bbox_m":[[-0.010999999940395355,-0.1980000138282776,0.5662499666213989],[0.010999999940395355,-0.17599999904632568,0.5920000076293945]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh","properties","root_object"]},{"id":"purification_pack","name_zh":"净化包","function_zh":"按手册布局登记可替换净化耗材;内部构造、寿命和部件质量未知。","physical_meaning_zh":"按手册布局登记可替换净化耗材;内部构造、寿命和部件质量未知。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["purelab__purification_pack","purelab__pack_cap_0.11","purelab__pack_cap_0.42","purelab__pack_label"],"collisions":[{"shape":"cylinder","origin_m":[0.06,-0.148,0.263],"rpy_rad":[0,0,0],"radius_m":0.03,"length_m":0.313},{"shape":"cylinder","origin_m":[0.06,-0.148,0.11],"rpy_rad":[0,0,0],"radius_m":0.033,"length_m":0.014},{"shape":"cylinder","origin_m":[0.06,-0.148,0.42],"rpy_rad":[0,0,0],"radius_m":0.033,"length_m":0.014}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"厂家手册第6页布局;局部尺寸为比例估计,非厂家CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["water.start","water.set_mode","consumables.reset"],"bbox_m":[[0.026999998837709427,-0.1809999942779541,0.10300000011920929],[0.09299999475479126,-0.11500000208616257,0.4269999861717224]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh","properties","root_object"]},{"id":"uv_lamp","name_zh":"紫外灯组件","function_zh":"手册指定内部UV灯外壳示意;不模拟紫外辐照场。","physical_meaning_zh":"手册指定内部UV灯外壳示意;不模拟紫外辐照场。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["purelab__uv_lamp","purelab__uv_top","purelab__uv_warning","purelab__uv_vent_-0.074","purelab__uv_vent_-0.067","purelab__uv_vent_-0.06","purelab__uv_vent_-0.053","purelab__uv_vent_-0.046"],"collisions":[{"shape":"cylinder","origin_m":[-0.06,-0.148,0.266],"rpy_rad":[0,0,0],"radius_m":0.026,"length_m":0.3},{"shape":"cylinder","origin_m":[-0.06,-0.148,0.425],"rpy_rad":[0,0,0],"radius_m":0.01,"length_m":0.02}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"厂家手册第6页布局;局部尺寸为比例估计,非厂家CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["water.set_mode","consumables.reset"],"bbox_m":[[-0.085999995470047,-0.1744999885559082,0.11599999666213989],[-0.03399999812245369,-0.12200000137090683,0.4350000023841858]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh","properties","root_object"]},{"id":"ro_module","name_zh":"反渗透组件","function_zh":"主机内部RO补水模块符号几何,具体布置和尺寸未知。","physical_meaning_zh":"主机内部RO补水模块符号几何,具体布置和尺寸未知。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["purelab__ro_module"],"collisions":[{"shape":"cylinder","origin_m":[0.0,0.052000001072883606,0.11999999731779099],"rpy_rad":[-0.0,1.570796251296997,0.0],"radius_m":0.028,"length_m":0.13400000628384176}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"engineering_assumption","geometry_note_zh":"仅作内部存在性示意,内部安装位置未由厂家CAD核实。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["water.set_mode","consumables.reset"],"bbox_m":[[-0.06700000166893005,0.024000000208616257,0.09199999272823334],[0.06700000166893005,0.07999999821186066,0.14800000190734863]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh","properties","root_object"]},{"id":"reservoir","name_zh":"内置储水组件","function_zh":"内部储水体积的几何占位;不赋予未知几何容量。","physical_meaning_zh":"内部储水体积的几何占位;不赋予未知几何容量。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["purelab__reservoir"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"engineering_assumption","geometry_note_zh":"内部轮廓为占位示意,不用于推导储水容量。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["water.start","water.stop","water.set_mode"],"bbox_m":[[-0.08100000023841858,0.008500002324581146,0.14499999582767487],[0.08100000023841858,0.19350001215934753,0.4010000228881836]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh","properties","root_object"]},{"id":"vent_filter","name_zh":"复合通气滤器","function_zh":"手册标出的机顶耗材;性能依具体配置。","physical_meaning_zh":"手册标出的机顶耗材;性能依具体配置。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["purelab__vent_filter","purelab__vent_filter_top"],"collisions":[{"shape":"cylinder","origin_m":[0.047,0.079,0.481],"rpy_rad":[0,0,0],"radius_m":0.021,"length_m":0.013}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"厂家手册第6页布局;局部尺寸为比例估计,非厂家CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["water.set_mode","consumables.reset"],"bbox_m":[[0.025999998673796654,0.05800000578165054,0.47450000047683716],[0.06799999624490738,0.10000000149011612,0.4909999966621399]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh","properties","root_object"]},{"id":"fluid_ports","name_zh":"进水、溢流、排水与纯水接口","function_zh":"机后流体连接;端口位置由示意图估计。","physical_meaning_zh":"机后流体连接;端口位置由示意图估计。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["purelab__rear_port_plate","purelab__water_inlet_socket","purelab__water_inlet","purelab__water_inlet_label","purelab__overflow_socket","purelab__overflow","purelab__overflow_label","purelab__drain_socket","purelab__drain","purelab__drain_label","purelab__purified_water_outlet_socket","purelab__purified_water_outlet","purelab__purified_water_outlet_label"],"collisions":[{"shape":"box","origin_m":[0,0.219,0.081],"rpy_rad":[0,0,0],"size_m":[0.209,0.014,0.094]},{"shape":"cylinder","origin_m":[-0.078,0.23,0.059],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.012,"length_m":0.01},{"shape":"cylinder","origin_m":[-0.078,0.233,0.059],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.006,"length_m":0.004},{"shape":"cylinder","origin_m":[-0.026,0.23,0.059],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.012,"length_m":0.01},{"shape":"cylinder","origin_m":[-0.026,0.233,0.059],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.006,"length_m":0.004},{"shape":"cylinder","origin_m":[0.026,0.23,0.059],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.012,"length_m":0.01},{"shape":"cylinder","origin_m":[0.026,0.233,0.059],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.006,"length_m":0.004},{"shape":"cylinder","origin_m":[0.078,0.23,0.059],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.012,"length_m":0.01},{"shape":"cylinder","origin_m":[0.078,0.233,0.059],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.006,"length_m":0.004}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"厂家手册第6页布局;局部尺寸为比例估计,非厂家CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["water.start","water.set_mode"],"bbox_m":[[-0.10450000315904617,0.21199999749660492,0.03400000184774399],[0.10450000315904617,0.23499999940395355,0.12799999117851257]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh","properties","root_object"]},{"id":"electrical_ports","name_zh":"电源和数据接口","function_zh":"24Vdc电源、BMS、脚踏和USB接口外观;没有真实硬件驱动。","physical_meaning_zh":"24Vdc电源、BMS、脚踏和USB接口外观;没有真实硬件驱动。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["purelab__power_socket","purelab__power_bore","purelab__footswitch_socket","purelab__footswitch_bore","purelab__rear_power_label","purelab__rear_foot_label","purelab__bms_socket","purelab__usb_socket"],"collisions":[{"shape":"cylinder","origin_m":[-0.052,0.228,0.111],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.006,"length_m":0.006},{"shape":"cylinder","origin_m":[0.052,0.228,0.111],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.005,"length_m":0.006},{"shape":"box","origin_m":[0,0.229,0.111],"rpy_rad":[0,0,0],"size_m":[0.02,0.007,0.009]},{"shape":"box","origin_m":[0.114,-0.137,0.044],"rpy_rad":[0,0,0],"size_m":[0.005,0.015,0.007]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"厂家手册第6页布局;局部尺寸为比例估计,非厂家CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set"],"bbox_m":[[-0.058500003069639206,-0.1444999873638153,0.04050000011920929],[0.11649999767541885,0.23250000178813934,0.12756399810314178]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh","properties","root_object"]}],"component_source":"geometry_manifest.json + asset.contract.json + collision_proxies.json","capabilities":{"power.set":{"function_zh":"设置供电;断电停止取水/冲洗/循环并保留已经转移的水量","kind":"device_command","availability":"implemented","component_ids":["electrical_ports","display","display_handset"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["enabled"]},"arm.set_height":{"function_zh":"手动配置取水臂相对最低位置的升高量","kind":"configuration","availability":"implemented","component_ids":["adjustable_arm","flexible_tube","handset_cradle","display_handset","display","dispense_controls","nozzle"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["height_m"]},"water.set_volume":{"function_zh":"设置本次定量目标,有限正值,无无依据的每日硬限","kind":"device_command","availability":"implemented","component_ids":["display","dispense_controls"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["volume_m3"]},"water.set_flow_rate":{"function_zh":"设置取水流量,最高2 L/min","kind":"device_command","availability":"implemented","component_ids":["display","dispense_controls","nozzle"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["flow_m3_s"]},"water.start":{"function_zh":"启动新的定量取水;流体仅由宿主step推进","kind":"device_command","availability":"implemented","component_ids":["display","dispense_controls","nozzle","reservoir","purification_pack","fluid_ports"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":[]},"water.stop":{"function_zh":"停止后续定量取水,保留本次已经转移的水量","kind":"device_command","availability":"implemented","component_ids":["display","dispense_controls","nozzle","reservoir"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":[]},"water.set_mode":{"function_zh":"切换待机、循环补水、冲洗简化模式","kind":"device_command","availability":"implemented","component_ids":["display","dispense_controls","purification_pack","uv_lamp","ro_module","reservoir","vent_filter","fluid_ports"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["mode"]},"consumables.reset":{"function_zh":"使用宿主一次性更换确认复位耗材通量,不伪造寿命百分比","kind":"device_command","availability":"implemented","component_ids":["display","purification_pack","uv_lamp","ro_module","vent_filter","access_doors"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":[]}},"state_slots":{"power.enabled":{"meaning_zh":"供电目标","unit":"1","access":"read_write","origin":"setpoint","component_ids":["electrical_ports","display"],"write_via":"power.set"},"arm.height_m":{"meaning_zh":"取水臂相对最低位置的手动升高量","unit":"m","access":"read_write","origin":"scene","component_ids":["adjustable_arm","display_handset","nozzle"],"write_via":"arm.set_height"},"water.target_volume_m3":{"meaning_zh":"本次取水体积目标;未设置为null","unit":"m^3","access":"read_write","origin":"setpoint","component_ids":["nozzle","display"],"write_via":"water.set_volume"},"water.flow_rate_m3_s":{"meaning_zh":"取水体积流量目标;未设置为null","unit":"m^3/s","access":"read_write","origin":"setpoint","component_ids":["nozzle","display"],"write_via":"water.set_flow_rate"},"water.mode":{"meaning_zh":"待机、假设循环补水或假设冲洗模式","unit":"1","access":"read_write","origin":"setpoint","component_ids":["nozzle","display"],"write_via":"water.set_mode"},"water.dispensing":{"meaning_zh":"定量取水过程正在运行","unit":"1","access":"read_only","origin":"derived","component_ids":["nozzle","display"],"write_via":null},"water.dispense_status":{"meaning_zh":"定量取水状态;停止后保留部分效果","unit":"1","access":"read_only","origin":"derived","component_ids":["nozzle","display"],"write_via":null},"water.indicated_dispensed_volume_m3":{"meaning_zh":"本次已取水量的理想合成读数;非流量计精度声明","unit":"m^3","access":"read_only","origin":"derived","component_ids":["nozzle","display"],"write_via":null},"water.source_connected":{"meaning_zh":"宿主已配置外部进水与净水缓冲边界","unit":"1","access":"read_only","origin":"derived","component_ids":["fluid_ports"],"write_via":null},"water.receiver_connected":{"meaning_zh":"宿主已配置接收容器","unit":"1","access":"read_only","origin":"derived","component_ids":["nozzle","display"],"write_via":null},"water.qualified_feed":{"meaning_zh":"宿主对进水合格性的外部确认;非化学分析结果","unit":"1","access":"read_only","origin":"derived","component_ids":["fluid_ports"],"write_via":null},"water.resistivity_ohm_m":{"meaning_zh":"宿主输入电阻率观测;默认不可用,不保证18.2 MΩ·cm","unit":"ohm*m","access":"read_only","origin":"sensor","component_ids":["display","purification_pack"],"write_via":null},"water.temperature_k":{"meaning_zh":"宿主输入水质读数对应温度;默认不可用","unit":"K","access":"read_only","origin":"sensor","component_ids":["display","purification_pack"],"write_via":null},"water.toc_mass_fraction":{"meaning_zh":"宿主输入TOC质量分数;默认不可用,不将典型<5ppb作保证","unit":"1","access":"read_only","origin":"sensor","component_ids":["display","purification_pack"],"write_via":null},"consumables.installed":{"meaning_zh":"宿主确认已装耗材","unit":"1","access":"read_only","origin":"derived","component_ids":["purification_pack","display"],"write_via":null},"consumables.status":{"meaning_zh":"耗材安装/更换确认状态;未评估寿命","unit":"1","access":"read_only","origin":"derived","component_ids":["purification_pack","display"],"write_via":null},"consumables.remaining_life_fraction":{"meaning_zh":"缺少滤柱寿命依据,始终null","unit":"1","access":"read_only","origin":"derived","component_ids":["purification_pack","display"],"write_via":null},"consumables.throughput_m3":{"meaning_zh":"自最近已确认更换复位后流经抛光回路的合成累计体积","unit":"m^3","access":"read_only","origin":"derived","component_ids":["purification_pack","display"],"write_via":null},"water.dispensed_volume_m3":{"meaning_zh":"本次实际转移的合成过程真值","unit":"m^3","access":"read_only","origin":"process_truth","component_ids":["nozzle","display"],"write_via":null},"water.total_dispensed_volume_m3":{"meaning_zh":"实例创建以来累计转移给接收容器的合成体积","unit":"m^3","access":"read_only","origin":"process_truth","component_ids":["nozzle","display"],"write_via":null},"water.feed_volume_m3":{"meaning_zh":"外部进水边界剩余体积","unit":"m^3","access":"read_only","origin":"process_truth","component_ids":["fluid_ports"],"write_via":null},"water.buffer_volume_m3":{"meaning_zh":"宿主净水缓冲边界剩余体积;不是已知内部储罐参数","unit":"m^3","access":"read_only","origin":"process_truth","component_ids":["reservoir","ro_module"],"write_via":null},"water.receiver_volume_m3":{"meaning_zh":"外部接收容器当前体积","unit":"m^3","access":"read_only","origin":"process_truth","component_ids":["nozzle","display"],"write_via":null},"water.waste_volume_m3":{"meaning_zh":"RO浓水与冲洗排水的累计合成体积","unit":"m^3","access":"read_only","origin":"process_truth","component_ids":["fluid_ports"],"write_via":null},"water.ro_product_volume_m3":{"meaning_zh":"累计RO补充的净水体积","unit":"m^3","access":"read_only","origin":"process_truth","component_ids":["reservoir","ro_module"],"write_via":null},"consumables.cumulative_throughput_m3":{"meaning_zh":"实例创建以来流经抛光回路的体积;复位不清除此审计量","unit":"m^3","access":"read_only","origin":"process_truth","component_ids":["purification_pack","display"],"write_via":null}},"mechanisms":{"water_balance":{"meaning_zh":"有限进水、缓冲与接收容器之间的分段水量转移;engineering_assumption。循环模式的RO补水、定量与冲洗互斥。","implementation":"lumped","equations":["dispense_dV=min(Q_set*dt, target_remaining, buffer_available, receiver_free)","flush_dV=min(Q_flush_host*dt, buffer_available); waste += flush_dV","recirculate_ro_dV=min(Q_ro*dt, buffer_free, feed_available*recovery_fraction); feed -= ro_dV/recovery_fraction; waste += feed_used-ro_dV"],"parameters":{"maximum_dispense_flow":{"value":3.3333333333333335e-05,"unit":"m^3/s","evidence":"documented","meaning_zh":"清单额定整机取水上限。"},"maximum_ro_makeup_flow":{"value":5.555555555555556e-06,"unit":"m^3/s","evidence":"documented","meaning_zh":"清单额定RO补水上限。"},"calibrated_quality_flow_relation":{"value":null,"unit":"1","evidence":"unknown","meaning_zh":"未补齐水质、耗材寿命与流量关联。"},"real_reservoir_capacity":{"value":null,"unit":"m^3","evidence":"unknown","meaning_zh":"宿主缓冲为场景边界,不声明厂家内部容量。"}}}},"limitations":["Engineering-assumption volume bookkeeping only; not a manufacturer controller, purification, hydraulics, thermal, contaminant, microbial or filter-life model.","The host explicitly supplies qualified feed, available purified-water buffer and receiver boundaries; buffer capacity is a simulation boundary, not a claimed internal tank specification.","RO replenishment occurs only in recirculate mode; dispense, flush and RO replenishment are mutually exclusive engineering simplifications. RO recovery fraction and recirculation/flush rates require host provenance and have no manufacturer default.","The 10 L/day catalog usage figure is a nominal application rating, not an enforced daily quota. Dispense flow is capped at 2 L/min and RO product flow at 20 L/h.","Resistivity, temperature and TOC remain null until a trusted host supplies observations with provenance. 182000 ohm*m at 298.15 K is the catalog reference, never an automatically guaranteed output; typical TOC <5 ppb is feed-dependent, not a default reading.","Consumable lifetime, remaining fraction and performance degradation remain unknown/null. Throughput is a synthetic cumulative counter; reset requires a one-use trusted-host replacement confirmation.","Arm height is a manually positioned simulation configuration with 0..0.12 m travel from the catalog overall height span; no powered arm, robot action, collision or hardware driver is claimed.","Device commands are synchronous state transitions; water transfer happens only on the shared host step. Stop, power-off, buffer exhaustion and receiver-full retain partial transferred volume.","Scene callbacks receive public observations only; a command callback failure leaves process state unchanged but scene effects unknown. Host-step callback failure retains committed material transfers and time.","Session filtering is an API boundary, not Python memory/filesystem/process isolation; trusted host methods and debug snapshots must remain outside agent transport.","Request deduplication is in memory per principal and instance and does not survive restart. This water asset has no vacuum dependency.","清单外未知物性保持null;场景尺寸为估计而非厂家CAD。","23kg工作质量只记整机;均匀包围盒惯量是engineering_assumption。子连杆未给惯性,接触动力学未验证。","URDF effort=1、velocity=0.05仅用于语法交换的engineering_assumption占位;真实臂推力和速度为null,禁止将占位当厂家或部件参数。","本配置无外部真空口,不创建或依赖共用真空泵。","未默认配置POU/Biofilter,不保证微生物、内毒素或颗粒指标。","18.2MΩ·cm及TOC<5ppb为清单额定/典型指标,实例默认读数null,不能以模拟值证明水质。","GLB与OBJ保存低位静态状态;动态联动须加载原生Blender并注册本目录scene_adapter。","API权限过滤不隔离Python对象内存或本地文件;不受信任代理部署仍需受信任宿主进程边界。"],"sources":[],"checks":{"coverage":{"status":"bridged","implemented":["arm.set_height","consumables.reset","power.set","water.set_flow_rate","water.set_mode","water.set_volume","water.start","water.stop"],"unsupported":[],"note_zh":"桥接 basic40_runtime_vacuum.PurelabHost(推进方式 step_dt),26 个状态槽;与运行层镜像对比全同;受信设置需经 host.call;关节化 USD(5 个按键(碰到即触发)、1 个门/盖/阀等被动关节);1 个门/盖/升降关节与运行层双向同步;接口点 1 个(出液位);布局:台面或挂墙、单人可搬、正面 −y、前方留空 0.25 m;面板为菜单/文字屏(待办)"}},"previews":["previews/elga_purelab_flex3/preview.webp","previews/elga_purelab_flex3/preview_operating.webp","previews/elga_purelab_flex3/preview_rear.webp","previews/elga_purelab_flex3/preview_service.webp"],"files":[{"name":"asset.contract.json","path":"assets/basic40_batch02/t2_vacuum/elga_purelab_flex3/asset.contract.json","bytes":175405},{"name":"collision_proxies.json","path":"assets/basic40_batch02/t2_vacuum/elga_purelab_flex3/collision_proxies.json","bytes":22767},{"name":"geometry_manifest.json","path":"assets/basic40_batch02/t2_vacuum/elga_purelab_flex3/geometry_manifest.json","bytes":50159},{"name":"model.blend","path":"assets/basic40_batch02/t2_vacuum/elga_purelab_flex3/model.blend","bytes":154610},{"name":"model.glb","path":"assets/basic40_batch02/t2_vacuum/elga_purelab_flex3/model.glb","bytes":1361288},{"name":"model.urdf","path":"assets/basic40_batch02/t2_vacuum/elga_purelab_flex3/model.urdf","bytes":17862},{"name":"scene_adapter.py","path":"assets/basic40_batch02/t2_vacuum/elga_purelab_flex3/scene_adapter.py","bytes":2117}],"completeness":{"components":17,"with_collisions":16,"with_objects":17,"with_function":17,"with_mass":0,"joints_matching_component":1,"joints":6,"has_contract":true,"has_layout":true,"has_glb":true,"checks_present":["articulation_check","coverage","validation_summary","contract_validation","runtime_validation","scene_validation"]},"slug":"elga_purelab_flex3","chem_id":"CHEM-190","name_en":"Lab ultrapure water system","maker":"ELGA LabWater","model":"PURELAB flex 3","domain":"facility","domain_name":"Lab Environment & Utilities","path":"assets/basic40_batch02/t2_vacuum/elga_purelab_flex3","glb_up":"z","has_contract":true,"contract":"assets/basic40_batch02/t2_vacuum/elga_purelab_flex3/asset.contract.json","runtime":"scripts/basic40_runtime_vacuum.py"}
|
data/assets/instrument.eppendorf_5910ri.json
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/assets/instrument.freeman_ft4powder.json
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/assets/instrument.fujifilm_dmp2850.json
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/assets/instrument.gamry_reference620.json
CHANGED
|
@@ -1 +1 @@
|
|
| 1 |
-
{"tid":"instrument.gamry_reference620","asset_dir":"basic40_batch02/t4_measure/gamry_ref620","name_zh":"Gamry Reference 620 电化学工作站","category":"电化学与定量分析","description_zh":"CHEM-103,三表第108行指定Gamry Reference 620。以9 W×19 H×27 D cm、3 kg整机及三电极/电解池槽位创建物理资产;本批过程仅限电位或电流波形与synthetic序列,EIS等未实现功能保留边界。full仅表示本批功能组件完整登记。","coordinate_system":{"status":"defined","length_unit":"m","angle_unit":"rad","handedness":"right","up_axis":"+Z","frame":"asset_root:台面投影中心;X向右、Y向后、Z向上。整机标称范围X±0.045 m、Y±0.135 m、Z=0..0.19 m。"},"mass_kg":3.0,"size_m":[0.09,0.2744,0.19],"bbox_min":[-0.045,-0.1383,0.0],"bbox_max":[0.045,0.1361,0.19],"manifest_dimensions_m":[0.09,0.27,0.19],"glb":"assets/basic40_batch02/t4_measure/gamry_ref620/model.glb","glb_orientation":"gltf_y_up_rotated","usd":null,"urdf":"assets/basic40_batch02/t4_measure/gamry_ref620/model.urdf","links":{},"frames":{"pre_place":[0.0,-0.0011,0.37],"place":[0.0,-0.0011,0.24],"post_place":[0.0,-0.0011,0.37]},"joints":[],"controls":{"buttons":[],"knobs":[]},"slots":[],"hidden_parts":[],"readouts":[],"layout":{"front":[0.0,-1.0,0.0],"front_source":"convention","mount":"bench","weight_class":"robot_portable","mass_kg":3.0,"footprint_m":[0.09,0.2744],"height_m":0.19,"clearance_m":{"front":0.25,"back":0.15,"left":0.05,"right":0.05,"top":0.1},"robot_standoff_m":0.35,"work_height_m":0.19,"primary_slot":null,"access":[],"slot_count":0},"components":[{"id":"housing","name_zh":"承载机箱","function_zh":"支撑并防护仪器内部功能。","physical_meaning_zh":"按整机包围盒约束的外观机箱;内部结构、壁厚及材料未实测。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["gamry_ref620__housing__case","gamry_ref620__housing__upper_seam","gamry_ref620__housing__vent_mark","gamry_ref620__housing__vent_mark.001","gamry_ref620__housing__vent_mark.002","gamry_ref620__housing__vent_mark.003","gamry_ref620__housing__vent_mark.004","gamry_ref620__housing__vent_mark.005","gamry_ref620__housing__vent_mark.006","gamry_ref620__housing__vent_mark.007","gamry_ref620__housing__vent_mark.008","gamry_ref620__housing__vent_mark.009","gamry_ref620__housing__vent_mark.010","gamry_ref620__housing__vent_mark.011","gamry_ref620__housing__vent_mark.012","gamry_ref620__housing__vent_mark.013","gamry_ref620__housing__vent_mark.014","gamry_ref620__housing__vent_mark.015","gamry_ref620__housing__vent_mark.016","gamry_ref620__housing__vent_mark.017","gamry_ref620__housing__vent_mark.018","gamry_ref620__housing__upper_seam.001","gamry_ref620__housing__vent_mark.019","gamry_ref620__housing__vent_mark.020","gamry_ref620__housing__vent_mark.021","gamry_ref620__housing__vent_mark.022","gamry_ref620__housing__vent_mark.023","gamry_ref620__housing__vent_mark.024","gamry_ref620__housing__vent_mark.025","gamry_ref620__housing__vent_mark.026","gamry_ref620__housing__vent_mark.027","gamry_ref620__housing__vent_mark.028","gamry_ref620__housing__vent_mark.029","gamry_ref620__housing__vent_mark.030","gamry_ref620__housing__vent_mark.031","gamry_ref620__housing__vent_mark.032","gamry_ref620__housing__vent_mark.033","gamry_ref620__housing__vent_mark.034","gamry_ref620__housing__vent_mark.035","gamry_ref620__housing__vent_mark.036","gamry_ref620__housing__vent_mark.037","gamry_ref620__housing__legend","gamry_ref620__housing__legend.001"],"collisions":[{"shape":"box","origin_m":[0,0,0.098],"rpy_rad":[0,0,0],"size_m":[0.09,0.264,0.184]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"engineering_assumption","geometry_note_zh":"整机外包络来自表格;局部尺度/布局是工程示意,不是厂家CAD或实测。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.04500000178813934,-0.13199999928474426,0.00599999725818634],[0.04500000178813934,0.13249999284744263,0.1899999976158142]],"raw_keys":["collisions","evaluated_bounds_world_m","frame","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","is_slot","mass_kg","name_zh","obj_path","objects","origin_m","parent","properties"]},{"id":"feet","name_zh":"四个支承脚","function_zh":"承托仪器并给出台面接触位置。","physical_meaning_zh":"外观支撑几何;摩擦、弹性与真实接触面积未知。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["gamry_ref620__feet__foot","gamry_ref620__feet__foot.001","gamry_ref620__feet__foot.002","gamry_ref620__feet__foot.003"],"collisions":[{"shape":"cylinder","origin_m":[-0.029,-0.101,0.004],"rpy_rad":[0,0,0],"radius_m":0.008,"length_m":0.008},{"shape":"cylinder","origin_m":[-0.029,0.101,0.004],"rpy_rad":[0,0,0],"radius_m":0.008,"length_m":0.008},{"shape":"cylinder","origin_m":[0.029,-0.101,0.004],"rpy_rad":[0,0,0],"radius_m":0.008,"length_m":0.008},{"shape":"cylinder","origin_m":[0.029,0.101,0.004],"rpy_rad":[0,0,0],"radius_m":0.008,"length_m":0.008}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"engineering_assumption","geometry_note_zh":"整机外包络来自表格;局部尺度/布局是工程示意,不是厂家CAD或实测。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.03700000047683716,-0.10900000482797623,0.0],[0.03700000047683716,0.10900000482797623,0.00800000037997961]],"raw_keys":["collisions","evaluated_bounds_world_m","frame","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","is_slot","mass_kg","name_zh","obj_path","objects","origin_m","parent","properties"]},{"id":"front_panel","name_zh":"正面型号和接口面板","function_zh":"标识型号与外部接口区域。","physical_meaning_zh":"可视操作面;面板局部尺寸为外观示意。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["gamry_ref620__front_panel__fascia","gamry_ref620__front_panel__brand_field","gamry_ref620__front_panel__legend","gamry_ref620__front_panel__legend.001","gamry_ref620__front_panel__legend.002","gamry_ref620__front_panel__legend.003","gamry_ref620__front_panel__fastener","gamry_ref620__front_panel__fastener.001","gamry_ref620__front_panel__fastener.002","gamry_ref620__front_panel__fastener.003"],"collisions":[{"shape":"box","origin_m":[0,-0.1335,0.098],"rpy_rad":[0,0,0],"size_m":[0.086,0.003,0.178]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"engineering_assumption","geometry_note_zh":"整机外包络来自表格;局部尺度/布局是工程示意,不是厂家CAD或实测。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.0430000014603138,-0.13539999723434448,0.00899999588727951],[0.0430000014603138,-0.13199999928474426,0.18700000643730164]],"raw_keys":["collisions","evaluated_bounds_world_m","frame","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","is_slot","mass_kg","name_zh","obj_path","objects","origin_m","parent","properties"]},{"id":"status_indicators","name_zh":"四个静态前板指示灯","function_zh":"标识四个前面板指示位置。","physical_meaning_zh":"静态可视指示灯;未实现随过程状态变化的场景驱动。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["gamry_ref620__status_indicators__led_bezel","gamry_ref620__status_indicators__unlit_led","gamry_ref620__status_indicators__legend","gamry_ref620__status_indicators__led_bezel.001","gamry_ref620__status_indicators__unlit_led.001","gamry_ref620__status_indicators__legend.001","gamry_ref620__status_indicators__led_bezel.002","gamry_ref620__status_indicators__unlit_led.002","gamry_ref620__status_indicators__legend.002","gamry_ref620__status_indicators__led_bezel.003","gamry_ref620__status_indicators__unlit_led.003","gamry_ref620__status_indicators__legend.003"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"engineering_assumption","geometry_note_zh":"整机外包络来自表格;局部尺度/布局是工程示意,不是厂家CAD或实测。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.017790699377655983,-0.1356000006198883,0.10379999876022339],[0.029200000688433647,-0.13475000858306885,0.1412000060081482]],"raw_keys":["collisions","evaluated_bounds_world_m","frame","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","is_slot","mass_kg","name_zh","obj_path","objects","origin_m","parent","properties"]},{"id":"cell_connector","name_zh":"单个25针D型电池线缆接口","function_zh":"表示单个25针D型电池线缆接口。","physical_meaning_zh":"设备端单一Cell Cable连接器;不是三个直接电极插孔,针脚几何和公差未复刻。","subsystem":null,"parent":"root","origin_m":[0,-0.136,0.077],"rpy_rad":[0,0,0],"objects":["gamry_ref620__cell_connector__d_sub_shell","gamry_ref620__cell_connector__d_sub_insert","gamry_ref620__cell_connector__contact_schematic","gamry_ref620__cell_connector__contact_schematic.001","gamry_ref620__cell_connector__contact_schematic.002","gamry_ref620__cell_connector__contact_schematic.003","gamry_ref620__cell_connector__contact_schematic.004","gamry_ref620__cell_connector__contact_schematic.005","gamry_ref620__cell_connector__contact_schematic.006","gamry_ref620__cell_connector__contact_schematic.007","gamry_ref620__cell_connector__contact_schematic.008","gamry_ref620__cell_connector__contact_schematic.009","gamry_ref620__cell_connector__contact_schematic.010","gamry_ref620__cell_connector__contact_schematic.011","gamry_ref620__cell_connector__contact_schematic.012","gamry_ref620__cell_connector__contact_schematic.013","gamry_ref620__cell_connector__contact_schematic.014","gamry_ref620__cell_connector__contact_schematic.015","gamry_ref620__cell_connector__contact_schematic.016","gamry_ref620__cell_connector__contact_schematic.017","gamry_ref620__cell_connector__contact_schematic.018","gamry_ref620__cell_connector__contact_schematic.019","gamry_ref620__cell_connector__contact_schematic.020","gamry_ref620__cell_connector__contact_schematic.021","gamry_ref620__cell_connector__contact_schematic.022","gamry_ref620__cell_connector__contact_schematic.023","gamry_ref620__cell_connector__contact_schematic.024","gamry_ref620__cell_connector__jack_screw","gamry_ref620__cell_connector__jack_screw.001","gamry_ref620__cell_connector__legend"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.063,0.004,0.018]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"engineering_assumption","geometry_note_zh":"整机外包络来自表格;局部尺度/布局是工程示意,不是厂家CAD或实测。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.03150000050663948,-0.13830001652240753,0.059825796633958817],[0.03150000050663948,-0.1343500018119812,0.08500000089406967]],"raw_keys":["collisions","evaluated_bounds_world_m","frame","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","is_slot","mass_kg","name_zh","obj_path","objects","origin_m","parent","properties"]},{"id":"cable_guide","name_zh":"线缆连接关系定位","function_zh":"给三电极线缆的连接关系提供空间提示。","physical_meaning_zh":"抽象布线或线缆引出区域;不代表已实测线缆长度、导体和柔性动力学。 实际交付为无mesh的空Frame,无独立OBJ或碰撞体。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["gamry_ref620__cable_guide"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"engineering_assumption","geometry_note_zh":"整机外包络来自表格;局部尺度/布局是工程示意,不是厂家CAD或实测。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","evaluated_bounds_world_m","frame","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","is_slot","mass_kg","name_zh","obj_path","objects","origin_m","parent","properties"]},{"id":"working_electrode_slot","name_zh":"工作电极末端逻辑槽","function_zh":"记录外部工作电极连接状态。","physical_meaning_zh":"工作电极与Working Sense的逻辑连接槽;不生成虚构电极实体或材料参数。 实际交付为无mesh的空Frame,无独立OBJ或碰撞体。","subsystem":null,"parent":"root","origin_m":[-0.035,-0.21,0.075],"rpy_rad":[0,0,0],"objects":["gamry_ref620__working_electrode_slot"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"engineering_assumption","geometry_note_zh":"整机外包络来自表格;局部尺度/布局是工程示意,不是厂家CAD或实测。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["slot.set_connection","electrochem.start"],"bbox_m":null,"raw_keys":["collisions","evaluated_bounds_world_m","frame","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","is_slot","mass_kg","name_zh","obj_path","objects","origin_m","parent","properties"]},{"id":"reference_electrode_slot","name_zh":"参比电极末端逻辑槽","function_zh":"记录外部参比电极连接状态。","physical_meaning_zh":"外部参比电极逻辑连接槽;参比体系、电位与尺寸均未知。 实际交付为无mesh的空Frame,无独立OBJ或碰撞体。","subsystem":null,"parent":"root","origin_m":[0,-0.21,0.075],"rpy_rad":[0,0,0],"objects":["gamry_ref620__reference_electrode_slot"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"engineering_assumption","geometry_note_zh":"整机外包络来自表格;局部尺度/布局是工程示意,不是厂家CAD或实测。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["slot.set_connection","electrochem.start"],"bbox_m":null,"raw_keys":["collisions","evaluated_bounds_world_m","frame","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","is_slot","mass_kg","name_zh","obj_path","objects","origin_m","parent","properties"]},{"id":"counter_electrode_slot","name_zh":"对电极末端逻辑槽","function_zh":"记录外部对电极连接状态。","physical_meaning_zh":"外部对电极逻辑连接槽;未假定材质、面积、形状或质量。 实际交付为无mesh的空Frame,无独立OBJ或碰撞体。","subsystem":null,"parent":"root","origin_m":[0.035,-0.21,0.075],"rpy_rad":[0,0,0],"objects":["gamry_ref620__counter_electrode_slot"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"engineering_assumption","geometry_note_zh":"整机外包络来自表格;局部尺度/布局是工程示意,不是厂家CAD或实测。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["slot.set_connection","electrochem.start"],"bbox_m":null,"raw_keys":["collisions","evaluated_bounds_world_m","frame","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","is_slot","mass_kg","name_zh","obj_path","objects","origin_m","parent","properties"]},{"id":"cell_slot","name_zh":"外部电极电解池槽","function_zh":"记录外部电极—电解液电池连接状态。","physical_meaning_zh":"外部电解池位置引用;不制造池体、溶液或试样真值。 实际交付为无mesh的空Frame,无独立OBJ或碰撞体。","subsystem":null,"parent":"root","origin_m":[0,-0.245,0.04],"rpy_rad":[0,0,0],"objects":["gamry_ref620__cell_slot"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"engineering_assumption","geometry_note_zh":"整机外包络来自表格;局部尺度/布局是工程示意,不是厂家CAD或实测。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["slot.set_connection","electrochem.start"],"bbox_m":null,"raw_keys":["collisions","evaluated_bounds_world_m","frame","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","is_slot","mass_kg","name_zh","obj_path","objects","origin_m","parent","properties"]},{"id":"power_inlet","name_zh":"后侧供电连接","function_zh":"标识逻辑供电端口。","physical_meaning_zh":"接口外观示意;无真实电气驱动或电源参数仿真。","subsystem":null,"parent":"root","origin_m":[0.019,0.133,0.04],"rpy_rad":[0,0,0],"objects":["gamry_ref620__power_inlet__power_bezel","gamry_ref620__power_inlet__power_socket","gamry_ref620__power_inlet__power_socket_recess","gamry_ref620__power_inlet__legend"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.026,0.004,0.024]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"engineering_assumption","geometry_note_zh":"整机外包络来自表格;局部尺度/布局是工程示意,不是厂家CAD或实测。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[0.0059999991208314896,0.13099999725818634,0.0279999990016222],[0.03199999779462814,0.13609999418258667,0.06136849895119667]],"raw_keys":["collisions","evaluated_bounds_world_m","frame","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","is_slot","mass_kg","name_zh","obj_path","objects","origin_m","parent","properties"]},{"id":"data_port","name_zh":"后侧宿主数据接口","function_zh":"标识与宿主交换序列的数据端口。","physical_meaning_zh":"几何只表示连接位置;未实现厂家USB通信或仪器驱动。","subsystem":null,"parent":"root","origin_m":[-0.019,0.133,0.04],"rpy_rad":[0,0,0],"objects":["gamry_ref620__data_port__usb_bezel","gamry_ref620__data_port__usb_recess","gamry_ref620__data_port__legend"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.016,0.004,0.015]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"engineering_assumption","geometry_note_zh":"整机外包络来自表格;局部尺度/布局是工程示意,不是厂家CAD或实测。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.026999998837709427,0.13099999725818634,0.032499998807907104],[-0.01099999900907278,0.1354999989271164,0.06136849895119667]],"raw_keys":["collisions","evaluated_bounds_world_m","frame","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","is_slot","mass_kg","name_zh","obj_path","objects","origin_m","parent","properties"]}],"component_source":"geometry_manifest.json + asset.contract.json + collision_proxies.json","capabilities":{"power.set":{"function_zh":"设置逻辑电源;关电保留已播放序列并停止输出。","kind":"device_command","availability":"implemented","component_ids":["root"],"implementation":{"process":"verified","host":"verified","scene":"absent","robot":"absent","hardware":"absent"},"input":["enabled"]},"slot.set_connection":{"function_zh":"登记或清除单个逻辑连接槽;不执行机械接线。","kind":"configuration","availability":"implemented","component_ids":["working_electrode_slot","reference_electrode_slot","counter_electrode_slot","cell_slot"],"implementation":{"process":"verified","host":"verified","scene":"absent","robot":"absent","hardware":"absent"},"input":["port_id","connection_id"]},"electrochem.configure_waveform":{"function_zh":"配置显式离���电位或电流命令,清空上一轮序列;不推导扫描速率或样本响应。","kind":"configuration","availability":"implemented","component_ids":["root"],"implementation":{"process":"verified","host":"verified","scene":"absent","robot":"absent","hardware":"absent"},"input":["program"]},"electrochem.start":{"function_zh":"开始等待宿主时钟播放离散程序;此调用不产生样点也不推进时间。","kind":"device_command","availability":"implemented","component_ids":["root","working_electrode_slot","reference_electrode_slot","counter_electrode_slot","cell_slot"],"implementation":{"process":"verified","host":"verified","scene":"absent","robot":"absent","hardware":"absent"},"input":[]},"electrochem.stop":{"function_zh":"停止尚未播放的命令,保留已播放序列;输出设为null。","kind":"device_command","availability":"implemented","component_ids":["root"],"implementation":{"process":"verified","host":"verified","scene":"absent","robot":"absent","hardware":"absent"},"input":[]},"electrochem.read_series":{"function_zh":"只读合成命令序列;真实测量通道为null,不推进时间。","kind":"query","availability":"implemented","component_ids":["root"],"implementation":{"process":"verified","host":"verified","scene":"absent","robot":"absent","hardware":"absent"},"input":[]},"electrochem.eis":{"function_zh":"表中EIS范围保留为型号规格;本批不生成阻抗谱或虚构成功。","kind":"device_command","availability":"unsupported","component_ids":["root"],"implementation":{"process":"absent","host":"absent","scene":"absent","robot":"absent","hardware":"absent"},"input":[]}},"state_slots":{"power.enabled":{"meaning_zh":"供电逻辑状态;关电立即停止命令输出。","unit":"1","access":"read_write","origin":"setpoint","component_ids":["root"],"write_via":"power.set"},"slot.working_electrode.connection_id":{"meaning_zh":"宿主场景连接槽的逻辑引用;null表示未连接,不证明接触或机器人接线已完成。","unit":"1","access":"read_write","origin":"scene","component_ids":["working_electrode_slot"],"write_via":"slot.set_connection"},"slot.reference_electrode.connection_id":{"meaning_zh":"宿主场景连接槽的逻辑引用;null表示未连接,不证明接触或机器人接线已完成。","unit":"1","access":"read_write","origin":"scene","component_ids":["reference_electrode_slot"],"write_via":"slot.set_connection"},"slot.counter_electrode.connection_id":{"meaning_zh":"宿主场景连接槽的逻辑引用;null表示未连接,不证明接触或机器人接线已完成。","unit":"1","access":"read_write","origin":"scene","component_ids":["counter_electrode_slot"],"write_via":"slot.set_connection"},"slot.cell.connection_id":{"meaning_zh":"宿主场景连接槽的逻辑引用;null表示未连接,不证明接触或机器人接线已完成。","unit":"1","access":"read_write","origin":"scene","component_ids":["cell_slot"],"write_via":"slot.set_connection"},"waveform.program":{"meaning_zh":"显式离散命令程序;电位与电流互斥;采样间隔须不小于表列最小时间基准。","unit":"1","access":"read_write","origin":"setpoint","component_ids":["root"],"write_via":"electrochem.configure_waveform"},"waveform.status":{"meaning_zh":"离散播放状态,不代表真实样本实验完成。","unit":"1","access":"read_only","origin":"derived","component_ids":["root"],"write_via":null},"waveform.running":{"meaning_zh":"是否等待宿主推进来播放剩余命令。","unit":"1","access":"read_only","origin":"derived","component_ids":["root"],"write_via":null},"waveform.sample_count":{"meaning_zh":"已播放命令点数。","unit":"1","access":"read_only","origin":"derived","component_ids":["root"],"write_via":null},"waveform.elapsed_s":{"meaning_zh":"本次播放已推进的有效时间,完成后停在最后命令点。","unit":"s","access":"read_only","origin":"derived","component_ids":["root"],"write_via":null},"output.commanded_potential_v":{"meaning_zh":"当前合成电位命令;停止或使用电流模式时为null。","unit":"V","access":"read_only","origin":"derived","component_ids":["root"],"write_via":null},"output.commanded_current_a":{"meaning_zh":"当前合成电流命令;停止或使用电位模式时为null。","unit":"A","access":"read_only","origin":"derived","component_ids":["root"],"write_via":null},"acquisition.series":{"meaning_zh":"按时间排列的命令回放序列;两种实测通道均为null。","unit":"1","access":"read_only","origin":"derived","component_ids":["root"],"write_via":null},"acquisition.synthetic":{"meaning_zh":"本适配器产生的序列始终标记synthetic。","unit":"1","access":"read_only","origin":"derived","component_ids":["root"],"write_via":null},"measurement.potential_v":{"meaning_zh":"未接入真实电位传感器;无响应模型。","unit":"V","access":"read_only","origin":"sensor","component_ids":["root"],"write_via":null},"measurement.current_a":{"meaning_zh":"未接入真实电流传感器;无响应模型。","unit":"A","access":"read_only","origin":"sensor","component_ids":["root"],"write_via":null},"method.scan_rate_v_s":{"meaning_zh":"未配置连续扫描速率;本批仅显式离散程序。","unit":"V/s","access":"read_only","origin":"setpoint","component_ids":["root"],"write_via":null},"method.frequency_hz":{"meaning_zh":"未配置EIS频率;EIS执行不支持。","unit":"Hz","access":"read_only","origin":"setpoint","component_ids":["root"],"write_via":null},"method.amplitude_v":{"meaning_zh":"未配置EIS振幅;无虚构默认值。","unit":"V","access":"read_only","origin":"setpoint","component_ids":["root"],"write_via":null},"method.ir_compensation_ohm":{"meaning_zh":"未提供iR补偿参数,保持未知。","unit":"ohm","access":"read_only","origin":"setpoint","component_ids":["root"],"write_via":null},"scheduler.started_at_s":{"meaning_zh":"宿主内部调度起点;仅debug/evaluator可见。","unit":"s","access":"read_only","origin":"process_truth","component_ids":["root"],"write_via":null}},"mechanisms":{"synthetic_command_playback":{"meaning_zh":"宿主时间驱动的显式离散命令回放;只是synthetic序列,不计算样本电化学响应。","implementation":"numerical","equations":["t_k = t_start + k * sample_interval_s","内部时间输入按最短十进制表示转换为精确有理数后累计和比较;完整对外浮点时间戳计划须有限且严格递增。","command_k = program.values[k];电位模式单位V,电流模式单位A;另一命令通道为null。","measured_potential_v = null;measured_current_a = null;synthetic = true。"],"parameters":{"maximum_program_samples":{"value":10000,"unit":"1","evidence":"assumption","meaning_zh":"本地资源预算;不是厂家的最大采样点数。"},"minimum_program_interval":{"value":3.333e-06,"unit":"s","evidence":"assumption","meaning_zh":"engineering_assumption:将表列最小时间基准作为软件程序最小点间隔,不声称固件采样或实时性能。"},"cell_resistance":{"value":null,"unit":"ohm","evidence":"unknown","meaning_zh":"真实电池电阻未知;未使用欧姆定律制造响应。"},"electrode_area":{"value":null,"unit":"m^2","evidence":"unknown","meaning_zh":"真实电极面积未知。"}}}},"limitations":["本批仅建立Gamry Reference 620标称外形、固定装配与波形/返回序列;full不等于厂家全功能完成。","所有返回测量结果均标synthetic;没有真实电极/样本响应、噪声、校准曲线、故障概率或真实电化学动力学。","清单EIS频率范围保留为整机规格,electrochem.eis为unsupported;频率扫描、阻抗谱、iR补偿与真实性能验证未实现。","仅单一Cell Cable设备端接口及外部三电极/池逻辑槽;没有虚构电极实体、池体、试样材料或容积。","整机尺寸与3 kg质量来自清单;局部几何和连接帧是示意。所有未知部件物性为null,渲染材质不证明真实材料。","URDF仅用盒/柱/球碰撞基元;3 kg质量与包围盒近似惯量集中在整机单刚体。分件均固定且不赋假质量。","包围盒惯量、参考质心与合成信号为engineering_assumption;未实现Nernst或库仑机理求解。","无可动关节、无过程到场景联动;静态求值姿态检查不能代替操作动画或碰撞动力学验证。","机器人插拔、抓取、接触动力学、真实硬件通信和厂家仪器性能验证均not_run。","协议能力的绑定说明实际Python入口;未把它宣称为真实硬件SDK或已部署跨进程安全隔离。","标称9×27×19 cm为机箱主体约束;电池接口、背面接口和文字存在毫米级外凸。实际可视包围盒见geometry_manifest,不将其覆盖为厂家标称尺寸。","BLEND/OBJ/URDF采用SI、Z向上;GLB遵守glTF的Y向上存储,经导入器恢复到本合同Z向上坐标;此往返已在几何记录单独验证。","工程数值约定:宿主时间输入按最短十进制字符串转为精确有理数累计和比较,保证十进制时间步拆分一致;对外时间戳仍为浮点数,开始前须验证完整计划的时间戳有限且逐点严格递增,否则原子拒绝。"],"sources":[],"checks":{"coverage":{"status":"bridged","implemented":["electrochem.configure_waveform","electrochem.read_series","electrochem.start","electrochem.stop","power.set","slot.set_connection"],"unsupported":["electrochem.eis"],"note_zh":"桥接 basic40_runtime_measure.GamryReference620Runtime(推进方式 step_dt),21 个状态槽;与运行层镜像对比全同;受信设置需经 host.call;关节化 USD(无可动关节);接口点 0 个(无);布局:台面、机器人可搬、正面 −y、前方留空 0.25 m;面板为菜单/文字屏(待办)"}},"previews":["previews/gamry_reference620/preview_front.webp","previews/gamry_reference620/preview_rear.webp","previews/gamry_reference620/preview_slots_schematic.webp"],"files":[{"name":"asset.contract.json","path":"assets/basic40_batch02/t4_measure/gamry_ref620/asset.contract.json","bytes":178234},{"name":"collision_proxies.json","path":"assets/basic40_batch02/t4_measure/gamry_ref620/collision_proxies.json","bytes":4876},{"name":"geometry_manifest.json","path":"assets/basic40_batch02/t4_measure/gamry_ref620/geometry_manifest.json","bytes":25019},{"name":"meshes.zip","path":"assets/basic40_batch02/t4_measure/gamry_ref620/meshes.zip","bytes":415334},{"name":"model.blend","path":"assets/basic40_batch02/t4_measure/gamry_ref620/model.blend","bytes":526335},{"name":"model.glb","path":"assets/basic40_batch02/t4_measure/gamry_ref620/model.glb","bytes":1135060},{"name":"model.urdf","path":"assets/basic40_batch02/t4_measure/gamry_ref620/model.urdf","bytes":5325}],"completeness":{"components":12,"with_collisions":6,"with_objects":12,"with_function":12,"with_mass":0,"joints_matching_component":0,"joints":0,"has_contract":true,"has_layout":true,"has_glb":true,"checks_present":["coverage","contract_validation","runtime_validation","scene_validation"]},"slug":"gamry_reference620","chem_id":"CHEM-103","name_en":"Potentiostat / electrochemical workstation","maker":"Gamry","model":"Reference 620","domain":"electrochem","domain_name":"Electrochemistry & Titration","path":"assets/basic40_batch02/t4_measure/gamry_ref620","glb_up":"y","has_contract":true,"contract":"assets/basic40_batch02/t4_measure/gamry_ref620/asset.contract.json","runtime":"scripts/basic40_runtime_measure.py"}
|
|
|
|
| 1 |
+
{"tid":"instrument.gamry_reference620","asset_dir":"basic40_batch02/t4_measure/gamry_ref620","name_zh":"Gamry Reference 620 电化学工作站","category":"电化学与定量分析","description_zh":"CHEM-103,三表第108行指定Gamry Reference 620。以9 W×19 H×27 D cm、3 kg整机及三电极/电解池槽位创建物理资产;本批过程仅限电位或电流波形与synthetic序列,EIS等未实现功能保留边界。full仅表示本批功能组件完整登记。","coordinate_system":{"status":"defined","length_unit":"m","angle_unit":"rad","handedness":"right","up_axis":"+Z","frame":"asset_root:台面投影中心;X向右、Y向后、Z向上。整机标称范围X±0.045 m、Y±0.135 m、Z=0..0.19 m。"},"mass_kg":3.0,"size_m":[0.09,0.2744,0.19],"bbox_min":[-0.045,-0.1383,0.0],"bbox_max":[0.045,0.1361,0.19],"manifest_dimensions_m":[0.09,0.27,0.19],"glb":"assets/basic40_batch02/t4_measure/gamry_ref620/model.glb","glb_orientation":"gltf_y_up_rotated","usd":null,"urdf":"assets/basic40_batch02/t4_measure/gamry_ref620/model.urdf","links":{},"frames":{"pre_place":[0.0,-0.0011,0.37],"place":[0.0,-0.0011,0.24],"post_place":[0.0,-0.0011,0.37]},"joints":[],"controls":{"buttons":[],"knobs":[]},"slots":[],"hidden_parts":[],"readouts":[],"layout":{"front":[0.0,-1.0,0.0],"front_source":"convention","mount":"bench","weight_class":"robot_portable","mass_kg":3.0,"footprint_m":[0.09,0.2744],"height_m":0.19,"clearance_m":{"front":0.25,"back":0.15,"left":0.05,"right":0.05,"top":0.1},"robot_standoff_m":0.35,"work_height_m":0.19,"primary_slot":null,"access":[],"slot_count":0},"components":[{"id":"housing","name_zh":"承载机箱","function_zh":"支撑并防护仪器内部功能。","physical_meaning_zh":"按整机包围盒约束的外观机箱;内部结构、壁厚及材料未实测。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["gamry_ref620__housing__case","gamry_ref620__housing__upper_seam","gamry_ref620__housing__vent_mark","gamry_ref620__housing__vent_mark.001","gamry_ref620__housing__vent_mark.002","gamry_ref620__housing__vent_mark.003","gamry_ref620__housing__vent_mark.004","gamry_ref620__housing__vent_mark.005","gamry_ref620__housing__vent_mark.006","gamry_ref620__housing__vent_mark.007","gamry_ref620__housing__vent_mark.008","gamry_ref620__housing__vent_mark.009","gamry_ref620__housing__vent_mark.010","gamry_ref620__housing__vent_mark.011","gamry_ref620__housing__vent_mark.012","gamry_ref620__housing__vent_mark.013","gamry_ref620__housing__vent_mark.014","gamry_ref620__housing__vent_mark.015","gamry_ref620__housing__vent_mark.016","gamry_ref620__housing__vent_mark.017","gamry_ref620__housing__vent_mark.018","gamry_ref620__housing__upper_seam.001","gamry_ref620__housing__vent_mark.019","gamry_ref620__housing__vent_mark.020","gamry_ref620__housing__vent_mark.021","gamry_ref620__housing__vent_mark.022","gamry_ref620__housing__vent_mark.023","gamry_ref620__housing__vent_mark.024","gamry_ref620__housing__vent_mark.025","gamry_ref620__housing__vent_mark.026","gamry_ref620__housing__vent_mark.027","gamry_ref620__housing__vent_mark.028","gamry_ref620__housing__vent_mark.029","gamry_ref620__housing__vent_mark.030","gamry_ref620__housing__vent_mark.031","gamry_ref620__housing__vent_mark.032","gamry_ref620__housing__vent_mark.033","gamry_ref620__housing__vent_mark.034","gamry_ref620__housing__vent_mark.035","gamry_ref620__housing__vent_mark.036","gamry_ref620__housing__vent_mark.037","gamry_ref620__housing__legend","gamry_ref620__housing__legend.001"],"collisions":[{"shape":"box","origin_m":[0,0,0.098],"rpy_rad":[0,0,0],"size_m":[0.09,0.264,0.184]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"engineering_assumption","geometry_note_zh":"整机外包络来自表格;局部尺度/布局是工程示意,不是厂家CAD或实测。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.04500000178813934,-0.13199999928474426,0.00599999725818634],[0.04500000178813934,0.13249999284744263,0.1899999976158142]],"raw_keys":["collisions","evaluated_bounds_world_m","frame","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","is_slot","mass_kg","name_zh","obj_path","objects","origin_m","parent","properties"]},{"id":"feet","name_zh":"四个支承脚","function_zh":"承托仪器并给出台面接触位置。","physical_meaning_zh":"外观支撑几何;摩擦、弹性与真实接触面积未知。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["gamry_ref620__feet__foot","gamry_ref620__feet__foot.001","gamry_ref620__feet__foot.002","gamry_ref620__feet__foot.003"],"collisions":[{"shape":"cylinder","origin_m":[-0.029,-0.101,0.004],"rpy_rad":[0,0,0],"radius_m":0.008,"length_m":0.008},{"shape":"cylinder","origin_m":[-0.029,0.101,0.004],"rpy_rad":[0,0,0],"radius_m":0.008,"length_m":0.008},{"shape":"cylinder","origin_m":[0.029,-0.101,0.004],"rpy_rad":[0,0,0],"radius_m":0.008,"length_m":0.008},{"shape":"cylinder","origin_m":[0.029,0.101,0.004],"rpy_rad":[0,0,0],"radius_m":0.008,"length_m":0.008}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"engineering_assumption","geometry_note_zh":"整机外包络来自表格;局部尺度/布局是工程示意,不是厂家CAD或实测。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.03700000047683716,-0.10900000482797623,0.0],[0.03700000047683716,0.10900000482797623,0.00800000037997961]],"raw_keys":["collisions","evaluated_bounds_world_m","frame","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","is_slot","mass_kg","name_zh","obj_path","objects","origin_m","parent","properties"]},{"id":"front_panel","name_zh":"正面型号和接口面板","function_zh":"标识型号与外部接口区域。","physical_meaning_zh":"可视操作面;面板局部尺寸为外观示意。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["gamry_ref620__front_panel__fascia","gamry_ref620__front_panel__brand_field","gamry_ref620__front_panel__legend","gamry_ref620__front_panel__legend.001","gamry_ref620__front_panel__legend.002","gamry_ref620__front_panel__legend.003","gamry_ref620__front_panel__fastener","gamry_ref620__front_panel__fastener.001","gamry_ref620__front_panel__fastener.002","gamry_ref620__front_panel__fastener.003"],"collisions":[{"shape":"box","origin_m":[0,-0.1335,0.098],"rpy_rad":[0,0,0],"size_m":[0.086,0.003,0.178]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"engineering_assumption","geometry_note_zh":"整机外包络来自表格;局部尺度/布局是工程示意,不是厂家CAD或实测。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.0430000014603138,-0.13539999723434448,0.00899999588727951],[0.0430000014603138,-0.13199999928474426,0.18700000643730164]],"raw_keys":["collisions","evaluated_bounds_world_m","frame","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","is_slot","mass_kg","name_zh","obj_path","objects","origin_m","parent","properties"]},{"id":"status_indicators","name_zh":"四个静态前板指示灯","function_zh":"标识四个前面板指示位置。","physical_meaning_zh":"静态可视指示灯;未实现随过程状态变化的场景驱动。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["gamry_ref620__status_indicators__led_bezel","gamry_ref620__status_indicators__unlit_led","gamry_ref620__status_indicators__legend","gamry_ref620__status_indicators__led_bezel.001","gamry_ref620__status_indicators__unlit_led.001","gamry_ref620__status_indicators__legend.001","gamry_ref620__status_indicators__led_bezel.002","gamry_ref620__status_indicators__unlit_led.002","gamry_ref620__status_indicators__legend.002","gamry_ref620__status_indicators__led_bezel.003","gamry_ref620__status_indicators__unlit_led.003","gamry_ref620__status_indicators__legend.003"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"engineering_assumption","geometry_note_zh":"整机外包络来自表格;局部尺度/布局是工程示意,不是厂家CAD或实测。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.017790699377655983,-0.1356000006198883,0.10379999876022339],[0.029200000688433647,-0.13475000858306885,0.1412000060081482]],"raw_keys":["collisions","evaluated_bounds_world_m","frame","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","is_slot","mass_kg","name_zh","obj_path","objects","origin_m","parent","properties"]},{"id":"cell_connector","name_zh":"单个25针D型电池线缆接口","function_zh":"表示单个25针D型电池线缆接口。","physical_meaning_zh":"设备端单一Cell Cable连接器;不是三个直接电极插孔,针脚几何和公差未复刻。","subsystem":null,"parent":"root","origin_m":[0,-0.136,0.077],"rpy_rad":[0,0,0],"objects":["gamry_ref620__cell_connector__d_sub_shell","gamry_ref620__cell_connector__d_sub_insert","gamry_ref620__cell_connector__contact_schematic","gamry_ref620__cell_connector__contact_schematic.001","gamry_ref620__cell_connector__contact_schematic.002","gamry_ref620__cell_connector__contact_schematic.003","gamry_ref620__cell_connector__contact_schematic.004","gamry_ref620__cell_connector__contact_schematic.005","gamry_ref620__cell_connector__contact_schematic.006","gamry_ref620__cell_connector__contact_schematic.007","gamry_ref620__cell_connector__contact_schematic.008","gamry_ref620__cell_connector__contact_schematic.009","gamry_ref620__cell_connector__contact_schematic.010","gamry_ref620__cell_connector__contact_schematic.011","gamry_ref620__cell_connector__contact_schematic.012","gamry_ref620__cell_connector__contact_schematic.013","gamry_ref620__cell_connector__contact_schematic.014","gamry_ref620__cell_connector__contact_schematic.015","gamry_ref620__cell_connector__contact_schematic.016","gamry_ref620__cell_connector__contact_schematic.017","gamry_ref620__cell_connector__contact_schematic.018","gamry_ref620__cell_connector__contact_schematic.019","gamry_ref620__cell_connector__contact_schematic.020","gamry_ref620__cell_connector__contact_schematic.021","gamry_ref620__cell_connector__contact_schematic.022","gamry_ref620__cell_connector__contact_schematic.023","gamry_ref620__cell_connector__contact_schematic.024","gamry_ref620__cell_connector__jack_screw","gamry_ref620__cell_connector__jack_screw.001","gamry_ref620__cell_connector__legend"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.063,0.004,0.018]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"engineering_assumption","geometry_note_zh":"整机外包络来自表格;局部尺度/布局是工程示意,不是厂家CAD或实测。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.03150000050663948,-0.13830001652240753,0.059825796633958817],[0.03150000050663948,-0.1343500018119812,0.08500000089406967]],"raw_keys":["collisions","evaluated_bounds_world_m","frame","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","is_slot","mass_kg","name_zh","obj_path","objects","origin_m","parent","properties"]},{"id":"cable_guide","name_zh":"线缆连接关系定位","function_zh":"给三电极线缆的连接关系提供空间提示。","physical_meaning_zh":"抽象布线或线缆引出区域;不代表已实测线缆长度、导体和柔性动力学。 实际交付为无mesh的空Frame,无独立OBJ或碰撞体。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["gamry_ref620__cable_guide"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"engineering_assumption","geometry_note_zh":"整机外包络来自表格;局部尺度/布局是工程示意,不是厂家CAD或实测。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","evaluated_bounds_world_m","frame","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","is_slot","mass_kg","name_zh","obj_path","objects","origin_m","parent","properties"]},{"id":"working_electrode_slot","name_zh":"工作电极末端逻辑槽","function_zh":"记录外部工作电极连接状态。","physical_meaning_zh":"工作电极与Working Sense的逻辑连接槽;不生成虚构电极实体或材料参数。 实际交付为无mesh的空Frame,无独立OBJ或碰撞体。","subsystem":null,"parent":"root","origin_m":[-0.035,-0.21,0.075],"rpy_rad":[0,0,0],"objects":["gamry_ref620__working_electrode_slot"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"engineering_assumption","geometry_note_zh":"整机外包络来自表格;局部尺度/布局是工程示意,不是厂家CAD或实测。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["slot.set_connection","electrochem.start"],"bbox_m":null,"raw_keys":["collisions","evaluated_bounds_world_m","frame","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","is_slot","mass_kg","name_zh","obj_path","objects","origin_m","parent","properties"]},{"id":"reference_electrode_slot","name_zh":"参比电极末端逻辑槽","function_zh":"记录外部参比电极连接状态。","physical_meaning_zh":"外部参比电���逻辑连接槽;参比体系、电位与尺寸均未知。 实际交付为无mesh的空Frame,无独立OBJ或碰撞体。","subsystem":null,"parent":"root","origin_m":[0,-0.21,0.075],"rpy_rad":[0,0,0],"objects":["gamry_ref620__reference_electrode_slot"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"engineering_assumption","geometry_note_zh":"整机外包络来自表格;局部尺度/布局是工程示意,不是厂家CAD或实测。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["slot.set_connection","electrochem.start"],"bbox_m":null,"raw_keys":["collisions","evaluated_bounds_world_m","frame","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","is_slot","mass_kg","name_zh","obj_path","objects","origin_m","parent","properties"]},{"id":"counter_electrode_slot","name_zh":"对电极末端逻辑槽","function_zh":"记录外部对电极连接状态。","physical_meaning_zh":"外部对电极逻辑连接槽;未假定材质、面积、形状或质量。 实际交付为无mesh的空Frame,无独立OBJ或碰撞体。","subsystem":null,"parent":"root","origin_m":[0.035,-0.21,0.075],"rpy_rad":[0,0,0],"objects":["gamry_ref620__counter_electrode_slot"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"engineering_assumption","geometry_note_zh":"整机外包络来自表格;局部尺度/布局是工程示意,不是厂家CAD或实测。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["slot.set_connection","electrochem.start"],"bbox_m":null,"raw_keys":["collisions","evaluated_bounds_world_m","frame","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","is_slot","mass_kg","name_zh","obj_path","objects","origin_m","parent","properties"]},{"id":"cell_slot","name_zh":"外部电极电解池槽","function_zh":"记录外部电极—电解液电池连接状态。","physical_meaning_zh":"外部电解池位置引用;不制造池体、溶液或试样真值。 实际交付为无mesh的空Frame,无独立OBJ或碰撞体。","subsystem":null,"parent":"root","origin_m":[0,-0.245,0.04],"rpy_rad":[0,0,0],"objects":["gamry_ref620__cell_slot"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"engineering_assumption","geometry_note_zh":"整机外包络来自表格;局部尺度/布局是工程示意,不是厂家CAD或实测。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["slot.set_connection","electrochem.start"],"bbox_m":null,"raw_keys":["collisions","evaluated_bounds_world_m","frame","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","is_slot","mass_kg","name_zh","obj_path","objects","origin_m","parent","properties"]},{"id":"power_inlet","name_zh":"后侧供电连接","function_zh":"标识逻辑供电端口。","physical_meaning_zh":"接口外观示意;无真实电气驱动或电源参数仿真。","subsystem":null,"parent":"root","origin_m":[0.019,0.133,0.04],"rpy_rad":[0,0,0],"objects":["gamry_ref620__power_inlet__power_bezel","gamry_ref620__power_inlet__power_socket","gamry_ref620__power_inlet__power_socket_recess","gamry_ref620__power_inlet__legend"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.026,0.004,0.024]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"engineering_assumption","geometry_note_zh":"整机外包络来自表格;局部尺度/布局是工程示意,不是厂家CAD或实测。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[0.0059999991208314896,0.13099999725818634,0.0279999990016222],[0.03199999779462814,0.13609999418258667,0.06136849895119667]],"raw_keys":["collisions","evaluated_bounds_world_m","frame","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","is_slot","mass_kg","name_zh","obj_path","objects","origin_m","parent","properties"]},{"id":"data_port","name_zh":"后侧宿主数据接口","function_zh":"标识与宿主交换序列的数据端口。","physical_meaning_zh":"几何只表示连接位置;未实现厂家USB通信或仪器驱动。","subsystem":null,"parent":"root","origin_m":[-0.019,0.133,0.04],"rpy_rad":[0,0,0],"objects":["gamry_ref620__data_port__usb_bezel","gamry_ref620__data_port__usb_recess","gamry_ref620__data_port__legend"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.016,0.004,0.015]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"engineering_assumption","geometry_note_zh":"整机外包络来自表格;局部尺度/布局是工程示意,不是厂家CAD或实测。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.026999998837709427,0.13099999725818634,0.032499998807907104],[-0.01099999900907278,0.1354999989271164,0.06136849895119667]],"raw_keys":["collisions","evaluated_bounds_world_m","frame","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","is_slot","mass_kg","name_zh","obj_path","objects","origin_m","parent","properties"]}],"component_source":"geometry_manifest.json + asset.contract.json + collision_proxies.json","capabilities":{"power.set":{"function_zh":"设置逻辑电源;关电保留已播放序列并停止输出。","kind":"device_command","availability":"implemented","component_ids":["root"],"implementation":{"process":"verified","host":"verified","scene":"absent","robot":"absent","hardware":"absent"},"input":["enabled"]},"slot.set_connection":{"function_zh":"登记或清除单个逻辑连接槽;不执行机械接线。","kind":"configuration","availability":"implemented","component_ids":["working_electrode_slot","reference_electrode_slot","counter_electrode_slot","cell_slot"],"implementation":{"process":"verified","host":"verified","scene":"absent","robot":"absent","hardware":"absent"},"input":["port_id","connection_id"]},"electrochem.configure_waveform":{"function_zh":"配置显式离散电位或电流命令,清空上一轮序列;不推导扫描速率或样本响应。","kind":"configuration","availability":"implemented","component_ids":["root"],"implementation":{"process":"verified","host":"verified","scene":"absent","robot":"absent","hardware":"absent"},"input":["program"]},"electrochem.start":{"function_zh":"开始等待宿主时钟播放离散程序;此调用不产生样点也不推进时间。","kind":"device_command","availability":"implemented","component_ids":["root","working_electrode_slot","reference_electrode_slot","counter_electrode_slot","cell_slot"],"implementation":{"process":"verified","host":"verified","scene":"absent","robot":"absent","hardware":"absent"},"input":[]},"electrochem.stop":{"function_zh":"停止尚未播放的命令,保留已播放序列;输出设为null。","kind":"device_command","availability":"implemented","component_ids":["root"],"implementation":{"process":"verified","host":"verified","scene":"absent","robot":"absent","hardware":"absent"},"input":[]},"electrochem.read_series":{"function_zh":"只读合成命令序列;真实测量通道为null,不推进时间。","kind":"query","availability":"implemented","component_ids":["root"],"implementation":{"process":"verified","host":"verified","scene":"absent","robot":"absent","hardware":"absent"},"input":[]},"electrochem.eis":{"function_zh":"表中EIS范围保留为型号规格;本批不生成阻抗谱或虚构成功。","kind":"device_command","availability":"unsupported","component_ids":["root"],"implementation":{"process":"absent","host":"absent","scene":"absent","robot":"absent","hardware":"absent"},"input":[]}},"state_slots":{"power.enabled":{"meaning_zh":"供电逻辑状态;关电立即停止命令输出。","unit":"1","access":"read_write","origin":"setpoint","component_ids":["root"],"write_via":"power.set"},"slot.working_electrode.connection_id":{"meaning_zh":"宿主场景连接槽的逻辑引用;null表示未连接,不证明接触或机器人接线已完成。","unit":"1","access":"read_write","origin":"scene","component_ids":["working_electrode_slot"],"write_via":"slot.set_connection"},"slot.reference_electrode.connection_id":{"meaning_zh":"宿主场景连接槽的逻辑引用;null表示未连接,不证明接触或机器人接线已完成。","unit":"1","access":"read_write","origin":"scene","component_ids":["reference_electrode_slot"],"write_via":"slot.set_connection"},"slot.counter_electrode.connection_id":{"meaning_zh":"宿主场景连接槽的逻辑引用;null表示未连接,不证明接触或机器人接线已完成。","unit":"1","access":"read_write","origin":"scene","component_ids":["counter_electrode_slot"],"write_via":"slot.set_connection"},"slot.cell.connection_id":{"meaning_zh":"宿主场景连接槽的逻辑引用;null表示未连接,不证明接触或机器人接线已完成。","unit":"1","access":"read_write","origin":"scene","component_ids":["cell_slot"],"write_via":"slot.set_connection"},"waveform.program":{"meaning_zh":"显式离散命令程序;电位与电流互斥;采样间隔须不小于表列最小时间基准。","unit":"1","access":"read_write","origin":"setpoint","component_ids":["root"],"write_via":"electrochem.configure_waveform"},"waveform.status":{"meaning_zh":"离散播放状态,不代表真实样本实验完成。","unit":"1","access":"read_only","origin":"derived","component_ids":["root"],"write_via":null},"waveform.running":{"meaning_zh":"是否等待宿主推进来播放剩余命令。","unit":"1","access":"read_only","origin":"derived","component_ids":["root"],"write_via":null},"waveform.sample_count":{"meaning_zh":"已播放命令点数。","unit":"1","access":"read_only","origin":"derived","component_ids":["root"],"write_via":null},"waveform.elapsed_s":{"meaning_zh":"本次播放已推进的有效时间,完成后停在最后命令点。","unit":"s","access":"read_only","origin":"derived","component_ids":["root"],"write_via":null},"output.commanded_potential_v":{"meaning_zh":"当前合成电位命令;停止或使用电流模式时为null。","unit":"V","access":"read_only","origin":"derived","component_ids":["root"],"write_via":null},"output.commanded_current_a":{"meaning_zh":"当前合成电流命令;停止或使用电位模式时为null。","unit":"A","access":"read_only","origin":"derived","component_ids":["root"],"write_via":null},"acquisition.series":{"meaning_zh":"按时间排列的命令回放序列;两种实测通道均为null。","unit":"1","access":"read_only","origin":"derived","component_ids":["root"],"write_via":null},"acquisition.synthetic":{"meaning_zh":"本适配器产生的序列始终标记synthetic。","unit":"1","access":"read_only","origin":"derived","component_ids":["root"],"write_via":null},"measurement.potential_v":{"meaning_zh":"未接入真实电位传感器;无响应模型。","unit":"V","access":"read_only","origin":"sensor","component_ids":["root"],"write_via":null},"measurement.current_a":{"meaning_zh":"未接入真实电流传感器;无响应模型。","unit":"A","access":"read_only","origin":"sensor","component_ids":["root"],"write_via":null},"method.scan_rate_v_s":{"meaning_zh":"未配置连续扫描速率;本批仅显式离散程序。","unit":"V/s","access":"read_only","origin":"setpoint","component_ids":["root"],"write_via":null},"method.frequency_hz":{"meaning_zh":"未配置EIS频率;EIS执行不支持。","unit":"Hz","access":"read_only","origin":"setpoint","component_ids":["root"],"write_via":null},"method.amplitude_v":{"meaning_zh":"未配置EIS振幅;无虚构默认值。","unit":"V","access":"read_only","origin":"setpoint","component_ids":["root"],"write_via":null},"method.ir_compensation_ohm":{"meaning_zh":"未提供iR补偿参数,保持未知。","unit":"ohm","access":"read_only","origin":"setpoint","component_ids":["root"],"write_via":null},"scheduler.started_at_s":{"meaning_zh":"宿主内部调度起点;仅debug/evaluator可见。","unit":"s","access":"read_only","origin":"process_truth","component_ids":["root"],"write_via":null}},"mechanisms":{"synthetic_command_playback":{"meaning_zh":"宿主时间驱动的显式离散命令回放;只是synthetic序列,不计算样本电化学响应。","implementation":"numerical","equations":["t_k = t_start + k * sample_interval_s","内部时间输入按最短十进制表示转换为精确有理数后累计和比较;完整对外浮点时间戳计划须有限且严格递增。","command_k = program.values[k];电位模式单位V,电流模式单位A;另一命令通道为null。","measured_potential_v = null;measured_current_a = null;synthetic = true。"],"parameters":{"maximum_program_samples":{"value":10000,"unit":"1","evidence":"assumption","meaning_zh":"本地资源预算;不是厂家的最大采样点数。"},"minimum_program_interval":{"value":3.333e-06,"unit":"s","evidence":"assumption","meaning_zh":"engineering_assumption:将表列最小时间基准作为软件程序最小点间隔,不声称固件采样或实时性能。"},"cell_resistance":{"value":null,"unit":"ohm","evidence":"unknown","meaning_zh":"真实电池电阻未知;未使用欧姆定律制造响应。"},"electrode_area":{"value":null,"unit":"m^2","evidence":"unknown","meaning_zh":"真实电极面积未知。"}}}},"limitations":["本批仅建立Gamry Reference 620标称外形、固定装配与波形/返回序列;full不等于厂家全功能完成。","所有返回测量结果均标synthetic;没有真实电极/样本响应、噪声、校准曲线、故障概率或真实电化学动力学。","清单EIS频率范围保留为整机规格,electrochem.eis为unsupported;频率扫描、阻抗谱、iR补偿与真实性能验证未实现。","仅单一Cell Cable设备端接口及外部三电极/池逻辑槽;没有虚构电极实体、池体、试样材料或容积。","整机尺寸与3 kg质量来自清单;局部几何和连接帧是示意。所有未知部件物性为null,渲染材质不证明真实材料。","URDF仅用盒/柱/球碰撞基元;3 kg质量与包围盒近似惯量集中在整机单刚体。分件均固定且不赋假质量。","包围盒惯量、参考质心与合成信号为engineering_assumption;未实现Nernst或库仑机理求解。","无可动关节、无过程到场景联动;静态求值姿态检查不能代替操作动画或碰撞动力学验证。","机器人插拔、抓取、接触动力学、真实硬件通信和厂家仪器性能验证均not_run。","协议能力的绑定说明实际Python入口;未把它宣称为真实硬件SDK或已部署跨进程安全隔离。","标称9×27×19 cm为机箱主体约束;电池接口、背面接口和文字存在毫米级外凸。实际可视包围盒见geometry_manifest,不将其覆盖为厂家标称尺寸。","BLEND/OBJ/URDF采用SI、Z向上;GLB遵守glTF的Y向上存储,经导入器恢复到本��同Z向上坐标;此往返已在几何记录单独验证。","工程数值约定:宿主时间输入按最短十进制字符串转为精确有理数累计和比较,保证十进制时间步拆分一致;对外时间戳仍为浮点数,开始前须验证完整计划的时间戳有限且逐点严格递增,否则原子拒绝。"],"sources":[],"checks":{"coverage":{"status":"bridged","implemented":["electrochem.configure_waveform","electrochem.read_series","electrochem.start","electrochem.stop","power.set","slot.set_connection"],"unsupported":["electrochem.eis"],"note_zh":"桥接 basic40_runtime_measure.GamryReference620Runtime(推进方式 step_dt),21 个状态槽;与运行层镜像对比全同;受信设置需经 host.call;关节化 USD(无可动关节);接口点 0 个(无);布局:台面、机器人可搬、正面 −y、前方留空 0.25 m;面板为菜单/文字屏(待办)"}},"previews":["previews/gamry_reference620/preview_front.webp","previews/gamry_reference620/preview_rear.webp","previews/gamry_reference620/preview_slots_schematic.webp"],"files":[{"name":"asset.contract.json","path":"assets/basic40_batch02/t4_measure/gamry_ref620/asset.contract.json","bytes":214067},{"name":"collision_proxies.json","path":"assets/basic40_batch02/t4_measure/gamry_ref620/collision_proxies.json","bytes":4876},{"name":"geometry_manifest.json","path":"assets/basic40_batch02/t4_measure/gamry_ref620/geometry_manifest.json","bytes":25019},{"name":"meshes.zip","path":"assets/basic40_batch02/t4_measure/gamry_ref620/meshes.zip","bytes":415334},{"name":"model.blend","path":"assets/basic40_batch02/t4_measure/gamry_ref620/model.blend","bytes":526335},{"name":"model.glb","path":"assets/basic40_batch02/t4_measure/gamry_ref620/model.glb","bytes":1135060},{"name":"model.urdf","path":"assets/basic40_batch02/t4_measure/gamry_ref620/model.urdf","bytes":5325}],"completeness":{"components":12,"with_collisions":6,"with_objects":12,"with_function":12,"with_mass":0,"joints_matching_component":0,"joints":0,"has_contract":true,"has_layout":true,"has_glb":true,"checks_present":["coverage","contract_validation","runtime_validation","scene_validation"]},"slug":"gamry_reference620","chem_id":"CHEM-103","name_en":"Potentiostat / electrochemical workstation","maker":"Gamry","model":"Reference 620","domain":"electrochem","domain_name":"Electrochemistry & Titration","path":"assets/basic40_batch02/t4_measure/gamry_ref620","glb_up":"y","has_contract":true,"contract":"assets/basic40_batch02/t4_measure/gamry_ref620/asset.contract.json","runtime":"scripts/basic40_runtime_measure.py"}
|
data/assets/instrument.glatt_miniglatt.json
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/assets/instrument.hach_dr6000.json
CHANGED
|
@@ -1 +1 @@
|
|
| 1 |
-
{"tid":"instrument.hach_dr6000","asset_dir":"basic40_batch02/t3_analytical/hach_dr6000","name_zh":"Hach DR6000 紫外可见分光光度计","category":"分子光谱与结构","description_zh":"CHEM-071、Hach DR6000:按三表第76行重建闭盖0.500×0.460×0.215 m、11 kg外形及装样/关盖/合成吸光度谱流程。full表示本批配置功能组件完整登记;未实现厂家全部功能。","coordinate_system":{"status":"defined","length_unit":"m","angle_unit":"rad","handedness":"right","up_axis":"+Z","frame":"整机台面投影中心为原点;X向右、Y向后、Z向上;闭盖标称范围X±0.25、Y±0.23、Z=0..0.215 m。"},"mass_kg":11.0,"size_m":[0.5,0.46,0.215],"bbox_min":[-0.25,-0.23,0.0],"bbox_max":[0.25,0.23,0.215],"manifest_dimensions_m":[0.5,0.46,0.215],"glb":"assets/basic40_batch02/t3_analytical/hach_dr6000/model.glb","glb_orientation":"already_z_up","usd":null,"urdf":"assets/basic40_batch02/t3_analytical/hach_dr6000/model.urdf","links":{"base_link":"/Geometry/base_link","lid_hinge_link":"/Geometry/base_link/lid_hinge_link"},"frames":{"pre_place":[0.0,0.0,0.395],"place":[0.0,0.0,0.265],"post_place":[0.0,0.0,0.395],"joint_lid_hinge":[-0.105,0.065,0.178]},"joints":[{"name":"lid_hinge","type":"continuous","parent":"base_link","child":"lid_hinge_link","axis":[-1.0,0.0,0.0],"lower":null,"upper":null,"effort":null,"mimic":null,"origin_m":[-0.105,0.065,0.178],"child_prim":"/Geometry/base_link/lid_hinge_link","child_bbox_min":[-0.213,-0.17283,0.14403],"child_bbox_max":[0.003,0.06483,0.18565],"kind":"door"}],"controls":{"buttons":[],"knobs":[]},"slots":[{"name":"cuvette","link":"base_link","part":"cuvette_slot","pos":[-0.105,-0.045,0.085],"rot":[0.0,0.0,0.0,1.0],"pos_link":[-0.105,-0.045,0.085],"rot_link":[0.0,0.0,0.0,1.0],"radius_m":0.012,"kind":"hole","fits":["cuvette","vial"],"anchor":"base","insert_axis":[0.0,0.0,1.0],"capture_m":0.03,"access":["lid_hinge"],"modelled_occupant":false}],"hidden_parts":[],"readouts":[{"name":"count","part":"display_readout","prim":"/Geometry/base_link/readout_count","link":"base_link","digits":3,"decimals":0,"unit":"","center":[0.1111,-0.0636,0.1921],"up":[-0.0,0.995,0.0998],"source":{"bridge":["measurement.count"]},"blank_channel":null,"on":[0.05,0.06,0.05],"off":[0.62,0.68,0.55],"size_m":[0.0186,0.0077],"normal":[-0.0,-0.0998,0.995]}],"layout":{"front":[0.0,-1.0,0.0],"front_source":"lid:lid_hinge","mount":"bench","weight_class":"one_person","mass_kg":11.0,"footprint_m":[0.5,0.46],"height_m":0.215,"clearance_m":{"front":0.25,"back":0.15,"left":0.05,"right":0.05,"top":0.1},"robot_standoff_m":0.35,"work_height_m":0.085,"primary_slot":"cuvette","access":[],"slot_count":1},"components":[{"id":"chassis","name_zh":"深蓝承载壳体","function_zh":"支撑和保护内部仪器。","physical_meaning_zh":"机箱占据的视觉及碰撞空间。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["chassis","hach_brand"],"collisions":[{"shape":"box","origin_m":[0,0,0.042],"rpy_rad":[0,0,0],"size_m":[0.5,0.46,0.06]},{"shape":"box","origin_m":[0,-0.215,0.095],"rpy_rad":[0,0,0],"size_m":[0.48,0.028,0.06]},{"shape":"box","origin_m":[-0.235,0,0.124],"rpy_rad":[0,0,0],"size_m":[0.03,0.418,0.104]},{"shape":"box","origin_m":[0.235,0,0.124],"rpy_rad":[0,0,0],"size_m":[0.03,0.418,0.104]},{"shape":"box","origin_m":[0,0.212,0.134],"rpy_rad":[0,0,0],"size_m":[0.45,0.036,0.112]},{"shape":"box","origin_m":[0.11,-0.035,0.117],"rpy_rad":[0,0,0],"size_m":[0.218,0.325,0.09]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set"],"bbox_m":[[-0.25,-0.23000000417232513,0.012000000104308128],[0.25,0.23000000417232513,0.1899999976158142]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"feet","name_zh":"四支撑脚","function_zh":"承托整机并定义接触台面。","physical_meaning_zh":"几何接触支点;摩擦和恢复系数未标定。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["feet"],"collisions":[{"shape":"cylinder","origin_m":[-0.195,-0.178,0.008],"rpy_rad":[0,0,0],"radius_m":0.018,"length_m":0.016},{"shape":"cylinder","origin_m":[-0.195,0.178,0.008],"rpy_rad":[0,0,0],"radius_m":0.018,"length_m":0.016},{"shape":"cylinder","origin_m":[0.195,-0.178,0.008],"rpy_rad":[0,0,0],"radius_m":0.018,"length_m":0.016},{"shape":"cylinder","origin_m":[0.195,0.178,0.008],"rpy_rad":[0,0,0],"radius_m":0.018,"length_m":0.016}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.21299999952316284,-0.19600000977516174,0.0],[0.21299999952316284,0.19600000977516174,0.01600000075995922]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"top_panel","name_zh":"后部上面板与前操作面板","function_zh":"形成仪器外观和操作面。","physical_meaning_zh":"外罩覆盖与承托,内部结构未实测。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["top_panel","model_mark"],"collisions":[{"shape":"box","origin_m":[0,0.138,0.192],"rpy_rad":[0,0,0],"size_m":[0.45,0.176,0.03]},{"shape":"box","origin_m":[0.112,-0.072,0.167],"rpy_rad":[0.1,0,0],"size_m":[0.214,0.238,0.022]},{"shape":"box","origin_m":[-0.218,-0.065,0.164],"rpy_rad":[0.1,0,0],"size_m":[0.018,0.257,0.025]},{"shape":"box","origin_m":[-0.105,-0.191,0.153],"rpy_rad":[0,0,0],"size_m":[0.232,0.02,0.021]},{"shape":"box","origin_m":[0,0.211,0.207],"rpy_rad":[0,0,0],"size_m":[0.43,0.022,0.016]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.22699999809265137,-0.20099999010562897,0.13913318514823914],[0.22499999403953552,0.22599999606609344,0.2150000035762787]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"sample_chamber","name_zh":"避光样品室","function_zh":"容纳比色皿并提供盖合空间。","physical_meaning_zh":"光学测量样品占位;未仿真光密封性。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["sample_chamber"],"collisions":[{"shape":"box","origin_m":[-0.105,-0.06,0.077],"rpy_rad":[0,0,0],"size_m":[0.218,0.24,0.014]},{"shape":"box","origin_m":[-0.208,-0.06,0.12],"rpy_rad":[0,0,0],"size_m":[0.012,0.24,0.074]},{"shape":"box","origin_m":[-0.002,-0.06,0.12],"rpy_rad":[0,0,0],"size_m":[0.012,0.24,0.074]},{"shape":"box","origin_m":[-0.105,0.054,0.12],"rpy_rad":[0,0,0],"size_m":[0.206,0.012,0.074]},{"shape":"box","origin_m":[-0.105,-0.174,0.116],"rpy_rad":[0,0,0],"size_m":[0.206,0.012,0.066]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.21400000154972076,-0.17999999225139618,0.07000000029802322],[0.0040000006556510925,0.05999999865889549,0.15700000524520874]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"sample_lid","name_zh":"样品室盖","function_zh":"开盖装卸样、闭盖后允许测量。","physical_meaning_zh":"围绕lid_hinge局部X轴负向转动;不是电机驱动机构。","subsystem":null,"parent":"lid_hinge","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["sample_lid"],"collisions":[{"shape":"box","origin_m":[0,-0.119,-0.01],"rpy_rad":[0.085,0,0],"size_m":[0.216,0.238,0.016]},{"shape":"box","origin_m":[0,-0.112,-0.021],"rpy_rad":[0.085,0,0],"size_m":[0.193,0.206,0.009]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["lid.set_angle"],"bbox_m":[[-0.21299999952316284,-0.17282506823539734,0.1440264880657196],[0.003000006079673767,0.06482505798339844,0.18564945459365845]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"lid_handle","name_zh":"盖板手指握点","function_zh":"提供人或机器人可识别的抓取外形。","physical_meaning_zh":"随样品盖转动的支撑组件;抓取未执行。","subsystem":null,"parent":"lid_hinge","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["lid_handle"],"collisions":[{"shape":"box","origin_m":[0,-0.224,-0.011],"rpy_rad":[0,0,0],"size_m":[0.052,0.018,0.009]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.13099999725818634,-0.1680000126361847,0.16250000894069672],[-0.07899999618530273,-0.15000000596046448,0.17149999737739563]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"lid_hardware","name_zh":"铰链轴与铰链座","function_zh":"支撑和约束样品盖转轴。","physical_meaning_zh":"关节外观;真实扭矩、阻尼、摩擦未知。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["lid_hardware"],"collisions":[{"shape":"box","origin_m":[-0.185,0.065,0.167],"rpy_rad":[0,0,0],"size_m":[0.02,0.02,0.018]},{"shape":"cylinder","origin_m":[-0.185,0.065,0.178],"rpy_rad":[0,1.5707963267948966,0],"radius_m":0.006,"length_m":0.03},{"shape":"box","origin_m":[-0.025,0.065,0.167],"rpy_rad":[0,0,0],"size_m":[0.02,0.02,0.018]},{"shape":"cylinder","origin_m":[-0.025,0.065,0.178],"rpy_rad":[0,1.5707963267948966,0],"radius_m":0.006,"length_m":0.03}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.20000000298023224,0.054999999701976776,0.15799999237060547],[-0.01000000536441803,0.07499999552965164,0.18400000035762787]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"cuvette_slot","name_zh":"方形比色皿槽位","function_zh":"接收一个样品或空白比色皿逻辑占位。","physical_meaning_zh":"槽口与装样位置用于交互;没有真实配合公差证据。","subsystem":null,"parent":"root","origin_m":[-0.105,-0.045,0.085],"rpy_rad":[0,0,0],"objects":["cuvette_slot"],"collisions":[{"shape":"box","origin_m":[0,0,-0.002],"rpy_rad":[0,0,0],"size_m":[0.036,0.04,0.004]},{"shape":"box","origin_m":[-0.011,0,0.014],"rpy_rad":[0,0,0],"size_m":[0.006,0.028,0.028]},{"shape":"box","origin_m":[0.011,0,0.014],"rpy_rad":[0,0,0],"size_m":[0.006,0.028,0.028]},{"shape":"box","origin_m":[0,-0.011,0.014],"rpy_rad":[0,0,0],"size_m":[0.016,0.006,0.028]},{"shape":"box","origin_m":[0,0.011,0.014],"rpy_rad":[0,0,0],"size_m":[0.016,0.006,0.028]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["sample.load","sample.unload","spectroscopy.measure"],"bbox_m":[[-0.12299999594688416,-0.06499999761581421,0.08100000023841858],[-0.08699999749660492,-0.02500000223517418,0.11300000548362732]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"cuvette_sample","name_zh":"可替换比色皿示意","function_zh":"显示槽位中的样品或空白。","physical_meaning_zh":"示意耗材;真实光程、液体体积和材料性质未知。","subsystem":null,"parent":"root","origin_m":[-0.105,-0.045,0.085],"rpy_rad":[0,0,0],"objects":["cuvette_sample"],"collisions":[{"shape":"box","origin_m":[0,0,0.023],"rpy_rad":[0,0,0],"size_m":[0.012,0.012,0.046]},{"shape":"box","origin_m":[0,0,0.048],"rpy_rad":[0,0,0],"size_m":[0.016,0.016,0.006]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"schematic","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["sample.load","sample.unload"],"bbox_m":[[-0.11299999803304672,-0.05300000309944153,0.08500000089406967],[-0.09699999541044235,-0.03700000047683716,0.13600000739097595]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"display","name_zh":"右侧彩色触摸屏","function_zh":"显示运行状态及合成测量摘要。","physical_meaning_zh":"显示器和FONT读数;未复刻全部厂家触控菜单。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["display","screen_title","display_readout","screen_label_0","screen_label_1","screen_label_2","screen_label_3","screen_label_4","screen_label_5"],"collisions":[{"shape":"box","origin_m":[0.111,-0.08,0.182],"rpy_rad":[0.1,0,0],"size_m":[0.185,0.146,0.007]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","lid.set_angle","sample.load","sample.unload","spectroscopy.set_scan","spectroscopy.set_wavelength","spectroscopy.set_mode","spectroscopy.measure"],"bbox_m":[[0.01850000023841858,-0.15263530611991882,0.17157906293869019],[0.20350000262260437,-0.007364697754383087,0.1953122764825821]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"optical_module","name_zh":"内部光学模块占位","function_zh":"表示光源/单色与检测光路的功能位置。","physical_meaning_zh":"内部盒体只作功能占位,未仿真真实光学结构。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["optical_module"],"collisions":[{"shape":"box","origin_m":[0.07,0.035,0.103],"rpy_rad":[0,0,0],"size_m":[0.1,0.12,0.04]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"schematic","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["spectroscopy.set_scan","spectroscopy.set_wavelength","spectroscopy.measure","spectroscopy.calibrate","spectroscopy.configure_method","spectroscopy.time_scan","hardware.connect","robot.load_sample"],"bbox_m":[[0.019999999552965164,-0.02499999850988388,0.08300000429153442],[0.12000000476837158,0.0949999988079071,0.12299999594688416]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"power_inlet","name_zh":"电源连接与开关","function_zh":"标识供电连接位置和逻辑供电状态。","physical_meaning_zh":"电气端口占位;没有真实接线和硬件控制。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["power_inlet"],"collisions":[{"shape":"box","origin_m":[0.156,0.229,0.098],"rpy_rad":[0,0,0],"size_m":[0.059,0.002,0.04]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[0.12650001049041748,0.2280000001192093,0.07799999415874481],[0.18549999594688416,0.23000000417232513,0.11800000071525574]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"data_ports","name_zh":"USB与以太网接口示意","function_zh":"标识数据交换连接位置。","physical_meaning_zh":"USB/以太网接口外形占位;厂家协议未实现。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["data_ports"],"collisions":[{"shape":"box","origin_m":[-0.165,0.229,0.09],"rpy_rad":[0,0,0],"size_m":[0.018000000000000002,0.002,0.015]},{"shape":"box","origin_m":[-0.14,0.229,0.09],"rpy_rad":[0,0,0],"size_m":[0.018000000000000002,0.002,0.015]},{"shape":"box","origin_m":[-0.108,0.229,0.09],"rpy_rad":[0,0,0],"size_m":[0.014,0.002,0.015]},{"shape":"box","origin_m":[-0.075,0.229,0.09],"rpy_rad":[0,0,0],"size_m":[0.02,0.002,0.015]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.17400000989437103,0.2280000001192093,0.08250000327825546],[-0.0650000050663948,0.23000000417232513,0.09750000387430191]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"ventilation","name_zh":"侧后散热孔示意","function_zh":"标识外壳散热开口。","physical_meaning_zh":"可视细节;未求解空气流动和热传递。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["ventilation"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[0.24799999594688416,-0.08699999749660492,0.08950000256299973],[0.25,0.11500001698732376,0.13449999690055847]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]}],"component_source":"geometry_manifest.json + asset.contract.json + collision_proxies.json","capabilities":{"power.set":{"function_zh":"设置本实例逻辑供电状态。","kind":"device_command","availability":"implemented","component_ids":["chassis","display"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["enabled"]},"lid.set_angle":{"function_zh":"设置虚拟样品室盖角度并同步Blender关节。","kind":"configuration","availability":"implemented","component_ids":["sample_lid","display"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["angle_rad"]},"sample.load":{"function_zh":"向空槽加载已由宿主注册的虚拟样品或空白比色皿并显示占位。","kind":"configuration","availability":"implemented","component_ids":["cuvette_slot","cuvette_sample","display"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["sample_id"]},"sample.unload":{"function_zh":"从槽位卸载虚拟样品并隐藏占位。","kind":"configuration","availability":"implemented","component_ids":["cuvette_slot","cuvette_sample","display"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":[]},"spectroscopy.set_scan":{"function_zh":"设置190–1100 nm范围内的SI波长扫描网格。","kind":"device_command","availability":"implemented","component_ids":["display","optical_module"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["start_m","stop_m","step_m"]},"spectroscopy.set_wavelength":{"function_zh":"设置用于单波长合成测量的波长。","kind":"device_command","availability":"implemented","component_ids":["display","optical_module"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["wavelength_m"]},"spectroscopy.set_mode":{"function_zh":"选择合成吸光度或透射率比例输出;concentration明确返回unsupported。","kind":"device_command","availability":"implemented","component_ids":["display"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["mode"]},"spectroscopy.measure":{"function_zh":"在供电、闭盖和有样条件下返回合成吸光度谱及由T=10^(-A)得到的透射率比例。","kind":"device_command","availability":"implemented","component_ids":["optical_module","cuvette_slot","display"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":[]},"spectroscopy.calibrate":{"function_zh":"厂家校准及实际样品校准曲线:本批未实现。","kind":"device_command","availability":"unsupported","component_ids":["optical_module"],"implementation":{"process":"absent","scene":"absent","robot":"absent","hardware":"absent","host":"absent"},"input":[]},"spectroscopy.configure_method":{"function_zh":"厂家/用户方法配置与方法库:本批未实现。","kind":"configuration","availability":"unsupported","component_ids":["optical_module"],"implementation":{"process":"absent","scene":"absent","robot":"absent","hardware":"absent","host":"absent"},"input":[]},"spectroscopy.time_scan":{"function_zh":"反应动力学时间扫描:本批未实现。","kind":"device_command","availability":"unsupported","component_ids":["optical_module"],"implementation":{"process":"absent","scene":"absent","robot":"absent","hardware":"absent","host":"absent"},"input":[]},"hardware.connect":{"function_zh":"真实DR6000硬件连接及通信:本批未实现。","kind":"device_command","availability":"unsupported","component_ids":["optical_module"],"implementation":{"process":"absent","scene":"absent","robot":"absent","hardware":"absent","host":"absent"},"input":[]},"robot.load_sample":{"function_zh":"机器人抓取和插入比色皿:本批未实现。","kind":"device_command","availability":"unsupported","component_ids":["optical_module"],"implementation":{"process":"absent","scene":"absent","robot":"absent","hardware":"absent","host":"absent"},"input":[]}},"state_slots":{"power.enabled":{"meaning_zh":"逻辑供电状态;不是硬件电源遥控。","unit":"1","access":"read_write","origin":"setpoint","component_ids":["chassis","display"],"write_via":"power.set"},"lid.angle_rad":{"meaning_zh":"唯一权威盖角q;场景adapter将lid_hinge.rotation_euler.x设为-q。","unit":"rad","access":"read_write","origin":"scene","component_ids":["sample_lid"],"write_via":"lid.set_angle"},"lid.closed":{"meaning_zh":"q<=1e-6 rad的仿真闭盖判定;不是厂家安全互锁证明。","unit":"1","access":"read_only","origin":"derived","component_ids":["sample_lid"],"write_via":null},"sample.loaded":{"meaning_zh":"虚拟比色皿槽位占用状态。","unit":"1","access":"read_only","origin":"scene","component_ids":["cuvette_slot","cuvette_sample"],"write_via":null},"sample.id":{"meaning_zh":"宿主注册的虚拟样品标识;未装载为null。","unit":"1","access":"read_only","origin":"scene","component_ids":["cuvette_slot","cuvette_sample"],"write_via":null},"sample.kind":{"meaning_zh":"槽位样品角色sample或blank;未装载为null。","unit":"1","access":"read_only","origin":"scene","component_ids":["cuvette_slot","cuvette_sample"],"write_via":null},"sample.truth":{"meaning_zh":"仅受信任debug/evaluator可读的宿主样品真值;agent入口过滤。","unit":"1","access":"read_only","origin":"process_truth","component_ids":["cuvette_slot","cuvette_sample"],"write_via":null},"scan.start_m":{"meaning_zh":"下一次合成扫描起点,单位m。","unit":"m","access":"read_only","origin":"setpoint","component_ids":["optical_module","display"],"write_via":null},"scan.stop_m":{"meaning_zh":"下一次合成扫描终点,单位m。","unit":"m","access":"read_only","origin":"setpoint","component_ids":["optical_module","display"],"write_via":null},"scan.step_m":{"meaning_zh":"合成扫描离散网格步长;API工作量约束,不等于厂家最小步进或光谱带宽。","unit":"m","access":"read_only","origin":"setpoint","component_ids":["optical_module","display"],"write_via":null},"measurement.wavelength_m":{"meaning_zh":"单波长选择波长;set_wavelength同时令scan.start_m=scan.stop_m以生成单点采集。","unit":"m","access":"read_write","origin":"setpoint","component_ids":["optical_module","display"],"write_via":"spectroscopy.set_wavelength"},"measurement.mode":{"meaning_zh":"输出signal选择吸光度或无量纲透射比例;浓度模式未实现。","unit":"1","access":"read_write","origin":"setpoint","component_ids":["optical_module","display"],"write_via":"spectroscopy.set_mode"},"measurement.spectrum":{"meaning_zh":"最近一次合成光谱;含wavelength_m、absorbance、transmittance和signal。全谱显式synthetic=true、quality=estimated;未测量或准备/控制操作后缓存失效为null。","unit":"1","access":"read_only","origin":"derived","component_ids":["optical_module","display"],"write_via":null},"measurement.count":{"meaning_zh":"本实例成功测量次数;无隐式时间推进。","unit":"1","access":"read_only","origin":"derived","component_ids":["optical_module","display"],"write_via":null}},"mechanisms":{"synthetic_spectroscopy":{"meaning_zh":"即时确定性合成光谱;用于装样/关盖/测量流程验证,不对应指定化学物质。","implementation":"numerical","equations":["A(lambda) = baseline + sum(amplitude_i * exp(-0.5*((lambda-center_i)/width_i)^2))","T(lambda) = 10^(-A(lambda)); transmittance为比例,百分数需显式×100","lambda_i=start+i*step,i=0..floor((stop-start)/step),不保证未落格的stop端点被采样"],"parameters":{"default_peak_centers":{"value":[2.75e-07,5.2e-07],"unit":"m","evidence":"assumption","meaning_zh":"默认测试样品两个人工高斯峰中心。"},"default_peak_widths":{"value":[2.4e-08,6.5e-08],"unit":"m","evidence":"assumption","meaning_zh":"默认高斯宽度参数;不是厂家光谱带宽。"},"default_peak_amplitudes":{"value":[0.75,1.2],"unit":"1","evidence":"assumption","meaning_zh":"默认高斯吸光度幅值。"},"default_sample_baseline":{"value":0.02,"unit":"1","evidence":"assumption","meaning_zh":"默认人工样品吸光度基线。"},"default_blank_baseline":{"value":0.0,"unit":"1","evidence":"assumption","meaning_zh":"默认人工空白谱基线;数值零为显式fixture而不是缺测。"},"loading_clearance":{"value":1.0471975511965976,"unit":"rad","evidence":"assumption","meaning_zh":"允许装卸样品的仿真盖角下限。"},"closed_tolerance":{"value":1e-06,"unit":"rad","evidence":"assumption","meaning_zh":"闭盖判定数值容差。"},"measurement_duration":{"value":null,"unit":"s","evidence":"unknown","meaning_zh":"真实测量时长未知;本批即时返回且不推进世界时间。"},"noise_model":{"value":null,"unit":"1","evidence":"unknown","meaning_zh":"真实样品噪声模型未标定。"},"concentration_calibration":{"value":null,"unit":"1","evidence":"unknown","meaning_zh":"真实校准曲线及浓度换算未知。"}}}},"limitations":["full表示本批外形与功能组件全部登记,未实现厂家所有操作模式。原始三表整行与型号配置保留在来源快照。","局部外观和内部光学盒体为几何近似,不是厂商CAD;局部尺寸、转轴和槽位没有实测证据。","11 kg只归整机根节点;URDF集中整机包围盒惯量属于假设,其他部件真实质量/惯量/摩擦/阻尼等未知为null。","URDF只提供盒/柱/球碰撞体;盖轴使用continuous,只由宿主将q限制在[0,π/2];URDF没有机械限位或safety_controller,未编造effort/velocity或控制器参数。资产未声称动力学引擎可直接用于真实分件运动。","190–1100 nm可用于合成波长轴;±1 nm准确度和±3 Abs光度范围仅200–900 nm适用,本批没有光学精度验证。","合成谱显式synthetic,不是实际样品或厂商标定结果;真实噪声、校准曲线、浓度定量与故障概率未实现。","透射率比例仅由合成吸光度作T=10^(-A)换算;浓度、方法、厂家校准和时间扫描等未实现条目明确unsupported。","样品与空白在同一插槽顺序装卸;比色皿光程、样品体积/浓度未提供则保持未知。","机器人、真实硬件、接触动力学、真实样品与光学标定验证均not_run。","GLB/OBJ为静态交换资产;交互绑定以原生Blender对象及Python运行模块为准。GLB按任务用export_yup=False保留Z向上;标准glTF查看器若假设Y向上可能需要显式坐标转换。"],"sources":[],"checks":{"coverage":{"status":"bridged","implemented":["lid.set_angle","power.set","sample.load","sample.unload","spectroscopy.measure","spectroscopy.set_mode","spectroscopy.set_scan","spectroscopy.set_wavelength"],"unsupported":[],"note_zh":"桥接 basic40_runtime_analytical.HachDR6000(推进方式 None),14 个状态槽;与运行层镜像对比全同;受信设置需经 host.call;关节化 USD(1 个门/盖/阀等被动关节);1 个门/盖/升降关节与运行层双向同步;接口点 1 个(孔位);布局:台面、单人可搬、正面 −y、前方留空 0.25 m;面板读数 count(3)"}},"previews":["previews/hach_dr6000/preview_closed.webp","previews/hach_dr6000/preview_open.webp","previews/hach_dr6000/preview_rear.webp","previews/hach_dr6000/preview_runtime.webp"],"files":[{"name":"asset.contract.json","path":"assets/basic40_batch02/t3_analytical/hach_dr6000/asset.contract.json","bytes":184332},{"name":"collision_proxies.json","path":"assets/basic40_batch02/t3_analytical/hach_dr6000/collision_proxies.json","bytes":14719},{"name":"geometry_manifest.json","path":"assets/basic40_batch02/t3_analytical/hach_dr6000/geometry_manifest.json","bytes":23329},{"name":"model.blend","path":"assets/basic40_batch02/t3_analytical/hach_dr6000/model.blend","bytes":247057},{"name":"model.glb","path":"assets/basic40_batch02/t3_analytical/hach_dr6000/model.glb","bytes":1192236},{"name":"model.urdf","path":"assets/basic40_batch02/t3_analytical/hach_dr6000/model.urdf","bytes":12150}],"completeness":{"components":14,"with_collisions":13,"with_objects":14,"with_function":14,"with_mass":0,"joints_matching_component":0,"joints":1,"has_contract":true,"has_layout":true,"has_glb":true,"checks_present":["articulation_check","coverage","contract_validation","runtime_validation","scene_validation"]},"slug":"hach_dr6000","chem_id":"CHEM-071","name_en":"UV-Vis spectrophotometer","maker":"Hach","model":"DR6000","domain":"spectroscopy","domain_name":"Molecular Spectroscopy & Structure","path":"assets/basic40_batch02/t3_analytical/hach_dr6000","glb_up":"z","has_contract":true,"contract":"assets/basic40_batch02/t3_analytical/hach_dr6000/asset.contract.json","runtime":"scripts/basic40_runtime_analytical.py"}
|
|
|
|
| 1 |
+
{"tid":"instrument.hach_dr6000","asset_dir":"basic40_batch02/t3_analytical/hach_dr6000","name_zh":"Hach DR6000 紫外可见分光光度计","category":"分子光谱与结构","description_zh":"CHEM-071、Hach DR6000:按三表第76行重建闭盖0.500×0.460×0.215 m、11 kg外形及装样/关盖/合成吸光度谱流程。full表示本批配置功能组件完整登记;未实现厂家全部功能。","coordinate_system":{"status":"defined","length_unit":"m","angle_unit":"rad","handedness":"right","up_axis":"+Z","frame":"整机台面投影中心为原点;X向右、Y向后、Z向上;闭盖标称范围X±0.25、Y±0.23、Z=0..0.215 m。"},"mass_kg":11.0,"size_m":[0.5,0.46,0.215],"bbox_min":[-0.25,-0.23,0.0],"bbox_max":[0.25,0.23,0.215],"manifest_dimensions_m":[0.5,0.46,0.215],"glb":"assets/basic40_batch02/t3_analytical/hach_dr6000/model.glb","glb_orientation":"already_z_up","usd":null,"urdf":"assets/basic40_batch02/t3_analytical/hach_dr6000/model.urdf","links":{"base_link":"/Geometry/base_link","lid_hinge_link":"/Geometry/base_link/lid_hinge_link"},"frames":{"pre_place":[0.0,0.0,0.395],"place":[0.0,0.0,0.265],"post_place":[0.0,0.0,0.395],"joint_lid_hinge":[-0.105,0.065,0.178]},"joints":[{"name":"lid_hinge","type":"continuous","parent":"base_link","child":"lid_hinge_link","axis":[-1.0,0.0,0.0],"lower":null,"upper":null,"effort":null,"mimic":null,"origin_m":[-0.105,0.065,0.178],"child_prim":"/Geometry/base_link/lid_hinge_link","child_bbox_min":[-0.213,-0.17283,0.14403],"child_bbox_max":[0.003,0.06483,0.18565],"kind":"door"}],"controls":{"buttons":[],"knobs":[]},"slots":[{"name":"cuvette","link":"base_link","part":"cuvette_slot","pos":[-0.105,-0.045,0.085],"rot":[0.0,0.0,0.0,1.0],"pos_link":[-0.105,-0.045,0.085],"rot_link":[0.0,0.0,0.0,1.0],"radius_m":0.012,"kind":"hole","fits":["cuvette","vial"],"anchor":"base","insert_axis":[0.0,0.0,1.0],"capture_m":0.03,"access":["lid_hinge"],"modelled_occupant":false}],"hidden_parts":[],"readouts":[{"name":"count","part":"display_readout","prim":"/Geometry/base_link/readout_count","link":"base_link","digits":3,"decimals":0,"unit":"","center":[0.1111,-0.0636,0.1921],"up":[-0.0,0.995,0.0998],"source":{"bridge":["measurement.count"]},"blank_channel":null,"on":[0.05,0.06,0.05],"off":[0.62,0.68,0.55],"size_m":[0.0186,0.0077],"normal":[-0.0,-0.0998,0.995]}],"layout":{"front":[0.0,-1.0,0.0],"front_source":"lid:lid_hinge","mount":"bench","weight_class":"one_person","mass_kg":11.0,"footprint_m":[0.5,0.46],"height_m":0.215,"clearance_m":{"front":0.25,"back":0.15,"left":0.05,"right":0.05,"top":0.1},"robot_standoff_m":0.35,"work_height_m":0.085,"primary_slot":"cuvette","access":[],"slot_count":1},"components":[{"id":"chassis","name_zh":"深蓝承载壳体","function_zh":"支撑和保护内部仪器。","physical_meaning_zh":"机箱占据的视觉及碰撞空间。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["chassis","hach_brand"],"collisions":[{"shape":"box","origin_m":[0,0,0.042],"rpy_rad":[0,0,0],"size_m":[0.5,0.46,0.06]},{"shape":"box","origin_m":[0,-0.215,0.095],"rpy_rad":[0,0,0],"size_m":[0.48,0.028,0.06]},{"shape":"box","origin_m":[-0.235,0,0.124],"rpy_rad":[0,0,0],"size_m":[0.03,0.418,0.104]},{"shape":"box","origin_m":[0.235,0,0.124],"rpy_rad":[0,0,0],"size_m":[0.03,0.418,0.104]},{"shape":"box","origin_m":[0,0.212,0.134],"rpy_rad":[0,0,0],"size_m":[0.45,0.036,0.112]},{"shape":"box","origin_m":[0.11,-0.035,0.117],"rpy_rad":[0,0,0],"size_m":[0.218,0.325,0.09]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set"],"bbox_m":[[-0.25,-0.23000000417232513,0.012000000104308128],[0.25,0.23000000417232513,0.1899999976158142]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"feet","name_zh":"四支撑脚","function_zh":"承托整机并定义接触台面。","physical_meaning_zh":"几何接触支点;摩擦和恢复系数未标定。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["feet"],"collisions":[{"shape":"cylinder","origin_m":[-0.195,-0.178,0.008],"rpy_rad":[0,0,0],"radius_m":0.018,"length_m":0.016},{"shape":"cylinder","origin_m":[-0.195,0.178,0.008],"rpy_rad":[0,0,0],"radius_m":0.018,"length_m":0.016},{"shape":"cylinder","origin_m":[0.195,-0.178,0.008],"rpy_rad":[0,0,0],"radius_m":0.018,"length_m":0.016},{"shape":"cylinder","origin_m":[0.195,0.178,0.008],"rpy_rad":[0,0,0],"radius_m":0.018,"length_m":0.016}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.21299999952316284,-0.19600000977516174,0.0],[0.21299999952316284,0.19600000977516174,0.01600000075995922]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"top_panel","name_zh":"后部上面板与前操作面板","function_zh":"形成仪器外观和操作面。","physical_meaning_zh":"外罩覆盖与承托,内部结构未实测。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["top_panel","model_mark"],"collisions":[{"shape":"box","origin_m":[0,0.138,0.192],"rpy_rad":[0,0,0],"size_m":[0.45,0.176,0.03]},{"shape":"box","origin_m":[0.112,-0.072,0.167],"rpy_rad":[0.1,0,0],"size_m":[0.214,0.238,0.022]},{"shape":"box","origin_m":[-0.218,-0.065,0.164],"rpy_rad":[0.1,0,0],"size_m":[0.018,0.257,0.025]},{"shape":"box","origin_m":[-0.105,-0.191,0.153],"rpy_rad":[0,0,0],"size_m":[0.232,0.02,0.021]},{"shape":"box","origin_m":[0,0.211,0.207],"rpy_rad":[0,0,0],"size_m":[0.43,0.022,0.016]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.22699999809265137,-0.20099999010562897,0.13913318514823914],[0.22499999403953552,0.22599999606609344,0.2150000035762787]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"sample_chamber","name_zh":"避光样品室","function_zh":"容纳比色皿并提供盖合空间。","physical_meaning_zh":"光学测量样品占位;未仿真光密封性。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["sample_chamber"],"collisions":[{"shape":"box","origin_m":[-0.105,-0.06,0.077],"rpy_rad":[0,0,0],"size_m":[0.218,0.24,0.014]},{"shape":"box","origin_m":[-0.208,-0.06,0.12],"rpy_rad":[0,0,0],"size_m":[0.012,0.24,0.074]},{"shape":"box","origin_m":[-0.002,-0.06,0.12],"rpy_rad":[0,0,0],"size_m":[0.012,0.24,0.074]},{"shape":"box","origin_m":[-0.105,0.054,0.12],"rpy_rad":[0,0,0],"size_m":[0.206,0.012,0.074]},{"shape":"box","origin_m":[-0.105,-0.174,0.116],"rpy_rad":[0,0,0],"size_m":[0.206,0.012,0.066]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.21400000154972076,-0.17999999225139618,0.07000000029802322],[0.0040000006556510925,0.05999999865889549,0.15700000524520874]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"sample_lid","name_zh":"样品室盖","function_zh":"开盖装卸样、闭盖后允许测量。","physical_meaning_zh":"围绕lid_hinge局部X轴负向转动;不是电机驱动机构。","subsystem":null,"parent":"lid_hinge","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["sample_lid"],"collisions":[{"shape":"box","origin_m":[0,-0.119,-0.01],"rpy_rad":[0.085,0,0],"size_m":[0.216,0.238,0.016]},{"shape":"box","origin_m":[0,-0.112,-0.021],"rpy_rad":[0.085,0,0],"size_m":[0.193,0.206,0.009]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["lid.set_angle"],"bbox_m":[[-0.21299999952316284,-0.17282506823539734,0.1440264880657196],[0.003000006079673767,0.06482505798339844,0.18564945459365845]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"lid_handle","name_zh":"盖板手指握点","function_zh":"提供人或机器人可识别的抓取外形。","physical_meaning_zh":"随样品盖转动的支撑组件;抓取未执行。","subsystem":null,"parent":"lid_hinge","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["lid_handle"],"collisions":[{"shape":"box","origin_m":[0,-0.224,-0.011],"rpy_rad":[0,0,0],"size_m":[0.052,0.018,0.009]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.13099999725818634,-0.1680000126361847,0.16250000894069672],[-0.07899999618530273,-0.15000000596046448,0.17149999737739563]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"lid_hardware","name_zh":"铰链轴与铰链座","function_zh":"支撑和约束样品盖转轴。","physical_meaning_zh":"关节外观;真实扭矩、阻尼、摩擦未知。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["lid_hardware"],"collisions":[{"shape":"box","origin_m":[-0.185,0.065,0.167],"rpy_rad":[0,0,0],"size_m":[0.02,0.02,0.018]},{"shape":"cylinder","origin_m":[-0.185,0.065,0.178],"rpy_rad":[0,1.5707963267948966,0],"radius_m":0.006,"length_m":0.03},{"shape":"box","origin_m":[-0.025,0.065,0.167],"rpy_rad":[0,0,0],"size_m":[0.02,0.02,0.018]},{"shape":"cylinder","origin_m":[-0.025,0.065,0.178],"rpy_rad":[0,1.5707963267948966,0],"radius_m":0.006,"length_m":0.03}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.20000000298023224,0.054999999701976776,0.15799999237060547],[-0.01000000536441803,0.07499999552965164,0.18400000035762787]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"cuvette_slot","name_zh":"方形比色皿槽位","function_zh":"接收一个样品或空白比色皿逻辑占位。","physical_meaning_zh":"槽口与装样位置用于交互;没有真实配合公差证据。","subsystem":null,"parent":"root","origin_m":[-0.105,-0.045,0.085],"rpy_rad":[0,0,0],"objects":["cuvette_slot"],"collisions":[{"shape":"box","origin_m":[0,0,-0.002],"rpy_rad":[0,0,0],"size_m":[0.036,0.04,0.004]},{"shape":"box","origin_m":[-0.011,0,0.014],"rpy_rad":[0,0,0],"size_m":[0.006,0.028,0.028]},{"shape":"box","origin_m":[0.011,0,0.014],"rpy_rad":[0,0,0],"size_m":[0.006,0.028,0.028]},{"shape":"box","origin_m":[0,-0.011,0.014],"rpy_rad":[0,0,0],"size_m":[0.016,0.006,0.028]},{"shape":"box","origin_m":[0,0.011,0.014],"rpy_rad":[0,0,0],"size_m":[0.016,0.006,0.028]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["sample.load","sample.unload","spectroscopy.measure"],"bbox_m":[[-0.12299999594688416,-0.06499999761581421,0.08100000023841858],[-0.08699999749660492,-0.02500000223517418,0.11300000548362732]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"cuvette_sample","name_zh":"可替换比色皿示意","function_zh":"显示槽位中的样品或空白。","physical_meaning_zh":"示意耗材;真实光程、液体体积和材料性质未知。","subsystem":null,"parent":"root","origin_m":[-0.105,-0.045,0.085],"rpy_rad":[0,0,0],"objects":["cuvette_sample"],"collisions":[{"shape":"box","origin_m":[0,0,0.023],"rpy_rad":[0,0,0],"size_m":[0.012,0.012,0.046]},{"shape":"box","origin_m":[0,0,0.048],"rpy_rad":[0,0,0],"size_m":[0.016,0.016,0.006]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"schematic","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["sample.load","sample.unload"],"bbox_m":[[-0.11299999803304672,-0.05300000309944153,0.08500000089406967],[-0.09699999541044235,-0.03700000047683716,0.13600000739097595]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"display","name_zh":"右侧彩色触摸屏","function_zh":"显示运行状态及合成测量摘要。","physical_meaning_zh":"显示器和FONT读数;未复刻全部厂家触控菜单。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["display","screen_title","display_readout","screen_label_0","screen_label_1","screen_label_2","screen_label_3","screen_label_4","screen_label_5"],"collisions":[{"shape":"box","origin_m":[0.111,-0.08,0.182],"rpy_rad":[0.1,0,0],"size_m":[0.185,0.146,0.007]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","lid.set_angle","sample.load","sample.unload","spectroscopy.set_scan","spectroscopy.set_wavelength","spectroscopy.set_mode","spectroscopy.measure"],"bbox_m":[[0.01850000023841858,-0.15263530611991882,0.17157906293869019],[0.20350000262260437,-0.007364697754383087,0.1953122764825821]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"optical_module","name_zh":"内部光学模块占位","function_zh":"表示光源/单色与检测光路的功能位置。","physical_meaning_zh":"内部盒体只作功能占位,未仿真真实光学结构。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["optical_module"],"collisions":[{"shape":"box","origin_m":[0.07,0.035,0.103],"rpy_rad":[0,0,0],"size_m":[0.1,0.12,0.04]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"schematic","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["spectroscopy.set_scan","spectroscopy.set_wavelength","spectroscopy.measure","spectroscopy.calibrate","spectroscopy.configure_method","spectroscopy.time_scan","hardware.connect","robot.load_sample"],"bbox_m":[[0.019999999552965164,-0.02499999850988388,0.08300000429153442],[0.12000000476837158,0.0949999988079071,0.12299999594688416]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"power_inlet","name_zh":"电源连接与开关","function_zh":"标识供电连接位置和逻辑供电状态。","physical_meaning_zh":"电气端口占位;没有真实接线和硬件控制。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["power_inlet"],"collisions":[{"shape":"box","origin_m":[0.156,0.229,0.098],"rpy_rad":[0,0,0],"size_m":[0.059,0.002,0.04]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[0.12650001049041748,0.2280000001192093,0.07799999415874481],[0.18549999594688416,0.23000000417232513,0.11800000071525574]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"data_ports","name_zh":"USB与以太网接口示意","function_zh":"标识数据交换连接位置。","physical_meaning_zh":"USB/以太网接口外形占位;厂家协议未实现。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["data_ports"],"collisions":[{"shape":"box","origin_m":[-0.165,0.229,0.09],"rpy_rad":[0,0,0],"size_m":[0.018000000000000002,0.002,0.015]},{"shape":"box","origin_m":[-0.14,0.229,0.09],"rpy_rad":[0,0,0],"size_m":[0.018000000000000002,0.002,0.015]},{"shape":"box","origin_m":[-0.108,0.229,0.09],"rpy_rad":[0,0,0],"size_m":[0.014,0.002,0.015]},{"shape":"box","origin_m":[-0.075,0.229,0.09],"rpy_rad":[0,0,0],"size_m":[0.02,0.002,0.015]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.17400000989437103,0.2280000001192093,0.08250000327825546],[-0.0650000050663948,0.23000000417232513,0.09750000387430191]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"ventilation","name_zh":"侧后散热孔示意","function_zh":"标识外壳散热开口。","physical_meaning_zh":"可视细节;未求解空气流动和热传递。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["ventilation"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[0.24799999594688416,-0.08699999749660492,0.08950000256299973],[0.25,0.11500001698732376,0.13449999690055847]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]}],"component_source":"geometry_manifest.json + asset.contract.json + collision_proxies.json","capabilities":{"power.set":{"function_zh":"设置本实例逻辑供电状态。","kind":"device_command","availability":"implemented","component_ids":["chassis","display"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["enabled"]},"lid.set_angle":{"function_zh":"设置虚拟样品室盖角度并同步Blender关节。","kind":"configuration","availability":"implemented","component_ids":["sample_lid","display"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["angle_rad"]},"sample.load":{"function_zh":"向空槽加载已由宿主注册的虚拟样品或空白比色皿并显示占位。","kind":"configuration","availability":"implemented","component_ids":["cuvette_slot","cuvette_sample","display"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["sample_id"]},"sample.unload":{"function_zh":"从槽位卸载虚拟样品并隐藏占位。","kind":"configuration","availability":"implemented","component_ids":["cuvette_slot","cuvette_sample","display"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":[]},"spectroscopy.set_scan":{"function_zh":"设置190–1100 nm范围内的SI波长扫描网格。","kind":"device_command","availability":"implemented","component_ids":["display","optical_module"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["start_m","stop_m","step_m"]},"spectroscopy.set_wavelength":{"function_zh":"设置用于单波长合成测量的波长。","kind":"device_command","availability":"implemented","component_ids":["display","optical_module"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["wavelength_m"]},"spectroscopy.set_mode":{"function_zh":"选择合成吸光度或透射率比例输出;concentration明确返回unsupported。","kind":"device_command","availability":"implemented","component_ids":["display"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["mode"]},"spectroscopy.measure":{"function_zh":"在供电、闭盖和有样条件下返回合成吸光度谱及由T=10^(-A)得到的透射率比例。","kind":"device_command","availability":"implemented","component_ids":["optical_module","cuvette_slot","display"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":[]},"spectroscopy.calibrate":{"function_zh":"厂家校准及实际样品校准曲线:本批未实现。","kind":"device_command","availability":"unsupported","component_ids":["optical_module"],"implementation":{"process":"absent","scene":"absent","robot":"absent","hardware":"absent","host":"absent"},"input":[]},"spectroscopy.configure_method":{"function_zh":"厂家/用户方法配置与方法库:本批未实现。","kind":"configuration","availability":"unsupported","component_ids":["optical_module"],"implementation":{"process":"absent","scene":"absent","robot":"absent","hardware":"absent","host":"absent"},"input":[]},"spectroscopy.time_scan":{"function_zh":"反应动力学时间扫描:本批未实现。","kind":"device_command","availability":"unsupported","component_ids":["optical_module"],"implementation":{"process":"absent","scene":"absent","robot":"absent","hardware":"absent","host":"absent"},"input":[]},"hardware.connect":{"function_zh":"真实DR6000硬件连接及通信:本批未实现。","kind":"device_command","availability":"unsupported","component_ids":["optical_module"],"implementation":{"process":"absent","scene":"absent","robot":"absent","hardware":"absent","host":"absent"},"input":[]},"robot.load_sample":{"function_zh":"机器人抓取和插入比色皿:本批未实现。","kind":"device_command","availability":"unsupported","component_ids":["optical_module"],"implementation":{"process":"absent","scene":"absent","robot":"absent","hardware":"absent","host":"absent"},"input":[]}},"state_slots":{"power.enabled":{"meaning_zh":"逻辑供电状态;不是硬件电源遥控。","unit":"1","access":"read_write","origin":"setpoint","component_ids":["chassis","display"],"write_via":"power.set"},"lid.angle_rad":{"meaning_zh":"唯一权威盖角q;场景adapter将lid_hinge.rotation_euler.x设为-q。","unit":"rad","access":"read_write","origin":"scene","component_ids":["sample_lid"],"write_via":"lid.set_angle"},"lid.closed":{"meaning_zh":"q<=1e-6 rad的仿真闭盖判定;不是厂家安全互锁证明。","unit":"1","access":"read_only","origin":"derived","component_ids":["sample_lid"],"write_via":null},"sample.loaded":{"meaning_zh":"虚拟比色皿槽位占用状态。","unit":"1","access":"read_only","origin":"scene","component_ids":["cuvette_slot","cuvette_sample"],"write_via":null},"sample.id":{"meaning_zh":"宿主注册的虚拟样品标识;未装载为null。","unit":"1","access":"read_only","origin":"scene","component_ids":["cuvette_slot","cuvette_sample"],"write_via":null},"sample.kind":{"meaning_zh":"槽位样品角色sample或blank;未装载为null。","unit":"1","access":"read_only","origin":"scene","component_ids":["cuvette_slot","cuvette_sample"],"write_via":null},"sample.truth":{"meaning_zh":"仅受信任debug/evaluator可读的宿主样品真值;agent入口过滤。","unit":"1","access":"read_only","origin":"process_truth","component_ids":["cuvette_slot","cuvette_sample"],"write_via":null},"scan.start_m":{"meaning_zh":"下一次合成扫描起点,单位m。","unit":"m","access":"read_only","origin":"setpoint","component_ids":["optical_module","display"],"write_via":null},"scan.stop_m":{"meaning_zh":"下一次合成扫描终点,单位m。","unit":"m","access":"read_only","origin":"setpoint","component_ids":["optical_module","display"],"write_via":null},"scan.step_m":{"meaning_zh":"合成扫描离散网格步长;API工作量约束,不等于厂家最小步进或光谱带宽。","unit":"m","access":"read_only","origin":"setpoint","component_ids":["optical_module","display"],"write_via":null},"measurement.wavelength_m":{"meaning_zh":"单波长选择波长;set_wavelength同时令scan.start_m=scan.stop_m以生成单点采集。","unit":"m","access":"read_write","origin":"setpoint","component_ids":["optical_module","display"],"write_via":"spectroscopy.set_wavelength"},"measurement.mode":{"meaning_zh":"输出signal选择吸光度或无量纲透射比例;浓度模式未实现。","unit":"1","access":"read_write","origin":"setpoint","component_ids":["optical_module","display"],"write_via":"spectroscopy.set_mode"},"measurement.spectrum":{"meaning_zh":"最近一次合成光谱;含wavelength_m、absorbance、transmittance和signal。全谱显式synthetic=true、quality=estimated;未测量或准备/控制操作后缓存失效为null。","unit":"1","access":"read_only","origin":"derived","component_ids":["optical_module","display"],"write_via":null},"measurement.count":{"meaning_zh":"本实例成功测量次数;无隐式时间推进。","unit":"1","access":"read_only","origin":"derived","component_ids":["optical_module","display"],"write_via":null}},"mechanisms":{"synthetic_spectroscopy":{"meaning_zh":"即时确定性合成光谱;用于装样/关盖/测量流程验证,不对应指定化学物质。","implementation":"numerical","equations":["A(lambda) = baseline + sum(amplitude_i * exp(-0.5*((lambda-center_i)/width_i)^2))","T(lambda) = 10^(-A(lambda)); transmittance为比例,百分数需显式×100","lambda_i=start+i*step,i=0..floor((stop-start)/step),不保证未落格的stop端点被采样"],"parameters":{"default_peak_centers":{"value":[2.75e-07,5.2e-07],"unit":"m","evidence":"assumption","meaning_zh":"默认测试样品两个人工高斯峰中心。"},"default_peak_widths":{"value":[2.4e-08,6.5e-08],"unit":"m","evidence":"assumption","meaning_zh":"默认高斯宽度参数;不是厂家光谱带宽。"},"default_peak_amplitudes":{"value":[0.75,1.2],"unit":"1","evidence":"assumption","meaning_zh":"默认高斯吸光度幅值。"},"default_sample_baseline":{"value":0.02,"unit":"1","evidence":"assumption","meaning_zh":"默认人工样品吸光度基线。"},"default_blank_baseline":{"value":0.0,"unit":"1","evidence":"assumption","meaning_zh":"默认人工空白谱基线;数值零为显式fixture而不是缺测。"},"loading_clearance":{"value":1.0471975511965976,"unit":"rad","evidence":"assumption","meaning_zh":"允许装卸样品的仿真盖角下限。"},"closed_tolerance":{"value":1e-06,"unit":"rad","evidence":"assumption","meaning_zh":"闭盖判定数值容差。"},"measurement_duration":{"value":null,"unit":"s","evidence":"unknown","meaning_zh":"真实测量时长未知;本批即时返回且不推进世界时间。"},"noise_model":{"value":null,"unit":"1","evidence":"unknown","meaning_zh":"真实样品噪声模型未标定。"},"concentration_calibration":{"value":null,"unit":"1","evidence":"unknown","meaning_zh":"真实校准曲线及浓度换算未知。"}}}},"limitations":["full表示本批外形与功能组件全部登记,未实现厂家所有操作模式。原始三表整行与型号配置保留在来源快照。","局部外观和内部光学盒体为几何近似,不是厂商CAD;局部尺寸、转轴和槽位没有实测证据。","11 kg只归整机根节点;URDF集中整机包围盒惯量属于假设,其他部件真实质量/惯量/摩擦/阻尼等未知为null。","URDF只提供盒/柱/球碰撞体;盖轴使用continuous,只由宿主将q限制在[0,π/2];URDF没有机械限位或safety_controller,未编造effort/velocity或控制器参数。资产未声称动力学引擎可直接用于真实分件运动。","190–1100 nm可用于合成波长轴;±1 nm准确度和±3 Abs光度范围仅200–900 nm适用,本批没有光学精度验证。","合成谱显式synthetic,不是实际样品或厂商标定结果;真实噪声、校准曲线、浓度定量与故障概率未实现。","透射率比例仅由合成吸光度作T=10^(-A)换算;浓度、方法、厂家校准和时间扫描等未实现条目明确unsupported。","样品与空白在同一插槽顺序装卸;比色皿光程、样品体积/浓度未提供则保持未知。","机器人、真实硬件、接触动力学、真实样品与光学标定验证均not_run。","GLB/OBJ为静态交换资产;交互绑定以原生Blender对象及Python运行模块为准。GLB按任务用export_yup=False保留Z向上;标准glTF查看器若假设Y向上可能需要显式坐标转换。"],"sources":[],"checks":{"coverage":{"status":"bridged","implemented":["lid.set_angle","power.set","sample.load","sample.unload","spectroscopy.measure","spectroscopy.set_mode","spectroscopy.set_scan","spectroscopy.set_wavelength"],"unsupported":[],"note_zh":"桥接 basic40_runtime_analytical.HachDR6000(推进方式 None),14 个状态槽;与运行层镜像对比全同;受信设置需经 host.call;关节化 USD(1 个门/盖/阀等被动关节);1 个门/盖/升降关节与运行层双向同步;接口点 1 个(孔位);布局:台面、单人可搬、正面 −y、前方留空 0.25 m;面板读数 count(3)"}},"previews":["previews/hach_dr6000/preview_closed.webp","previews/hach_dr6000/preview_open.webp","previews/hach_dr6000/preview_rear.webp","previews/hach_dr6000/preview_runtime.webp"],"files":[{"name":"asset.contract.json","path":"assets/basic40_batch02/t3_analytical/hach_dr6000/asset.contract.json","bytes":219221},{"name":"collision_proxies.json","path":"assets/basic40_batch02/t3_analytical/hach_dr6000/collision_proxies.json","bytes":14719},{"name":"geometry_manifest.json","path":"assets/basic40_batch02/t3_analytical/hach_dr6000/geometry_manifest.json","bytes":23329},{"name":"model.blend","path":"assets/basic40_batch02/t3_analytical/hach_dr6000/model.blend","bytes":247057},{"name":"model.glb","path":"assets/basic40_batch02/t3_analytical/hach_dr6000/model.glb","bytes":1192236},{"name":"model.urdf","path":"assets/basic40_batch02/t3_analytical/hach_dr6000/model.urdf","bytes":12150}],"completeness":{"components":14,"with_collisions":13,"with_objects":14,"with_function":14,"with_mass":0,"joints_matching_component":0,"joints":1,"has_contract":true,"has_layout":true,"has_glb":true,"checks_present":["articulation_check","coverage","contract_validation","runtime_validation","scene_validation"]},"slug":"hach_dr6000","chem_id":"CHEM-071","name_en":"UV-Vis spectrophotometer","maker":"Hach","model":"DR6000","domain":"spectroscopy","domain_name":"Molecular Spectroscopy & Structure","path":"assets/basic40_batch02/t3_analytical/hach_dr6000","glb_up":"z","has_contract":true,"contract":"assets/basic40_batch02/t3_analytical/hach_dr6000/asset.contract.json","runtime":"scripts/basic40_runtime_analytical.py"}
|
data/assets/instrument.hach_tl2300epa.json
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/assets/instrument.ika_rv10_digital_v.json
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/assets/instrument.inert_purelab_he_2gb.json
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/assets/instrument.ja_alphase.json
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/assets/instrument.jasco_cpl300.json
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/assets/instrument.jasco_fp8350.json
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/assets/instrument.jasco_ftir4700.json
CHANGED
|
@@ -1 +1 @@
|
|
| 1 |
-
{"tid":"instrument.jasco_ftir4700","asset_dir":"basic40_batch02/t3_analytical/jasco_ftir4700","name_zh":"JASCO FT/IR-4700 傅里叶变换红外光谱仪","category":"分子光谱与结构","description_zh":"CHEM-072:严格依据三表第77行JASCO FT/IR-4700标准配置,以0.460×0.645×0.290 m本体外形、约33 kg整机质量建立装样/关盖/合成光谱流程。full仅表示本批功能组件完整登记,不表示厂家全部功能已实现。","coordinate_system":{"status":"defined","length_unit":"m","angle_unit":"rad","handedness":"right","up_axis":"+Z","frame":"本体台面投影中心原点;X向右、Y向后、Z向上;闭盖标称范围X±0.230、Y±0.3225、Z=0..0.290 m。"},"mass_kg":33.0,"size_m":[0.46,0.645,0.29],"bbox_min":[-0.23,-0.3225,0.0],"bbox_max":[0.23,0.3225,0.29],"manifest_dimensions_m":[0.46,0.645,0.29],"glb":"assets/basic40_batch02/t3_analytical/jasco_ftir4700/model.glb","glb_orientation":"already_z_up","usd":null,"urdf":"assets/basic40_batch02/t3_analytical/jasco_ftir4700/model.urdf","links":{"base_link":"/Geometry/base_link","joint_sample_lid_link":"/Geometry/base_link/joint_sample_lid_link"},"frames":{"pre_place":[0.0,0.0,0.47],"place":[0.0,0.0,0.34],"post_place":[0.0,0.0,0.47],"joint_joint_sample_lid":[0.0,0.06,0.28]},"joints":[{"name":"joint_sample_lid","type":"continuous","parent":"base_link","child":"joint_sample_lid_link","axis":[-1.0,0.0,0.0],"lower":null,"upper":null,"effort":null,"mimic":null,"origin_m":[0.0,0.06,0.28],"child_prim":"/Geometry/base_link/joint_sample_lid_link","child_bbox_min":[-0.116,-0.29643,0.23895],"child_bbox_max":[0.116,0.06043,0.28925],"kind":"door"}],"controls":{"buttons":[],"knobs":[]},"slots":[{"name":"accessory","link":"base_link","part":"accessory_slot","pos":[0.0,-0.115,0.125],"rot":[0.0,0.0,0.0,1.0],"pos_link":[0.0,-0.115,0.125],"rot_link":[0.0,0.0,0.0,1.0],"radius_m":0.0755,"kind":"surface","fits":["cell"],"anchor":"base","insert_axis":[0.0,0.0,1.0],"capture_m":0.03,"access":["joint_sample_lid"],"modelled_occupant":false}],"hidden_parts":[],"readouts":[],"layout":{"front":[0.0,-1.0,0.0],"front_source":"lid:joint_sample_lid","mount":"bench","weight_class":"two_person","mass_kg":33.0,"footprint_m":[0.46,0.645],"height_m":0.29,"clearance_m":{"front":0.25,"back":0.15,"left":0.05,"right":0.05,"top":0.1},"robot_standoff_m":0.35,"work_height_m":0.125,"primary_slot":"accessory","access":[],"slot_count":1},"components":[{"id":"chassis","name_zh":"深蓝承载底座与前裙板","function_zh":"支撑本体并保护内部模块。","physical_meaning_zh":"外形及碰撞空间,未分配真实部件质量。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["chassis"],"collisions":[{"shape":"box","origin_m":[0,0,0.055],"rpy_rad":[0,0,0],"size_m":[0.46,0.645,0.065]},{"shape":"box","origin_m":[0,-0.3,0.103],"rpy_rad":[0,0,0],"size_m":[0.45,0.037,0.048]},{"shape":"box","origin_m":[0,0.292,0.125],"rpy_rad":[0,0,0],"size_m":[0.44,0.058,0.12]},{"shape":"box","origin_m":[-0.22,0,0.115],"rpy_rad":[0,0,0],"size_m":[0.02,0.56,0.06]},{"shape":"box","origin_m":[0.22,0,0.115],"rpy_rad":[0,0,0],"size_m":[0.02,0.56,0.06]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set"],"bbox_m":[[-0.23000000417232513,-0.32249999046325684,0.02250000089406967],[0.23000000417232513,0.32249999046325684,0.1850000023841858]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"feet","name_zh":"四只台面支脚","function_zh":"承托整机。","physical_meaning_zh":"台面接触几何;摩擦、恢复和接触变形未知。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["feet"],"collisions":[{"shape":"cylinder","origin_m":[-0.18,-0.257,0.01125],"rpy_rad":[0,0,0],"radius_m":0.022,"length_m":0.0225},{"shape":"cylinder","origin_m":[-0.18,0.247,0.01125],"rpy_rad":[0,0,0],"radius_m":0.022,"length_m":0.0225},{"shape":"cylinder","origin_m":[0.18,-0.257,0.01125],"rpy_rad":[0,0,0],"radius_m":0.022,"length_m":0.0225},{"shape":"cylinder","origin_m":[0.18,0.247,0.01125],"rpy_rad":[0,0,0],"radius_m":0.022,"length_m":0.0225}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.20200000703334808,-0.2789999842643738,0.0],[0.20200002193450928,0.26900002360343933,0.02250000089406967]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"outer_cover","name_zh":"白色左右外罩与后罩","function_zh":"包覆内部仪器。","physical_meaning_zh":"外观防护罩��不是实测内壁或材料数据。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["outer_cover","brand_jasco","model_mark"],"collisions":[{"shape":"box","origin_m":[-0.173,-0.124,0.198],"rpy_rad":[0,0,0],"size_m":[0.114,0.357,0.155]},{"shape":"box","origin_m":[-0.173,-0.287,0.184],"rpy_rad":[0,0,0],"size_m":[0.114,0.035,0.122]},{"shape":"box","origin_m":[0.173,-0.124,0.198],"rpy_rad":[0,0,0],"size_m":[0.114,0.357,0.155]},{"shape":"box","origin_m":[0.173,-0.287,0.184],"rpy_rad":[0,0,0],"size_m":[0.114,0.035,0.122]},{"shape":"box","origin_m":[0,0.1925,0.224],"rpy_rad":[0,0,0],"size_m":[0.454,0.26,0.132]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.22999998927116394,-0.3050149977207184,0.12049999833106995],[0.23000000417232513,0.32249999046325684,0.2900000214576721]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"sample_chamber","name_zh":"避光样品室及中央前面板","function_zh":"容纳取样附件和样品。","physical_meaning_zh":"装样空间;光密封、湿气和气氛未建模。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["sample_chamber"],"collisions":[{"shape":"box","origin_m":[0,-0.126,0.091],"rpy_rad":[0,0,0],"size_m":[0.228,0.354,0.012]},{"shape":"box","origin_m":[-0.11,-0.126,0.163],"rpy_rad":[0,0,0],"size_m":[0.008,0.35,0.132]},{"shape":"box","origin_m":[0.11,-0.126,0.163],"rpy_rad":[0,0,0],"size_m":[0.008,0.35,0.132]},{"shape":"box","origin_m":[0,0.047,0.173],"rpy_rad":[0,0,0],"size_m":[0.212,0.008,0.15]},{"shape":"box","origin_m":[0,-0.299,0.166],"rpy_rad":[0,0,0],"size_m":[0.227,0.021,0.17]},{"shape":"box","origin_m":[0,-0.307,0.136],"rpy_rad":[0,0,0],"size_m":[0.215,0.014,0.092]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.11400000005960464,-0.3140000104904175,0.08099999278783798],[0.11400000005960464,0.050999999046325684,0.25099998712539673]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"sample_lid","name_zh":"中央深蓝样品室盖","function_zh":"开盖允许装卸,闭盖允许合成测量。","physical_meaning_zh":"joint_sample_lid局部-X轴开合;不是已实现的电机驱动。","subsystem":null,"parent":"joint_sample_lid","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["sample_lid"],"collisions":[{"shape":"box","origin_m":[0,-0.178,-0.014],"rpy_rad":[0.08,0,0],"size_m":[0.232,0.358,0.018]},{"shape":"box","origin_m":[0,-0.162,-0.025],"rpy_rad":[0.08,0,0],"size_m":[0.204,0.31,0.008]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["lid.set_angle"],"bbox_m":[[-0.11599999666213989,-0.29642751812934875,0.23894567787647247],[0.11599999666213989,0.06042751297354698,0.28924959897994995]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"lid_handle","name_zh":"样品室盖握点","function_zh":"提供盖的可视操作位置。","physical_meaning_zh":"随盖运动的几何;机器人抓取未执行。","subsystem":null,"parent":"joint_sample_lid","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["lid_handle"],"collisions":[{"shape":"box","origin_m":[0,-0.249,-0.012],"rpy_rad":[0,0,0],"size_m":[0.058,0.018,0.014]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.028999999165534973,-0.1979999840259552,0.26100000739097595],[0.028999999165534973,-0.17999999225139618,0.2750000059604645]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"lid_hardware","name_zh":"盖轴五金","function_zh":"表示盖的铰链和约束位置。","physical_meaning_zh":"关节几何示意;真实摩擦、驱动力矩和阻尼未知。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["lid_hardware"],"collisions":[{"shape":"box","origin_m":[-0.086,0.058,0.267],"rpy_rad":[0,0,0],"size_m":[0.026,0.022,0.025]},{"shape":"cylinder","origin_m":[-0.086,0.06,0.28],"rpy_rad":[0,1.5707963267948966,0],"radius_m":0.005,"length_m":0.035},{"shape":"box","origin_m":[0.086,0.058,0.267],"rpy_rad":[0,0,0],"size_m":[0.026,0.022,0.025]},{"shape":"cylinder","origin_m":[0.086,0.06,0.28],"rpy_rad":[0,1.5707963267948966,0],"radius_m":0.005,"length_m":0.035}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.10350000113248825,0.04699999839067459,0.25450000166893005],[0.10350000113248825,0.0689999982714653,0.2849999964237213]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"accessory_slot","name_zh":"ATR或透射附件通用槽位","function_zh":"容纳ATR或透射取样附件。","physical_meaning_zh":"通用逻辑插槽和定位框;未核实真实机械接口公差。","subsystem":null,"parent":"root","origin_m":[0,-0.115,0.115],"rpy_rad":[0,0,0],"objects":["accessory_slot"],"collisions":[{"shape":"box","origin_m":[0,0,-0.007],"rpy_rad":[0,0,0],"size_m":[0.151,0.168,0.014]},{"shape":"box","origin_m":[-0.07,0,0.003],"rpy_rad":[0,0,0],"size_m":[0.011,0.153,0.014]},{"shape":"box","origin_m":[0.07,0,0.003],"rpy_rad":[0,0,0],"size_m":[0.011,0.153,0.014]},{"shape":"cylinder","origin_m":[0,-0.068,0.002],"rpy_rad":[0,0,0],"radius_m":0.004,"length_m":0.008},{"shape":"cylinder","origin_m":[0,0.068,0.002],"rpy_rad":[0,0,0],"radius_m":0.004,"length_m":0.008}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["accessory.install","sample.load","sample.unload","background.acquire","measure"],"bbox_m":[[-0.0754999965429306,-0.19900000095367432,0.10100000351667404],[0.0754999965429306,-0.031000003218650818,0.125]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"accessory_atr","name_zh":"ATR附件功能示意","function_zh":"代表ATR取样方式。","physical_meaning_zh":"本批通用示意,不声称特定厂家附件型号或真实晶体参数。","subsystem":null,"parent":"root","origin_m":[0,-0.115,0.115],"rpy_rad":[0,0,0],"objects":["accessory_atr"],"collisions":[{"shape":"box","origin_m":[0,0,0.019],"rpy_rad":[0,0,0],"size_m":[0.125,0.141,0.036]},{"shape":"box","origin_m":[0,0,0.039],"rpy_rad":[0,0,0],"size_m":[0.071,0.066,0.005]},{"shape":"cylinder","origin_m":[0,0,0.043],"rpy_rad":[0,0,0],"radius_m":0.01,"length_m":0.004},{"shape":"box","origin_m":[0.042,0.035,0.074],"rpy_rad":[0,0,0],"size_m":[0.017,0.022,0.1]},{"shape":"box","origin_m":[0.017,0.035,0.118],"rpy_rad":[0,0,0],"size_m":[0.067,0.024,0.013]},{"shape":"cylinder","origin_m":[0,0.021,0.102],"rpy_rad":[0,0,0],"radius_m":0.008,"length_m":0.035},{"shape":"cylinder","origin_m":[0,0.021,0.127],"rpy_rad":[0,0,0],"radius_m":0.014,"length_m":0.01}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"schematic","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["accessory.install"],"bbox_m":[[-0.0625,-0.18549999594688416,0.11600000411272049],[0.0625,-0.04450000077486038,0.24700000882148743]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"accessory_transmission","name_zh":"透射样品架功能示意","function_zh":"代表透射取样方式。","physical_meaning_zh":"通用取样架示意,未定义真实光程、气池或压片夹具。","subsystem":null,"parent":"root","origin_m":[0,-0.115,0.115],"rpy_rad":[0,0,0],"objects":["accessory_transmission"],"collisions":[{"shape":"box","origin_m":[0,0,0.009],"rpy_rad":[0,0,0],"size_m":[0.124,0.14,0.018]},{"shape":"box","origin_m":[-0.039,0,0.066],"rpy_rad":[0,0,0],"size_m":[0.014,0.023,0.106]},{"shape":"box","origin_m":[0.039,0,0.066],"rpy_rad":[0,0,0],"size_m":[0.014,0.023,0.106]},{"shape":"box","origin_m":[0,0,0.022],"rpy_rad":[0,0,0],"size_m":[0.065,0.023,0.013]},{"shape":"box","origin_m":[0,0,0.111],"rpy_rad":[0,0,0],"size_m":[0.073,0.023,0.013]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"schematic","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["accessory.install"],"bbox_m":[[-0.06199999898672104,-0.1850000023841858,0.11500000208616257],[0.06199999898672104,-0.04500000178813934,0.23399999737739563]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"sample_holder_sample","name_zh":"样品位置标记","function_zh":"显示当前已装入虚拟样品。","physical_meaning_zh":"同一槽位样品占位;不实现真实体积、质量或物质转移。","subsystem":null,"parent":"root","origin_m":[0,-0.115,0.115],"rpy_rad":[0,0,0],"objects":["sample_holder_sample"],"collisions":[{"shape":"box","origin_m":[0,0,0.065],"rpy_rad":[0,0,0],"size_m":[0.055,0.008,0.057]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"schematic","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["sample.load","sample.unload"],"bbox_m":[[-0.027499999850988388,-0.11900000274181366,0.15150000154972076],[0.027499999850988388,-0.11100000143051147,0.2084999978542328]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"optical_module","name_zh":"内部干涉光学系统功能占位","function_zh":"代表产生干涉信号与检测红外响应的功能位置。","physical_meaning_zh":"盒体功能占位;未复刻干涉仪镜组、光学CAD或电路。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["optical_module"],"collisions":[{"shape":"box","origin_m":[0,0.181,0.123],"rpy_rad":[0,0,0],"size_m":[0.279,0.228,0.061]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"schematic","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["method.configure","background.acquire","measure","library.match","fast_scan.start","hardware.connect","robot.load_sample"],"bbox_m":[[-0.13950000703334808,0.06699999421834946,0.0925000011920929],[0.13950000703334808,0.29499998688697815,0.1535000056028366]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"indicator_power","name_zh":"右前逻辑电源指示与开关","function_zh":"通过颜色表示本实例逻辑供电状态。","physical_meaning_zh":"显示绑定;未证明真实指示电路。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["indicator_power"],"collisions":[{"shape":"box","origin_m":[0.2,-0.321,0.1],"rpy_rad":[0,0,0],"size_m":[0.022,0.003,0.024]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set"],"bbox_m":[[0.18900001049041748,-0.3225000202655792,0.08799999952316284],[0.210999995470047,-0.31949999928474426,0.1120000034570694]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"power_inlet","name_zh":"后部电源接口示意","function_zh":"标识逻辑供电连接。","physical_meaning_zh":"后接口几何为示意;电气参数未知。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["power_inlet"],"collisions":[{"shape":"box","origin_m":[0.152,0.322,0.117],"rpy_rad":[0,0,0],"size_m":[0.045,0.001,0.031]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"schematic","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[0.12950000166893005,0.3215000033378601,0.1014999970793724],[0.1744999885559082,0.32249999046325684,0.13249999284744263]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"data_port","name_zh":"后部主机数据接口示意","function_zh":"标识测量数据交换。","physical_meaning_zh":"后接口为示意;厂家通信和物理协议未实现。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["data_port"],"collisions":[{"shape":"box","origin_m":[0.088,0.322,0.11],"rpy_rad":[0,0,0],"size_m":[0.023,0.001,0.013]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"schematic","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[0.07649999856948853,0.3215000033378601,0.10350000113248825],[0.09950000047683716,0.3225000202655792,0.11649999767541885]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"purge_port","name_zh":"干涉仪样品室检测器吹扫接口示意","function_zh":"标识样品���/光学部分可吹扫的功能。","physical_meaning_zh":"未实现流量、压差、浓度或湿度;接口位置与管径为示意。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["purge_port"],"collisions":[{"shape":"cylinder","origin_m":[-0.145,0.316,0.132],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.006,"length_m":0.01},{"shape":"cylinder","origin_m":[-0.114,0.316,0.132],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.006,"length_m":0.01}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"schematic","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.1509999930858612,0.3110000193119049,0.12600000202655792],[-0.10799999535083771,0.32100000977516174,0.1379999965429306]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"ventilation","name_zh":"侧部散热缝示意","function_zh":"表示外壳通风位置。","physical_meaning_zh":"外观细节;未求解气流和热传递。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["ventilation"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"schematic","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.22949999570846558,-0.13850000500679016,0.09350000321865082],[-0.22850000858306885,0.20649999380111694,0.12250000238418579]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]}],"component_source":"geometry_manifest.json + asset.contract.json + collision_proxies.json","capabilities":{"power.set":{"function_zh":"设置本实例逻辑供电状态并更新场景电源指示颜色。","kind":"device_command","availability":"implemented","component_ids":["chassis","indicator_power"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["enabled"]},"lid.set_angle":{"function_zh":"开合虚拟样品室盖并同步实际关节姿态。","kind":"configuration","availability":"implemented","component_ids":["sample_lid"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["angle_rad"]},"accessory.install":{"function_zh":"在开盖空槽条件下选择通用ATR、透射附件或移除附件。","kind":"configuration","availability":"implemented","component_ids":["accessory_slot","accessory_atr","accessory_transmission"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["mode"]},"sample.load":{"function_zh":"向已选择附件的空槽装入宿主预注册的虚拟样品。","kind":"configuration","availability":"implemented","component_ids":["accessory_slot","sample_holder_sample"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["sample_id"]},"sample.unload":{"function_zh":"从开盖的附件槽卸下虚拟样品。","kind":"configuration","availability":"implemented","component_ids":["accessory_slot","sample_holder_sample"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":[]},"method.configure":{"function_zh":"配置标准波数范围内的合成测量方法、分辨率、扫描次数和输出类型。","kind":"configuration","availability":"implemented","component_ids":["optical_module"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":["start_wavenumber_m_inv","stop_wavenumber_m_inv","resolution_m_inv","scan_count","output_mode"]},"background.acquire":{"function_zh":"在闭盖空附件槽及当前方法下建立恒定单位强度的synthetic背景。","kind":"device_command","availability":"implemented","component_ids":["optical_module","accessory_slot"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":[]},"measure":{"function_zh":"在供电、闭盖、装样及有效背景条件下返回synthetic吸光度、透射率与干涉图数组。","kind":"device_command","availability":"implemented","component_ids":["optical_module","accessory_slot"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":[]},"library.match":{"function_zh":"真实或厂家谱库匹配:本批明确未实现。","kind":"analysis","availability":"unsupported","component_ids":["optical_module"],"implementation":{"process":"absent","scene":"absent","robot":"absent","hardware":"absent","host":"absent"},"input":[]},"fast_scan.start":{"function_zh":"10 Hz @16 cm^-1快速扫描选件:本批明确未实现。","kind":"device_command","availability":"unsupported","component_ids":["optical_module"],"implementation":{"process":"absent","scene":"absent","robot":"absent","hardware":"absent","host":"absent"},"input":[]},"hardware.connect":{"function_zh":"JASCO真实硬件通信与控制:本批明确未实现。","kind":"device_command","availability":"unsupported","component_ids":["optical_module"],"implementation":{"process":"absent","scene":"absent","robot":"absent","hardware":"absent","host":"absent"},"input":[]},"robot.load_sample":{"function_zh":"机器人抓取、插入和真实样品转移:本批明确未实现。","kind":"robot_skill","availability":"unsupported","component_ids":["optical_module"],"implementation":{"process":"absent","scene":"absent","robot":"absent","hardware":"absent","host":"absent"},"input":[]}},"state_slots":{"power.enabled":{"meaning_zh":"本实例逻辑供电状态;不是远程控制真实仪器电源。","unit":"1","access":"read_write","origin":"setpoint","component_ids":["chassis","indicator_power"],"write_via":"power.set"},"lid.angle_rad":{"meaning_zh":"唯一权威盖开角q;joint_sample_lid.rotation_euler.x=-q,正q开盖。","unit":"rad","access":"read_write","origin":"scene","component_ids":["sample_lid"],"write_via":"lid.set_angle"},"lid.closed":{"meaning_zh":"按运行层数值容差判定的闭盖状态;不是已验证的厂家硬件互锁。","unit":"1","access":"read_only","origin":"derived","component_ids":["sample_lid"],"write_via":null},"accessory.mode":{"meaning_zh":"通用取样附件槽状态none、atr或transmission;不指定真实附件型号。","unit":"1","access":"read_write","origin":"scene","component_ids":["accessory_slot","accessory_atr","accessory_transmission"],"write_via":"accessory.install"},"sample.loaded":{"meaning_zh":"虚拟样品槽占用状态;不表示真实物质质量/体积转移。","unit":"1","access":"read_only","origin":"scene","component_ids":["accessory_slot","sample_holder_sample"],"write_via":null},"sample.id":{"meaning_zh":"宿主注册的人工测试样品标识,空槽为null。","unit":"1","access":"read_only","origin":"scene","component_ids":["accessory_slot","sample_holder_sample"],"write_via":null},"sample.phase":{"meaning_zh":"虚拟样品的固体/液体/气体分类标签;不证明真实取样附件具有全部相态适用性能。","unit":"1","access":"read_only","origin":"scene","component_ids":["accessory_slot","sample_holder_sample"],"write_via":null},"sample.truth":{"meaning_zh":"宿主私有测试样品真值,仅debug/evaluator通过身份边界读取;agent过滤。","unit":"1","access":"read_only","origin":"process_truth","component_ids":["accessory_slot","sample_holder_sample"],"write_via":null},"method.start_wavenumber_m_inv":{"meaning_zh":"下一次合成波数网格起点;SI m^-1。","unit":"m^-1","access":"read_only","origin":"setpoint","component_ids":["optical_module"],"write_via":null},"method.stop_wavenumber_m_inv":{"meaning_zh":"下一次合成波数网格终点;SI m^-1。","unit":"m^-1","access":"read_only","origin":"setpoint","component_ids":["optical_module"],"write_via":null},"method.resolution_m_inv":{"meaning_zh":"只存储并返回分辨率设定;不实施光谱线型卷积,固定512谱点与设定无关。","unit":"m^-1","access":"read_only","origin":"setpoint","component_ids":["optical_module"],"write_via":null},"method.scan_count":{"meaning_zh":"扫描次数设定为无量纲整数;未用真实时长/噪声模型推导采集性能。","unit":"1","access":"read_only","origin":"setpoint","component_ids":["optical_module"],"write_via":null},"method.output_mode":{"meaning_zh":"选择reported_mode报告标签;每次测量始终包含吸光度、透射率比例和合成干涉图全部数组。","unit":"1","access":"read_only","origin":"setpoint","component_ids":["optical_module"],"write_via":null},"background.ready":{"meaning_zh":"当前附件和方法下的人工背景是否已建立。","unit":"1","access":"read_only","origin":"derived","component_ids":["optical_module"],"write_via":null},"background.spectrum":{"meaning_zh":"最近背景人工信号及其方法描述,synthetic;未建立或准备条件变更后为null。","unit":"1","access":"read_only","origin":"derived","component_ids":["optical_module"],"write_via":null},"background.count":{"meaning_zh":"本实例成功背景采集次数;不推进世界时间。","unit":"1","access":"read_only","origin":"derived","component_ids":["optical_module"],"write_via":null},"measurement.spectrum":{"meaning_zh":"最近人工光谱/干涉图,明确synthetic,波数轴m^-1、光程差轴m;未测量或缓存失效为null。","unit":"1","access":"read_only","origin":"derived","component_ids":["optical_module"],"write_via":null},"measurement.count":{"meaning_zh":"本实例成功样品测量次数。","unit":"1","access":"read_only","origin":"derived","component_ids":["optical_module"],"write_via":null}},"mechanisms":{"synthetic_ftir":{"meaning_zh":"以人工测试样品和背景生成确定性synthetic红外谱及干涉图,验证装样/关盖/测量流程。","implementation":"numerical","equations":["sigma_i = start + (stop-start)*i/511, i=0..511; sigma in m^-1","A(sigma) = baseline + sum(a_k*exp(-0.5*((sigma-center_k)/width_k)^2))","T(sigma) = 10^(-A(sigma)); T is a dimensionless ratio","Background(sigma_i)=1 for 512 points; acquisition establishes a logical readiness gate","OPD_j=(j-128)/(2*stop), j=0..256; OPD in m","I(OPD_j)=sum(T(sigma_i)*cos(2*pi*sigma_i*OPD_j))/512; synthetic forward cosine sum, not FFT of measured interferograms"],"parameters":{"wavenumber_min_m_inv":{"value":35000,"unit":"m^-1","evidence":"documented","meaning_zh":"运行元数据参数:wavenumber_min_m_inv"},"wavenumber_max_m_inv":{"value":780000,"unit":"m^-1","evidence":"documented","meaning_zh":"运行元数据参数:wavenumber_max_m_inv"},"highest_resolution_m_inv":{"value":40,"unit":"m^-1","evidence":"documented","meaning_zh":"运行元数据参数:0.4 cm^-1 highest resolution; setpoint validation only, not a lineshape model"},"signal_to_noise_ratio":{"value":35000,"unit":"1","evidence":"documented","meaning_zh":"运行元数据参数:Conditional vendor specification; source conditions must be preserved, not simulated noise"},"optional_fast_scan_frequency_hz":{"value":10,"unit":"Hz","evidence":"documented","meaning_zh":"运行元数据参数:Optional fast scan at 16 cm^-1 = 1600 m^-1; unsupported by runtime"},"measurement_duration_s":{"value":null,"unit":"s","evidence":"unknown","meaning_zh":"运行元数据参数:measurement_duration_s"},"sample_path_length_m":{"value":null,"unit":"m","evidence":"unknown","meaning_zh":"运行元数据参数:sample_path_length_m"},"atr_penetration_depth_m":{"value":null,"unit":"m","evidence":"unknown","meaning_zh":"运行元数据参数:atr_penetration_depth_m"},"maximum_lid_angle_rad":{"value":1.5707963267948966,"unit":"rad","evidence":"assumption","meaning_zh":"运行元数据参数:maximum_lid_angle_rad"},"loading_clearance_rad":{"value":1.0471975511965976,"unit":"rad","evidence":"assumption","meaning_zh":"运行元数据参数:loading_clearance_rad"},"lid_closed_tolerance_rad":{"value":1e-06,"unit":"rad","evidence":"assumption","meaning_zh":"运行元数据参数:lid_closed_tolerance_rad"},"scan_count_limit":{"value":1024,"unit":"1","evidence":"assumption","meaning_zh":"运行元数据参数:Software input bound, not a vendor limit; no scan averaging model"},"synthetic_spectrum_points":{"value":512,"unit":"1","evidence":"assumption","meaning_zh":"运行元数据参数:synthetic_spectrum_points"},"synthetic_interferogram_points":{"value":257,"unit":"1","evidence":"assumption","meaning_zh":"运行元数据参数:synthetic_interferogram_points"},"default_method_start_wavenumber_m_inv":{"value":35000.0,"unit":"m^-1","evidence":"assumption","meaning_zh":"默认合成方法字段 start_wavenumber_m_inv;仿真起始设定,非厂家缺省设置。"},"default_method_stop_wavenumber_m_inv":{"value":780000.0,"unit":"m^-1","evidence":"assumption","meaning_zh":"默认合成方法字段 stop_wavenumber_m_inv;仿真起始设定,非厂家缺省设置。"},"default_method_resolution_m_inv":{"value":400.0,"unit":"m^-1","evidence":"assumption","meaning_zh":"默认合成方法字段 resolution_m_inv;仿真起始设定,非厂家缺省设置。"},"default_method_scan_count":{"value":16,"unit":"1","evidence":"assumption","meaning_zh":"默认合成方法字段 scan_count;仿真起始设定,非厂家缺省设置。"},"default_method_output_mode":{"value":"absorbance","unit":"1","evidence":"assumption","meaning_zh":"默认合成方法字段 output_mode;仿真起始设定,非厂家缺省设置。"},"synthetic_peak_centers":{"value":[171000,295000,335000],"unit":"m^-1","evidence":"assumption","meaning_zh":"人工高斯测试峰参数;不代表化合物身份或真实谱库。"},"synthetic_peak_widths":{"value":[5000,9000,15000],"unit":"m^-1","evidence":"assumption","meaning_zh":"人工高斯测试峰参数;不代表化合物身份或真实谱库。"},"synthetic_peak_amplitudes":{"value":[0.8,0.45,0.55],"unit":"1","evidence":"assumption","meaning_zh":"人工高斯测试峰参数;不代表化合物身份或真实谱库。"},"synthetic_baseline_absorbance":{"value":0.01,"unit":"1","evidence":"assumption","meaning_zh":"默认人工样品吸光度基线;不代表真实样品。"}}}},"limitations":["full只覆盖本批登记组件与可调用合成流程;未实现全部厂家配置、真实附件型号、谱库匹配、机器人操作或真实硬件。","整机外形与质量有清单和官方证据;局部几何是照片估计,内部与后接口为示意。所有分件物性未知保持null,不以33 kg整机值替代。","整机URDF root采用均匀包围盒集中惯量;可动盖未分配虚构惯性。连续关节仅避免伪造未知速度和力矩限值,宿主软件约束q∈[0,π/2];未验证接触动力学。","所有测量输出均为synthetic人工信号,不能用于真实官能团/化学身份确认、定量、厂家S/N或分辨性能证明。","标准范围7800–350 cm^-1;不包括近红外/远红外扩展选件或10 Hz@16 cm^-1快速扫描选件。","波数、分辨率使用SI m^-1;cm^-1×100转换。谱采样步长与厂家最高分辨率不同,不把人工网格密度当分辨性能。","URDF和OBJ/MTL使用SI、Z向上;GLB显式export_yup=False保留Z向上,导入器须遵循本合同坐标约定。","原生Blender默认空槽,ATR/透射附件/样品三对象由运行层显隐;GLB以scale=0保留三节点,显现需宿主恢复scale=1。URDF三组件保留空link定位,不激活visual/collision以防替代件互穿;完整分件OBJ与collision_proxies仍交付。URDF附件切换适配器尚未实现。","读状态与即时合成测量不推进宿主世界时间;没有真实采集时长模型、故障概率、校准曲线或噪声模型。","宿主身份过滤限定Python协议入口;受信任宿主及可读工作区文件不构成对不可信代理的进程级安全隔离。"],"sources":[],"checks":{"coverage":{"status":"bridged","implemented":["accessory.install","background.acquire","lid.set_angle","measure","method.configure","power.set","sample.load","sample.unload"],"unsupported":[],"note_zh":"桥接 basic40_runtime_analytical.JascoFTIR4700(推进方式 None),18 个状态槽;与运行层镜像对比全同;受信设置需经 host.call;关节化 USD(1 个门/盖/阀等被动关节);1 个门/盖/升降关节与运行层双向同步;接口点 1 个(放置面);布局:台面、两人搬、正面 −y、前方留空 0.25 m"}},"previews":["previews/jasco_ftir4700/preview_atr.webp","previews/jasco_ftir4700/preview_closed.webp","previews/jasco_ftir4700/preview_open.webp","previews/jasco_ftir4700/preview_rear.webp","previews/jasco_ftir4700/preview_runtime.webp"],"files":[{"name":"asset.contract.json","path":"assets/basic40_batch02/t3_analytical/jasco_ftir4700/asset.contract.json","bytes":223202},{"name":"collision_proxies.json","path":"assets/basic40_batch02/t3_analytical/jasco_ftir4700/collision_proxies.json","bytes":18096},{"name":"geometry_manifest.json","path":"assets/basic40_batch02/t3_analytical/jasco_ftir4700/geometry_manifest.json","bytes":28207},{"name":"model.blend","path":"assets/basic40_batch02/t3_analytical/jasco_ftir4700/model.blend","bytes":280932},{"name":"model.glb","path":"assets/basic40_batch02/t3_analytical/jasco_ftir4700/model.glb","bytes":996068},{"name":"model.urdf","path":"assets/basic40_batch02/t3_analytical/jasco_ftir4700/model.urdf","bytes":13048}],"completeness":{"components":17,"with_collisions":16,"with_objects":17,"with_function":17,"with_mass":0,"joints_matching_component":0,"joints":1,"has_contract":true,"has_layout":true,"has_glb":true,"checks_present":["articulation_check","coverage","contract_validation","runtime_validation","scene_validation"]},"slug":"jasco_ftir4700","chem_id":"CHEM-072","name_en":"FT-IR spectrometer","maker":"JASCO","model":"FT/IR-4700","domain":"spectroscopy","domain_name":"Molecular Spectroscopy & Structure","path":"assets/basic40_batch02/t3_analytical/jasco_ftir4700","glb_up":"z","has_contract":true,"contract":"assets/basic40_batch02/t3_analytical/jasco_ftir4700/asset.contract.json","runtime":"scripts/basic40_runtime_analytical.py"}
|
|
|
|
| 1 |
+
{"tid":"instrument.jasco_ftir4700","asset_dir":"basic40_batch02/t3_analytical/jasco_ftir4700","name_zh":"JASCO FT/IR-4700 傅里叶变换红外光谱仪","category":"分子光谱与结构","description_zh":"CHEM-072:严格依据三表第77行JASCO FT/IR-4700标准配置,以0.460×0.645×0.290 m本体外形、约33 kg整机质量建立装样/关盖/合成光谱流程。full仅表示本批功能组件完整登记,不表示厂家全部功能已实现。","coordinate_system":{"status":"defined","length_unit":"m","angle_unit":"rad","handedness":"right","up_axis":"+Z","frame":"本体台面投影中心原点;X向右、Y向后、Z向上;闭盖标称范围X±0.230、Y±0.3225、Z=0..0.290 m。"},"mass_kg":33.0,"size_m":[0.46,0.645,0.29],"bbox_min":[-0.23,-0.3225,0.0],"bbox_max":[0.23,0.3225,0.29],"manifest_dimensions_m":[0.46,0.645,0.29],"glb":"assets/basic40_batch02/t3_analytical/jasco_ftir4700/model.glb","glb_orientation":"already_z_up","usd":null,"urdf":"assets/basic40_batch02/t3_analytical/jasco_ftir4700/model.urdf","links":{"base_link":"/Geometry/base_link","joint_sample_lid_link":"/Geometry/base_link/joint_sample_lid_link"},"frames":{"pre_place":[0.0,0.0,0.47],"place":[0.0,0.0,0.34],"post_place":[0.0,0.0,0.47],"joint_joint_sample_lid":[0.0,0.06,0.28]},"joints":[{"name":"joint_sample_lid","type":"continuous","parent":"base_link","child":"joint_sample_lid_link","axis":[-1.0,0.0,0.0],"lower":null,"upper":null,"effort":null,"mimic":null,"origin_m":[0.0,0.06,0.28],"child_prim":"/Geometry/base_link/joint_sample_lid_link","child_bbox_min":[-0.116,-0.29643,0.23895],"child_bbox_max":[0.116,0.06043,0.28925],"kind":"door"}],"controls":{"buttons":[],"knobs":[]},"slots":[{"name":"accessory","link":"base_link","part":"accessory_slot","pos":[0.0,-0.115,0.125],"rot":[0.0,0.0,0.0,1.0],"pos_link":[0.0,-0.115,0.125],"rot_link":[0.0,0.0,0.0,1.0],"radius_m":0.0755,"kind":"surface","fits":["cell"],"anchor":"base","insert_axis":[0.0,0.0,1.0],"capture_m":0.03,"access":["joint_sample_lid"],"modelled_occupant":false}],"hidden_parts":[],"readouts":[],"layout":{"front":[0.0,-1.0,0.0],"front_source":"lid:joint_sample_lid","mount":"bench","weight_class":"two_person","mass_kg":33.0,"footprint_m":[0.46,0.645],"height_m":0.29,"clearance_m":{"front":0.25,"back":0.15,"left":0.05,"right":0.05,"top":0.1},"robot_standoff_m":0.35,"work_height_m":0.125,"primary_slot":"accessory","access":[],"slot_count":1},"components":[{"id":"chassis","name_zh":"深蓝承载底座与前裙板","function_zh":"支撑本体并保护内部模块。","physical_meaning_zh":"外形及碰撞空间,未分配真实部件质量。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["chassis"],"collisions":[{"shape":"box","origin_m":[0,0,0.055],"rpy_rad":[0,0,0],"size_m":[0.46,0.645,0.065]},{"shape":"box","origin_m":[0,-0.3,0.103],"rpy_rad":[0,0,0],"size_m":[0.45,0.037,0.048]},{"shape":"box","origin_m":[0,0.292,0.125],"rpy_rad":[0,0,0],"size_m":[0.44,0.058,0.12]},{"shape":"box","origin_m":[-0.22,0,0.115],"rpy_rad":[0,0,0],"size_m":[0.02,0.56,0.06]},{"shape":"box","origin_m":[0.22,0,0.115],"rpy_rad":[0,0,0],"size_m":[0.02,0.56,0.06]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set"],"bbox_m":[[-0.23000000417232513,-0.32249999046325684,0.02250000089406967],[0.23000000417232513,0.32249999046325684,0.1850000023841858]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"feet","name_zh":"四只台面支脚","function_zh":"承托整机。","physical_meaning_zh":"台面接触几何;摩擦、恢复和接触变形未知。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["feet"],"collisions":[{"shape":"cylinder","origin_m":[-0.18,-0.257,0.01125],"rpy_rad":[0,0,0],"radius_m":0.022,"length_m":0.0225},{"shape":"cylinder","origin_m":[-0.18,0.247,0.01125],"rpy_rad":[0,0,0],"radius_m":0.022,"length_m":0.0225},{"shape":"cylinder","origin_m":[0.18,-0.257,0.01125],"rpy_rad":[0,0,0],"radius_m":0.022,"length_m":0.0225},{"shape":"cylinder","origin_m":[0.18,0.247,0.01125],"rpy_rad":[0,0,0],"radius_m":0.022,"length_m":0.0225}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.20200000703334808,-0.2789999842643738,0.0],[0.20200002193450928,0.26900002360343933,0.02250000089406967]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"outer_cover","name_zh":"白色左右外罩与后罩","function_zh":"包覆内部仪器。","physical_meaning_zh":"外观防护罩;不是实测内壁或材料数据。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["outer_cover","brand_jasco","model_mark"],"collisions":[{"shape":"box","origin_m":[-0.173,-0.124,0.198],"rpy_rad":[0,0,0],"size_m":[0.114,0.357,0.155]},{"shape":"box","origin_m":[-0.173,-0.287,0.184],"rpy_rad":[0,0,0],"size_m":[0.114,0.035,0.122]},{"shape":"box","origin_m":[0.173,-0.124,0.198],"rpy_rad":[0,0,0],"size_m":[0.114,0.357,0.155]},{"shape":"box","origin_m":[0.173,-0.287,0.184],"rpy_rad":[0,0,0],"size_m":[0.114,0.035,0.122]},{"shape":"box","origin_m":[0,0.1925,0.224],"rpy_rad":[0,0,0],"size_m":[0.454,0.26,0.132]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.22999998927116394,-0.3050149977207184,0.12049999833106995],[0.23000000417232513,0.32249999046325684,0.2900000214576721]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"sample_chamber","name_zh":"避光样品室及中央前面板","function_zh":"容纳取样附件和样品。","physical_meaning_zh":"装样空间;光密封、湿气和气氛未建模。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["sample_chamber"],"collisions":[{"shape":"box","origin_m":[0,-0.126,0.091],"rpy_rad":[0,0,0],"size_m":[0.228,0.354,0.012]},{"shape":"box","origin_m":[-0.11,-0.126,0.163],"rpy_rad":[0,0,0],"size_m":[0.008,0.35,0.132]},{"shape":"box","origin_m":[0.11,-0.126,0.163],"rpy_rad":[0,0,0],"size_m":[0.008,0.35,0.132]},{"shape":"box","origin_m":[0,0.047,0.173],"rpy_rad":[0,0,0],"size_m":[0.212,0.008,0.15]},{"shape":"box","origin_m":[0,-0.299,0.166],"rpy_rad":[0,0,0],"size_m":[0.227,0.021,0.17]},{"shape":"box","origin_m":[0,-0.307,0.136],"rpy_rad":[0,0,0],"size_m":[0.215,0.014,0.092]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.11400000005960464,-0.3140000104904175,0.08099999278783798],[0.11400000005960464,0.050999999046325684,0.25099998712539673]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"sample_lid","name_zh":"中央深蓝样品室盖","function_zh":"开盖允许装卸,闭盖允许合成测量。","physical_meaning_zh":"joint_sample_lid局部-X轴开合;不是已实现的电机驱动。","subsystem":null,"parent":"joint_sample_lid","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["sample_lid"],"collisions":[{"shape":"box","origin_m":[0,-0.178,-0.014],"rpy_rad":[0.08,0,0],"size_m":[0.232,0.358,0.018]},{"shape":"box","origin_m":[0,-0.162,-0.025],"rpy_rad":[0.08,0,0],"size_m":[0.204,0.31,0.008]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["lid.set_angle"],"bbox_m":[[-0.11599999666213989,-0.29642751812934875,0.23894567787647247],[0.11599999666213989,0.06042751297354698,0.28924959897994995]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"lid_handle","name_zh":"样品室盖握点","function_zh":"提供盖的可视操作位置。","physical_meaning_zh":"随盖运动的几何;机器人抓取未执行。","subsystem":null,"parent":"joint_sample_lid","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["lid_handle"],"collisions":[{"shape":"box","origin_m":[0,-0.249,-0.012],"rpy_rad":[0,0,0],"size_m":[0.058,0.018,0.014]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.028999999165534973,-0.1979999840259552,0.26100000739097595],[0.028999999165534973,-0.17999999225139618,0.2750000059604645]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"lid_hardware","name_zh":"盖轴五金","function_zh":"表示盖的铰链和约束位置。","physical_meaning_zh":"关节几何示意;真实摩擦、驱动力矩和阻尼未知。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["lid_hardware"],"collisions":[{"shape":"box","origin_m":[-0.086,0.058,0.267],"rpy_rad":[0,0,0],"size_m":[0.026,0.022,0.025]},{"shape":"cylinder","origin_m":[-0.086,0.06,0.28],"rpy_rad":[0,1.5707963267948966,0],"radius_m":0.005,"length_m":0.035},{"shape":"box","origin_m":[0.086,0.058,0.267],"rpy_rad":[0,0,0],"size_m":[0.026,0.022,0.025]},{"shape":"cylinder","origin_m":[0.086,0.06,0.28],"rpy_rad":[0,1.5707963267948966,0],"radius_m":0.005,"length_m":0.035}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.10350000113248825,0.04699999839067459,0.25450000166893005],[0.10350000113248825,0.0689999982714653,0.2849999964237213]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"accessory_slot","name_zh":"ATR或透射附件通用槽位","function_zh":"容纳ATR或透射取样附件。","physical_meaning_zh":"通用逻辑插槽和定位框;未核实真实机械接口公差。","subsystem":null,"parent":"root","origin_m":[0,-0.115,0.115],"rpy_rad":[0,0,0],"objects":["accessory_slot"],"collisions":[{"shape":"box","origin_m":[0,0,-0.007],"rpy_rad":[0,0,0],"size_m":[0.151,0.168,0.014]},{"shape":"box","origin_m":[-0.07,0,0.003],"rpy_rad":[0,0,0],"size_m":[0.011,0.153,0.014]},{"shape":"box","origin_m":[0.07,0,0.003],"rpy_rad":[0,0,0],"size_m":[0.011,0.153,0.014]},{"shape":"cylinder","origin_m":[0,-0.068,0.002],"rpy_rad":[0,0,0],"radius_m":0.004,"length_m":0.008},{"shape":"cylinder","origin_m":[0,0.068,0.002],"rpy_rad":[0,0,0],"radius_m":0.004,"length_m":0.008}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["accessory.install","sample.load","sample.unload","background.acquire","measure"],"bbox_m":[[-0.0754999965429306,-0.19900000095367432,0.10100000351667404],[0.0754999965429306,-0.031000003218650818,0.125]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"accessory_atr","name_zh":"ATR附件功能示意","function_zh":"代表ATR取样方式。","physical_meaning_zh":"本批通用示意,不声称特定厂家附件型号或真实晶体参数。","subsystem":null,"parent":"root","origin_m":[0,-0.115,0.115],"rpy_rad":[0,0,0],"objects":["accessory_atr"],"collisions":[{"shape":"box","origin_m":[0,0,0.019],"rpy_rad":[0,0,0],"size_m":[0.125,0.141,0.036]},{"shape":"box","origin_m":[0,0,0.039],"rpy_rad":[0,0,0],"size_m":[0.071,0.066,0.005]},{"shape":"cylinder","origin_m":[0,0,0.043],"rpy_rad":[0,0,0],"radius_m":0.01,"length_m":0.004},{"shape":"box","origin_m":[0.042,0.035,0.074],"rpy_rad":[0,0,0],"size_m":[0.017,0.022,0.1]},{"shape":"box","origin_m":[0.017,0.035,0.118],"rpy_rad":[0,0,0],"size_m":[0.067,0.024,0.013]},{"shape":"cylinder","origin_m":[0,0.021,0.102],"rpy_rad":[0,0,0],"radius_m":0.008,"length_m":0.035},{"shape":"cylinder","origin_m":[0,0.021,0.127],"rpy_rad":[0,0,0],"radius_m":0.014,"length_m":0.01}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"schematic","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["accessory.install"],"bbox_m":[[-0.0625,-0.18549999594688416,0.11600000411272049],[0.0625,-0.04450000077486038,0.24700000882148743]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"accessory_transmission","name_zh":"透射样品架功能示意","function_zh":"代表透射取样方式。","physical_meaning_zh":"通用取样架示意,未定义真实光程、气池或压片夹具。","subsystem":null,"parent":"root","origin_m":[0,-0.115,0.115],"rpy_rad":[0,0,0],"objects":["accessory_transmission"],"collisions":[{"shape":"box","origin_m":[0,0,0.009],"rpy_rad":[0,0,0],"size_m":[0.124,0.14,0.018]},{"shape":"box","origin_m":[-0.039,0,0.066],"rpy_rad":[0,0,0],"size_m":[0.014,0.023,0.106]},{"shape":"box","origin_m":[0.039,0,0.066],"rpy_rad":[0,0,0],"size_m":[0.014,0.023,0.106]},{"shape":"box","origin_m":[0,0,0.022],"rpy_rad":[0,0,0],"size_m":[0.065,0.023,0.013]},{"shape":"box","origin_m":[0,0,0.111],"rpy_rad":[0,0,0],"size_m":[0.073,0.023,0.013]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"schematic","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["accessory.install"],"bbox_m":[[-0.06199999898672104,-0.1850000023841858,0.11500000208616257],[0.06199999898672104,-0.04500000178813934,0.23399999737739563]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"sample_holder_sample","name_zh":"样品位置标记","function_zh":"显示当前已装入虚拟样品。","physical_meaning_zh":"同一槽位样品占位;不实现真实体积、质量或物质转移。","subsystem":null,"parent":"root","origin_m":[0,-0.115,0.115],"rpy_rad":[0,0,0],"objects":["sample_holder_sample"],"collisions":[{"shape":"box","origin_m":[0,0,0.065],"rpy_rad":[0,0,0],"size_m":[0.055,0.008,0.057]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"schematic","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["sample.load","sample.unload"],"bbox_m":[[-0.027499999850988388,-0.11900000274181366,0.15150000154972076],[0.027499999850988388,-0.11100000143051147,0.2084999978542328]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"optical_module","name_zh":"内部干涉光学系统功能占位","function_zh":"代表产生干涉信号与检测红外响应的功能位置。","physical_meaning_zh":"盒体功能占位;未复刻干涉仪镜组、光学CAD或电路。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["optical_module"],"collisions":[{"shape":"box","origin_m":[0,0.181,0.123],"rpy_rad":[0,0,0],"size_m":[0.279,0.228,0.061]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"schematic","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["method.configure","background.acquire","measure","library.match","fast_scan.start","hardware.connect","robot.load_sample"],"bbox_m":[[-0.13950000703334808,0.06699999421834946,0.0925000011920929],[0.13950000703334808,0.29499998688697815,0.1535000056028366]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"indicator_power","name_zh":"右前逻辑电源指示与开关","function_zh":"通过颜色表示本实例逻辑供电状态。","physical_meaning_zh":"显示绑定;未证明真实指示电路。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["indicator_power"],"collisions":[{"shape":"box","origin_m":[0.2,-0.321,0.1],"rpy_rad":[0,0,0],"size_m":[0.022,0.003,0.024]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set"],"bbox_m":[[0.18900001049041748,-0.3225000202655792,0.08799999952316284],[0.210999995470047,-0.31949999928474426,0.1120000034570694]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"power_inlet","name_zh":"后部电源接口示意","function_zh":"标识逻辑供电连接。","physical_meaning_zh":"后接口几何为示意;电气参数未知。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["power_inlet"],"collisions":[{"shape":"box","origin_m":[0.152,0.322,0.117],"rpy_rad":[0,0,0],"size_m":[0.045,0.001,0.031]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"schematic","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[0.12950000166893005,0.3215000033378601,0.1014999970793724],[0.1744999885559082,0.32249999046325684,0.13249999284744263]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"data_port","name_zh":"后部主机数据接口示意","function_zh":"标识测量数据交换。","physical_meaning_zh":"后接口为示意;厂家通信和物理协议未实现。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["data_port"],"collisions":[{"shape":"box","origin_m":[0.088,0.322,0.11],"rpy_rad":[0,0,0],"size_m":[0.023,0.001,0.013]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"schematic","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[0.07649999856948853,0.3215000033378601,0.10350000113248825],[0.09950000047683716,0.3225000202655792,0.11649999767541885]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"purge_port","name_zh":"干涉仪样品室检测器吹扫接口示意","function_zh":"标识样品室/光学部分可吹扫的功能。","physical_meaning_zh":"未实现流量、压差、浓度或湿度;接口位置与管径为示意。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["purge_port"],"collisions":[{"shape":"cylinder","origin_m":[-0.145,0.316,0.132],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.006,"length_m":0.01},{"shape":"cylinder","origin_m":[-0.114,0.316,0.132],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.006,"length_m":0.01}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"schematic","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.1509999930858612,0.3110000193119049,0.12600000202655792],[-0.10799999535083771,0.32100000977516174,0.1379999965429306]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"ventilation","name_zh":"侧部散热缝示意","function_zh":"表示外壳通风位置。","physical_meaning_zh":"外观细节;未求解气流和热传递。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["ventilation"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"schematic","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.22949999570846558,-0.13850000500679016,0.09350000321865082],[-0.22850000858306885,0.20649999380111694,0.12250000238418579]],"raw_keys":["collisions","evaluated_bounds_world_m","geometry_evidence","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]}],"component_source":"geometry_manifest.json + asset.contract.json + collision_proxies.json","capabilities":{"power.set":{"function_zh":"设置本实例逻辑供电状态并更新场景电源指示颜色。","kind":"device_command","availability":"implemented","component_ids":["chassis","indicator_power"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["enabled"]},"lid.set_angle":{"function_zh":"开合虚拟样品室盖并同步实际关节姿态。","kind":"configuration","availability":"implemented","component_ids":["sample_lid"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["angle_rad"]},"accessory.install":{"function_zh":"在开盖空槽条件下选择通用ATR、透射附件或移除附件。","kind":"configuration","availability":"implemented","component_ids":["accessory_slot","accessory_atr","accessory_transmission"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["mode"]},"sample.load":{"function_zh":"向已选择附件的空槽装入宿主预注册的虚拟样品。","kind":"configuration","availability":"implemented","component_ids":["accessory_slot","sample_holder_sample"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["sample_id"]},"sample.unload":{"function_zh":"从开盖的附件槽卸下虚拟样品。","kind":"configuration","availability":"implemented","component_ids":["accessory_slot","sample_holder_sample"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":[]},"method.configure":{"function_zh":"配置标准波数范围内的合成测量方法、分辨率、扫描次数和输出类型。","kind":"configuration","availability":"implemented","component_ids":["optical_module"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":["start_wavenumber_m_inv","stop_wavenumber_m_inv","resolution_m_inv","scan_count","output_mode"]},"background.acquire":{"function_zh":"在闭盖空附件槽及当前方法下建立恒定单位强度的synthetic背景。","kind":"device_command","availability":"implemented","component_ids":["optical_module","accessory_slot"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":[]},"measure":{"function_zh":"在供电、闭盖、装样及有效背景条件下返回synthetic吸光度、透射率与干涉图数组。","kind":"device_command","availability":"implemented","component_ids":["optical_module","accessory_slot"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":[]},"library.match":{"function_zh":"真实或厂家谱库匹配:本批明确未实现。","kind":"analysis","availability":"unsupported","component_ids":["optical_module"],"implementation":{"process":"absent","scene":"absent","robot":"absent","hardware":"absent","host":"absent"},"input":[]},"fast_scan.start":{"function_zh":"10 Hz @16 cm^-1快速扫描选件:本批明确未实现。","kind":"device_command","availability":"unsupported","component_ids":["optical_module"],"implementation":{"process":"absent","scene":"absent","robot":"absent","hardware":"absent","host":"absent"},"input":[]},"hardware.connect":{"function_zh":"JASCO真实硬件通信与控制:本批明确未实现。","kind":"device_command","availability":"unsupported","component_ids":["optical_module"],"implementation":{"process":"absent","scene":"absent","robot":"absent","hardware":"absent","host":"absent"},"input":[]},"robot.load_sample":{"function_zh":"机器人抓取、插入和真实样品转移:本批明确未实现。","kind":"robot_skill","availability":"unsupported","component_ids":["optical_module"],"implementation":{"process":"absent","scene":"absent","robot":"absent","hardware":"absent","host":"absent"},"input":[]}},"state_slots":{"power.enabled":{"meaning_zh":"本实例逻辑供电状态;不是远程控制真实仪器电源。","unit":"1","access":"read_write","origin":"setpoint","component_ids":["chassis","indicator_power"],"write_via":"power.set"},"lid.angle_rad":{"meaning_zh":"唯一权威盖开角q;joint_sample_lid.rotation_euler.x=-q,正q开盖。","unit":"rad","access":"read_write","origin":"scene","component_ids":["sample_lid"],"write_via":"lid.set_angle"},"lid.closed":{"meaning_zh":"按运行层数值容差判定的闭盖状态;不是已验证的厂家硬件互锁。","unit":"1","access":"read_only","origin":"derived","component_ids":["sample_lid"],"write_via":null},"accessory.mode":{"meaning_zh":"通用取样附件槽状态none、atr或transmission;不指定真实附件型号。","unit":"1","access":"read_write","origin":"scene","component_ids":["accessory_slot","accessory_atr","accessory_transmission"],"write_via":"accessory.install"},"sample.loaded":{"meaning_zh":"虚拟样品槽占用状态;不表示真实物质质量/体积转移。","unit":"1","access":"read_only","origin":"scene","component_ids":["accessory_slot","sample_holder_sample"],"write_via":null},"sample.id":{"meaning_zh":"宿主注册的人工测试样品标识,空槽为null。","unit":"1","access":"read_only","origin":"scene","component_ids":["accessory_slot","sample_holder_sample"],"write_via":null},"sample.phase":{"meaning_zh":"虚拟样品的固体/液体/气体分类标签;不证明真实取样附件具有全部相态适用性能。","unit":"1","access":"read_only","origin":"scene","component_ids":["accessory_slot","sample_holder_sample"],"write_via":null},"sample.truth":{"meaning_zh":"宿主私有测试样品真值,仅debug/evaluator通过身份边界读取;agent过滤。","unit":"1","access":"read_only","origin":"process_truth","component_ids":["accessory_slot","sample_holder_sample"],"write_via":null},"method.start_wavenumber_m_inv":{"meaning_zh":"下一次合成波数网格起点;SI m^-1。","unit":"m^-1","access":"read_only","origin":"setpoint","component_ids":["optical_module"],"write_via":null},"method.stop_wavenumber_m_inv":{"meaning_zh":"下一次合成波数网格终点;SI m^-1。","unit":"m^-1","access":"read_only","origin":"setpoint","component_ids":["optical_module"],"write_via":null},"method.resolution_m_inv":{"meaning_zh":"只存储并返回分辨率设定;不实施光谱线型卷积,固定512谱点与设定无关。","unit":"m^-1","access":"read_only","origin":"setpoint","component_ids":["optical_module"],"write_via":null},"method.scan_count":{"meaning_zh":"扫描次数设定为无量纲整数;未用真实时长/噪声模型推导采集性能。","unit":"1","access":"read_only","origin":"setpoint","component_ids":["optical_module"],"write_via":null},"method.output_mode":{"meaning_zh":"选择reported_mode报告标签;每次测量始终包含吸光度、透射率比例和合成干涉图全部数组。","unit":"1","access":"read_only","origin":"setpoint","component_ids":["optical_module"],"write_via":null},"background.ready":{"meaning_zh":"当前附件和方法下的人工背景是否已建立。","unit":"1","access":"read_only","origin":"derived","component_ids":["optical_module"],"write_via":null},"background.spectrum":{"meaning_zh":"最近背景人工信号及其方法描述,synthetic;未建立或准备条件变更后为null。","unit":"1","access":"read_only","origin":"derived","component_ids":["optical_module"],"write_via":null},"background.count":{"meaning_zh":"本实例成功背景采集次数;不推进世界时间。","unit":"1","access":"read_only","origin":"derived","component_ids":["optical_module"],"write_via":null},"measurement.spectrum":{"meaning_zh":"最近人工光谱/干涉图,明确synthetic,波数轴m^-1、光程差轴m;未测量或缓存失效为null。","unit":"1","access":"read_only","origin":"derived","component_ids":["optical_module"],"write_via":null},"measurement.count":{"meaning_zh":"本实例成功样品测量次数。","unit":"1","access":"read_only","origin":"derived","component_ids":["optical_module"],"write_via":null}},"mechanisms":{"synthetic_ftir":{"meaning_zh":"以人工测试样品和背景生成确定性synthetic红外谱及干涉图,验证装样/关盖/测量流程。","implementation":"numerical","equations":["sigma_i = start + (stop-start)*i/511, i=0..511; sigma in m^-1","A(sigma) = baseline + sum(a_k*exp(-0.5*((sigma-center_k)/width_k)^2))","T(sigma) = 10^(-A(sigma)); T is a dimensionless ratio","Background(sigma_i)=1 for 512 points; acquisition establishes a logical readiness gate","OPD_j=(j-128)/(2*stop), j=0..256; OPD in m","I(OPD_j)=sum(T(sigma_i)*cos(2*pi*sigma_i*OPD_j))/512; synthetic forward cosine sum, not FFT of measured interferograms"],"parameters":{"wavenumber_min_m_inv":{"value":35000,"unit":"m^-1","evidence":"documented","meaning_zh":"运行元数据参数:wavenumber_min_m_inv"},"wavenumber_max_m_inv":{"value":780000,"unit":"m^-1","evidence":"documented","meaning_zh":"运行元数据参数:wavenumber_max_m_inv"},"highest_resolution_m_inv":{"value":40,"unit":"m^-1","evidence":"documented","meaning_zh":"运行元数据参数:0.4 cm^-1 highest resolution; setpoint validation only, not a lineshape model"},"signal_to_noise_ratio":{"value":35000,"unit":"1","evidence":"documented","meaning_zh":"运行元数据参数:Conditional vendor specification; source conditions must be preserved, not simulated noise"},"optional_fast_scan_frequency_hz":{"value":10,"unit":"Hz","evidence":"documented","meaning_zh":"运行元数据参数:Optional fast scan at 16 cm^-1 = 1600 m^-1; unsupported by runtime"},"measurement_duration_s":{"value":null,"unit":"s","evidence":"unknown","meaning_zh":"运行元数据参数:measurement_duration_s"},"sample_path_length_m":{"value":null,"unit":"m","evidence":"unknown","meaning_zh":"运行元数据参数:sample_path_length_m"},"atr_penetration_depth_m":{"value":null,"unit":"m","evidence":"unknown","meaning_zh":"运行元数据参数:atr_penetration_depth_m"},"maximum_lid_angle_rad":{"value":1.5707963267948966,"unit":"rad","evidence":"assumption","meaning_zh":"运行元数据参数:maximum_lid_angle_rad"},"loading_clearance_rad":{"value":1.0471975511965976,"unit":"rad","evidence":"assumption","meaning_zh":"运行元数据参数:loading_clearance_rad"},"lid_closed_tolerance_rad":{"value":1e-06,"unit":"rad","evidence":"assumption","meaning_zh":"运行元数据参数:lid_closed_tolerance_rad"},"scan_count_limit":{"value":1024,"unit":"1","evidence":"assumption","meaning_zh":"运行元数据参数:Software input bound, not a vendor limit; no scan averaging model"},"synthetic_spectrum_points":{"value":512,"unit":"1","evidence":"assumption","meaning_zh":"运行元数据参数:synthetic_spectrum_points"},"synthetic_interferogram_points":{"value":257,"unit":"1","evidence":"assumption","meaning_zh":"运行元数据参数:synthetic_interferogram_points"},"default_method_start_wavenumber_m_inv":{"value":35000.0,"unit":"m^-1","evidence":"assumption","meaning_zh":"默认合成方法字段 start_wavenumber_m_inv;仿真起始设定,非厂家缺省设置。"},"default_method_stop_wavenumber_m_inv":{"value":780000.0,"unit":"m^-1","evidence":"assumption","meaning_zh":"默认合成方法字段 stop_wavenumber_m_inv;仿真起始设定,非厂家缺省设置。"},"default_method_resolution_m_inv":{"value":400.0,"unit":"m^-1","evidence":"assumption","meaning_zh":"默认合成方法字段 resolution_m_inv;仿真起始设定,非厂家缺省设置。"},"default_method_scan_count":{"value":16,"unit":"1","evidence":"assumption","meaning_zh":"默认合成方法字段 scan_count;仿真起始设定,非厂家缺省设置。"},"default_method_output_mode":{"value":"absorbance","unit":"1","evidence":"assumption","meaning_zh":"默认合成方法字段 output_mode;仿真起始设定,非厂家缺省设置。"},"synthetic_peak_centers":{"value":[171000,295000,335000],"unit":"m^-1","evidence":"assumption","meaning_zh":"人工高斯测试峰参数;不代表化合物身份或真实谱库。"},"synthetic_peak_widths":{"value":[5000,9000,15000],"unit":"m^-1","evidence":"assumption","meaning_zh":"人工高斯测试峰参数;不代表化合物身份或真实谱库。"},"synthetic_peak_amplitudes":{"value":[0.8,0.45,0.55],"unit":"1","evidence":"assumption","meaning_zh":"人工高斯测试峰参数;不代表化合物身份或真实谱库。"},"synthetic_baseline_absorbance":{"value":0.01,"unit":"1","evidence":"assumption","meaning_zh":"默认人工样品吸光度基线;不代表真实样品。"}}}},"limitations":["full只覆盖本批登记组件与可调用合成流程;未实现全部厂家配置、真实附件型号、谱库匹配、机器人操作或真实硬件。","整机外形与质量有清单和官方证据;局部几何是照片估计,内部与后接口为示意。所有分件物性未知保持null,不以33 kg整机值替代。","整机URDF root采用均匀包围盒集中惯量;可动盖未分配虚构惯性。连续关节仅避免伪造未知速度和力矩限值,宿主软件约束q∈[0,π/2];未验证接触动力学。","所有测量输出均为synthetic人工信号,不能用于真实官能团/化学身份确认、定量、厂家S/N或分辨性能证明。","标准范围7800–350 cm^-1;不包括近红外/远红外扩展选件或10 Hz@16 cm^-1快速扫描选件。","波数、分辨率使用SI m^-1;cm^-1×100转换。谱采样步长与厂家最高分辨率不同,不把人工网格密度当分辨性能。","URDF和OBJ/MTL使用SI、Z向上;GLB显式export_yup=False保留Z向上,导入器须遵循本合同坐标约定。","原生Blender默认空槽,ATR/透射附件/样品三对象由运行层显隐;GLB以scale=0保留三节点,显现需宿主恢复scale=1。URDF三组件保留空link定位,不激活visual/collision以防替代件互穿;完整分件OBJ与collision_proxies仍交付。URDF附件切换适配器尚未实现。","读状态与即时合成测量不推进宿主世界时间;没有真实采集时长模型、故障概率、校准曲线或噪声模型。","宿主身份过滤限定Python协议入口;受信任宿主及可读工作区文件不构成对不可信代理的进程级安全隔离。"],"sources":[],"checks":{"coverage":{"status":"bridged","implemented":["accessory.install","background.acquire","lid.set_angle","measure","method.configure","power.set","sample.load","sample.unload"],"unsupported":[],"note_zh":"桥接 basic40_runtime_analytical.JascoFTIR4700(推进方式 None),18 个状态槽;与运行层镜像对比全同;受信设置需经 host.call;关节化 USD(1 个门/盖/阀等被动关节);1 个门/盖/升降关节与运行层双向同步;接口点 1 个(放置面);布局:台面、两人搬、正面 −y、前方留空 0.25 m"}},"previews":["previews/jasco_ftir4700/preview_atr.webp","previews/jasco_ftir4700/preview_closed.webp","previews/jasco_ftir4700/preview_open.webp","previews/jasco_ftir4700/preview_rear.webp","previews/jasco_ftir4700/preview_runtime.webp"],"files":[{"name":"asset.contract.json","path":"assets/basic40_batch02/t3_analytical/jasco_ftir4700/asset.contract.json","bytes":255769},{"name":"collision_proxies.json","path":"assets/basic40_batch02/t3_analytical/jasco_ftir4700/collision_proxies.json","bytes":18096},{"name":"geometry_manifest.json","path":"assets/basic40_batch02/t3_analytical/jasco_ftir4700/geometry_manifest.json","bytes":28207},{"name":"model.blend","path":"assets/basic40_batch02/t3_analytical/jasco_ftir4700/model.blend","bytes":280932},{"name":"model.glb","path":"assets/basic40_batch02/t3_analytical/jasco_ftir4700/model.glb","bytes":996068},{"name":"model.urdf","path":"assets/basic40_batch02/t3_analytical/jasco_ftir4700/model.urdf","bytes":13048}],"completeness":{"components":17,"with_collisions":16,"with_objects":17,"with_function":17,"with_mass":0,"joints_matching_component":0,"joints":1,"has_contract":true,"has_layout":true,"has_glb":true,"checks_present":["articulation_check","coverage","contract_validation","runtime_validation","scene_validation"]},"slug":"jasco_ftir4700","chem_id":"CHEM-072","name_en":"FT-IR spectrometer","maker":"JASCO","model":"FT/IR-4700","domain":"spectroscopy","domain_name":"Molecular Spectroscopy & Structure","path":"assets/basic40_batch02/t3_analytical/jasco_ftir4700","glb_up":"z","has_contract":true,"contract":"assets/basic40_batch02/t3_analytical/jasco_ftir4700/asset.contract.json","runtime":"scripts/basic40_runtime_analytical.py"}
|
data/assets/instrument.jasco_fvs6000.json
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/assets/instrument.jena_contraa800.json
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/assets/instrument.jena_multix.json
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/assets/instrument.julabo_corio_cd200f.json
CHANGED
|
@@ -1 +1 @@
|
|
| 1 |
-
{"tid":"instrument.julabo_corio_cd200f","asset_dir":"basic40_batch02/t1_thermal/julabo_corio_cd200f","name_zh":"JULABO CORIO CD-200F 9012701.N1.03 加热制冷循环浴","category":"环境与公用系统","description_zh":"CHEM-187 JULABO CORIO CD-200F 9012701.N1.03 加热制冷循环浴。full表示本批明确配置的功能组件全部登记;不是厂家全部模式或硬件接口已实现。","coordinate_system":{"status":"defined","length_unit":"m","angle_unit":"rad","handedness":"right","up_axis":"+Z","frame":"asset_root:台面投影中心,底面z=0;+X向右,+Y向后,+Z向上;各宿主实例偏移独立。GLB导出为规范+Y向上。"},"mass_kg":26.0,"size_m":[0.23,0.3898,0.65],"bbox_min":[-0.115,-0.1952,0.0],"bbox_max":[0.115,0.1946,0.65],"manifest_dimensions_m":[0.23,0.39,0.65],"glb":"assets/basic40_batch02/t1_thermal/julabo_corio_cd200f/model.glb","glb_orientation":"gltf_y_up_rotated","usd":null,"urdf":"assets/basic40_batch02/t1_thermal/julabo_corio_cd200f/model.urdf","links":{"base_link":"/Geometry/base_link","bath_lid":"/Geometry/base_link/bath_lid","pump_selector":"/Geometry/base_link/pump_selector","btn_control_buttons_key_ok_link":"/Geometry/base_link/btn_control_buttons_key_ok_link","btn_control_buttons_key__0_0110_link":"/Geometry/base_link/btn_control_buttons_key__0_0110_link","btn_control_buttons_key_0_0110_link":"/Geometry/base_link/btn_control_buttons_key_0_0110_link","btn_control_buttons_key_00_012_link":"/Geometry/base_link/btn_control_buttons_key_00_012_link"},"frames":{"pre_place":[0.0,-0.0425,0.65],"place":[0.0,-0.0425,0.52],"post_place":[0.0,-0.0425,0.65],"joint_bath_lid_joint":[0.0,-0.015,0.481],"joint_knob_pump_selector":[0.0,0.022,0.492],"joint_btn_control_buttons_key_ok":[-0.00102,0.034,0.57117],"joint_btn_control_buttons_key__0_0110":[-0.01081,0.034,0.57122],"joint_btn_control_buttons_key_0_0110":[0.01081,0.034,0.57122],"joint_btn_control_buttons_key_00_012":[0.0,0.034,0.58321]},"joints":[{"name":"bath_lid_joint","type":"revolute","parent":"base_link","child":"bath_lid","axis":[-1.0,0.0,0.0],"lower":0.0,"upper":1.5707963267948966,"effort":1.0,"mimic":null,"origin_m":[0.0,-0.015,0.481],"child_prim":"/Geometry/base_link/bath_lid","child_bbox_min":[-0.0725,-0.1735,0.476],"child_bbox_max":[0.0725,-0.011,0.5155],"kind":"door"},{"name":"knob_pump_selector","type":"revolute","parent":"base_link","child":"pump_selector","axis":[0.0,-0.200893,-0.979613],"lower":-2.617994,"upper":2.617994,"effort":1.0,"mimic":null,"origin_m":[0.0,0.022,0.492],"child_prim":"/Geometry/base_link/pump_selector","child_bbox_min":[-0.014,0.0025,0.486],"child_bbox_max":[0.014,0.0285,0.5],"kind":"knob"},{"name":"btn_control_buttons_key_ok","type":"prismatic","parent":"control_buttons","child":"btn_control_buttons_key_ok_link","axis":[0.0,1.0,0.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[-0.00102,0.034,0.57117],"child_prim":"/Geometry/base_link/btn_control_buttons_key_ok_link","child_bbox_min":[-0.00278,0.03399,0.56976],"child_bbox_max":[0.00295,0.03401,0.57256],"kind":"button"},{"name":"btn_control_buttons_key__0_0110","type":"prismatic","parent":"control_buttons","child":"btn_control_buttons_key__0_0110_link","axis":[-0.0,1.0,-0.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[-0.01081,0.034,0.57122],"child_prim":"/Geometry/base_link/btn_control_buttons_key__0_0110_link","child_bbox_min":[-0.01195,0.03399,0.57024],"child_bbox_max":[-0.01005,0.03401,0.57219],"kind":"button"},{"name":"btn_control_buttons_key_0_0110","type":"prismatic","parent":"control_buttons","child":"btn_control_buttons_key_0_0110_link","axis":[-0.0,1.0,0.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[0.01081,0.034,0.57122],"child_prim":"/Geometry/base_link/btn_control_buttons_key_0_0110_link","child_bbox_min":[0.01005,0.03399,0.57024],"child_bbox_max":[0.01195,0.03401,0.57219],"kind":"button"},{"name":"btn_control_buttons_key_00_012","type":"prismatic","parent":"control_buttons","child":"btn_control_buttons_key_00_012_link","axis":[0.0,1.0,-0.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[0.0,0.034,0.58321],"child_prim":"/Geometry/base_link/btn_control_buttons_key_00_012_link","child_bbox_min":[-0.00094,0.03399,0.58227],"child_bbox_max":[0.00094,0.03401,0.58416],"kind":"button"}],"controls":{"buttons":["btn_control_buttons_key_ok","btn_control_buttons_key__0_0110","btn_control_buttons_key_0_0110","btn_control_buttons_key_00_012"],"knobs":["knob_pump_selector"]},"slots":[{"name":"bath","link":"base_link","part":"bath_vessel","pos":[0.0,-0.0425,0.32],"rot":[0.0,0.0,0.0,1.0],"pos_link":[0.0,-0.0425,0.32],"rot_link":[0.0,0.0,0.0,1.0],"radius_m":0.06,"kind":"surface","fits":["flask","beaker","vial"],"anchor":"base","insert_axis":[0.0,0.0,1.0],"capture_m":0.03,"access":["bath_lid_joint"],"modelled_occupant":false}],"hidden_parts":[],"readouts":[{"name":"temp","part":"julabo_corio_cd200f__display_digits","prim":"/Geometry/base_link/readout_temp","link":"base_link","digits":4,"decimals":1,"unit":"C","center":[0.0001,0.038,0.6157],"up":[-0.0,-0.0,1.0],"source":{"bridge":["thermal.indicated_temperature_k","thermal.target_k"],"offset":-273.15},"blank_channel":null,"on":[1.0,0.12,0.05],"off":[0.03,0.03,0.03],"size_m":[0.027,0.0112],"normal":[0.0,1.0,0.0]}],"layout":{"front":[0.0,-1.0,0.0],"front_source":"lid:bath_lid_joint","mount":"bench","weight_class":"two_person","mass_kg":26.0,"footprint_m":[0.23,0.3898],"height_m":0.65,"clearance_m":{"front":0.25,"back":0.15,"left":0.05,"right":0.05,"top":0.212},"robot_standoff_m":0.35,"work_height_m":0.32,"primary_slot":"bath","access":["bath_lid_joint"],"slot_count":1},"components":[{"id":"housing","name_zh":"承载外壳与提手","function_zh":"承载浴槽及制冷器;壁板围成空腔,前部凹入提手供搬运。","physical_meaning_zh":"承载浴槽及制冷器;壁板围成空腔,前部凹入提手供搬运。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["julabo_corio_cd200f__housing","julabo_corio_cd200f__brand_badge","julabo_corio_cd200f__base_model"],"collisions":[{"shape":"box","origin_m":[0,0,0.024],"rpy_rad":[0,0,0],"size_m":[0.23,0.38,0.02]},{"shape":"box","origin_m":[-0.111,0,0.249],"rpy_rad":[0,0,0],"size_m":[0.008,0.38,0.43]},{"shape":"box","origin_m":[0.111,0,0.249],"rpy_rad":[0,0,0],"size_m":[0.008,0.38,0.43]},{"shape":"box","origin_m":[0,0.186,0.249],"rpy_rad":[0,0,0],"size_m":[0.214,0.008,0.43]},{"shape":"box","origin_m":[0,-0.188,0.223],"rpy_rad":[0,0,0],"size_m":[0.214,0.008,0.378]},{"shape":"box","origin_m":[0,-0.189,0.414],"rpy_rad":[0,0,0],"size_m":[0.214,0.006,0.106]},{"shape":"box","origin_m":[0,0,0.311],"rpy_rad":[0,0,0],"size_m":[0.214,0.364,0.012]},{"shape":"box","origin_m":[-0.09,0,0.468],"rpy_rad":[0,0,0],"size_m":[0.05,0.38,0.016]},{"shape":"box","origin_m":[0.09,0,0.468],"rpy_rad":[0,0,0],"size_m":[0.05,0.38,0.016]},{"shape":"box","origin_m":[0,-0.1775,0.468],"rpy_rad":[0,0,0],"size_m":[0.13,0.025,0.016]},{"shape":"box","origin_m":[0,0.0875,0.468],"rpy_rad":[0,0,0],"size_m":[0.13,0.205,0.016]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"功能布局与局部尺寸为工程估计;非厂商 CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.11500000208616257,-0.19499999284744263,0.014000000432133675],[0.11500000208616257,0.1899999976158142,0.47599998116493225]],"raw_keys":["axis","collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh","properties"]},{"id":"feet","name_zh":"防滑支脚","function_zh":"四点支撑;摩擦系数未知。","physical_meaning_zh":"四点支撑;摩擦系数未知。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["julabo_corio_cd200f__feet"],"collisions":[{"shape":"cylinder","origin_m":[-0.09,-0.158,0.007],"rpy_rad":[0,0,0],"radius_m":0.013,"length_m":0.014},{"shape":"cylinder","origin_m":[-0.09,0.158,0.007],"rpy_rad":[0,0,0],"radius_m":0.013,"length_m":0.014},{"shape":"cylinder","origin_m":[0.09,-0.158,0.007],"rpy_rad":[0,0,0],"radius_m":0.013,"length_m":0.014},{"shape":"cylinder","origin_m":[0.09,0.158,0.007],"rpy_rad":[0,0,0],"radius_m":0.013,"length_m":0.014}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"功能布局与局部尺寸为工程估计;非厂商 CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.10300000011920929,-0.17100000381469727,0.0],[0.10300000011920929,0.17100001871585846,0.014000000432133675]],"raw_keys":["axis","collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh","properties"]},{"id":"bath_vessel","name_zh":"不锈钢浴槽","function_zh":"盛装3–4 L工作液;前部可用开口130×150 mm,深150 mm,后部浸入区为几何估计。","physical_meaning_zh":"盛装3–4 L工作液;前部可用开口130×150 mm,深150 mm,后部浸入区为几何估计。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["julabo_corio_cd200f__bath_vessel"],"collisions":[{"shape":"box","origin_m":[0,-0.0425,0.3175],"rpy_rad":[0,0,0],"size_m":[0.136,0.251,0.005]},{"shape":"box","origin_m":[-0.0665,-0.0425,0.395],"rpy_rad":[0,0,0],"size_m":[0.003,0.251,0.15]},{"shape":"box","origin_m":[0.0665,-0.0425,0.395],"rpy_rad":[0,0,0],"size_m":[0.003,0.251,0.15]},{"shape":"box","origin_m":[0,-0.1665,0.395],"rpy_rad":[0,0,0],"size_m":[0.13,0.003,0.15]},{"shape":"box","origin_m":[0,0.0815,0.395],"rpy_rad":[0,0,0],"size_m":[0.13,0.003,0.15]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"功能布局与局部尺寸为工程估计;非厂商 CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["thermal.set_temperature","circulation.set_running","scene.set_bath_lid"],"bbox_m":[[-0.06800000369548798,-0.1679999977350235,0.3149999976158142],[0.06800000369548798,0.08299998939037323,0.4700000286102295]],"raw_keys":["axis","collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh","properties"]},{"id":"bath_lid","name_zh":"浴盖及把手","function_zh":"开启后暴露浴槽前部;绕负X轴开盖,关节范围及3mm软垫装配间隙为仿真假设。","physical_meaning_zh":"开启后暴露浴槽前部;绕负X轴开盖,关节范围及3mm软垫装配间隙为仿真假设。","subsystem":null,"parent":"root","origin_m":[0,-0.015,0.481],"rpy_rad":[0,0,0],"objects":["julabo_corio_cd200f__bath_lid","julabo_corio_cd200f__hot_lid"],"collisions":[{"shape":"box","origin_m":[0,-0.078,0],"rpy_rad":[0,0,0],"size_m":[0.145,0.161,0.004]},{"shape":"box","origin_m":[-0.041,-0.095,0.015],"rpy_rad":[0,0,0],"size_m":[0.008,0.022,0.028]},{"shape":"box","origin_m":[0.041,-0.095,0.015],"rpy_rad":[0,0,0],"size_m":[0.008,0.022,0.028]},{"shape":"box","origin_m":[0,-0.095,0.029],"rpy_rad":[0,0,0],"size_m":[0.09,0.023,0.011]},{"shape":"cylinder","origin_m":[0,0,0],"rpy_rad":[0,1.5707963267948966,0],"radius_m":0.004,"length_m":0.145}],"joint":{"type":"revolute","axis":[-1,0,0],"limits":[0,1.5707963267948966],"state_id":"bath_lid.angle_rad","accessor":"-rotation_euler[0]"},"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"功能布局与局部尺寸为工程估计;非厂商 CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["scene.set_bath_lid"],"bbox_m":[[-0.07249999791383743,-0.17350000143051147,0.47600001096725464],[0.07249999791383743,-0.01099999900907278,0.515500009059906]],"raw_keys":["axis","collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh","properties"]},{"id":"controller","name_zh":"CORIO CD控制头","function_zh":"温度控制与本地操作界面;控制头与浸入加热泵为本型号布局估计。","physical_meaning_zh":"温度控制与本地操作界面;控制头与浸入加热泵为本型号布局估计。","subsystem":null,"parent":"root","origin_m":[0,0.085,0.555],"rpy_rad":[0,0,0],"objects":["julabo_corio_cd200f__controller","julabo_corio_cd200f__controller_brand","julabo_corio_cd200f__controller_model"],"collisions":[{"shape":"box","origin_m":[0,0,-0.062],"rpy_rad":[0,0,0],"size_m":[0.156,0.137,0.03]},{"shape":"box","origin_m":[0,0.01,0.017],"rpy_rad":[0,0,0],"size_m":[0.124,0.103,0.156]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"功能布局与局部尺寸为工程估计;非厂商 CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","thermal.set_temperature","circulation.set_running"],"bbox_m":[[-0.07800000160932541,0.01650000363588333,0.4780000150203705],[0.07800000160932541,0.15349999070167542,0.6500000357627869]],"raw_keys":["axis","collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh","properties"]},{"id":"display","name_zh":"温度显示","function_zh":"可编辑FONT显示理想仿真读数;未实现真实传感器噪声。","physical_meaning_zh":"可编辑FONT显示理想仿真读数;未实现真实传感器噪声。","subsystem":null,"parent":"root","origin_m":[0,0.04,0.615],"rpy_rad":[0,0,0],"objects":["julabo_corio_cd200f__display","julabo_corio_cd200f__display_digits"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"功能布局与局部尺寸为工程估计;非厂商 CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","thermal.set_temperature","circulation.set_running"],"bbox_m":[[-0.03700000047683716,0.03849999979138374,0.6019999980926514],[0.03700000047683716,0.04149999842047691,0.628000020980835]],"raw_keys":["axis","collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh","properties"]},{"id":"control_buttons","name_zh":"按键与开关","function_zh":"温度设定及运行按键的视觉交互目标。","physical_meaning_zh":"温度设定及运行按键的视觉交互目标。","subsystem":null,"parent":"root","origin_m":[0,0.038,0.571],"rpy_rad":[0,0,0],"objects":["julabo_corio_cd200f__control_buttons","julabo_corio_cd200f__key_ok","julabo_corio_cd200f__key_-0.0110","julabo_corio_cd200f__key_0.0110","julabo_corio_cd200f__key_00.012"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"功能布局与局部尺寸为工程估计;非厂商 CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["thermal.set_temperature","circulation.set_running"],"bbox_m":[[-0.017000000923871994,0.03449999913573265,0.5539999604225159],[0.017000000923871994,0.03949999809265137,0.5879999995231628]],"raw_keys":["axis","collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh","properties"]},{"id":"heater","name_zh":"浸入式加热元件","function_zh":"2 kW整机加热能力对应热过程;管径和折弯为示意,不赋部件质量。","physical_meaning_zh":"2 kW整机加热能力对应热过程;管径和折弯为示意,不赋部件质量。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["julabo_corio_cd200f__heater"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"schematic","geometry_note_zh":"功能布局与局部尺寸为工程估计;非厂商 CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","thermal.set_temperature"],"bbox_m":[[-0.0390000082552433,0.043999992311000824,0.34599998593330383],[0.0390000082552433,0.052000004798173904,0.46000000834465027]],"raw_keys":["axis","collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh","properties"]},{"id":"temperature_probe","name_zh":"温度探头","function_zh":"浴液理想读数对应位置;热响应与噪声未知。","physical_meaning_zh":"浴液理想读数对应位置;热响应与噪声未知。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["julabo_corio_cd200f__temperature_probe"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"schematic","geometry_note_zh":"功能布局与局部尺寸为工程估计;非厂商 CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["thermal.set_temperature"],"bbox_m":[[0.045499999076128006,0.032499998807907104,0.36149999499320984],[0.05050000175833702,0.03750000149011612,0.46650001406669617]],"raw_keys":["axis","collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh","properties"]},{"id":"low_level_sensor","name_zh":"低液位浮子开关","function_zh":"独立低液位保护的功能示意;未耦合液位或厂家安全互锁。","physical_meaning_zh":"独立低液位保护的功能示意;未耦合液位或厂家安全互锁。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["julabo_corio_cd200f__low_level_sensor"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"schematic","geometry_note_zh":"功能布局与局部尺寸为工程估计;非厂商 CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.05900000035762787,0.009999999776482582,0.36399999260902405],[-0.03700000047683716,0.03199999779462814,0.46400001645088196]],"raw_keys":["axis","collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh","properties"]},{"id":"pump_selector","name_zh":"内外循环切换拨杆","function_zh":"厂家内外循环切换机构的交互位置,机械模式切换尚未实现。","physical_meaning_zh":"厂家内外循环切换机构的交互位置,机械模式切换尚未实现。","subsystem":null,"parent":"root","origin_m":[0,0.022,0.492],"rpy_rad":[0,0,0],"objects":["julabo_corio_cd200f__pump_selector"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.028,0.013,0.012]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"功能布局与局部尺寸为工程估计;非厂商 CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.014000000432133675,0.0025000013411045074,0.4860000014305115],[0.014000000432133675,0.02850000001490116,0.5]],"raw_keys":["axis","collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh","properties"]},{"id":"safety_cutoff","name_zh":"独立超温设定旋钮","function_zh":"厂家超温安全设定的交互位置,独立安全通道未仿真。","physical_meaning_zh":"厂家超温安全设定的交互位置,独立安全通道未仿真。","subsystem":null,"parent":"root","origin_m":[-0.026,0.038,0.535],"rpy_rad":[0,0,0],"objects":["julabo_corio_cd200f__safety_cutoff"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"功能布局与局部尺寸为工程估计;非厂商 CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.03400000184774399,0.03449999913573265,0.5270000100135803],[-0.017999999225139618,0.04050000011920929,0.5430000424385071]],"raw_keys":["axis","collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh","properties"]},{"id":"circulation_pump","name_zh":"浸入循环泵","function_zh":"泵向外部回路提供流量;流量与扬压由同一工况决定。","physical_meaning_zh":"泵向外部回路提供流量;流量与扬压由同一工况决定。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["julabo_corio_cd200f__circulation_pump"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"schematic","geometry_note_zh":"功能布局与局部尺寸为工程估计;非厂商 CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","circulation.set_running"],"bbox_m":[[-0.028999999165534973,-0.01899999938905239,0.3479999899864197],[0.028999999165534973,0.038999997079372406,0.45900002121925354]],"raw_keys":["axis","collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh","properties"]},{"id":"refrigeration_unit","name_zh":"压缩机与冷却盘管","function_zh":"空气冷却制冷单元;内部结构仅功能示意。","physical_meaning_zh":"空气冷却制冷单元;内部结构仅功能示意。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["julabo_corio_cd200f__refrigeration_unit"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"schematic","geometry_note_zh":"功能布局与局部尺寸为工程估计;非厂商 CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","thermal.set_temperature"],"bbox_m":[[-0.07000000029802322,-0.12999999523162842,0.060999996960163116],[0.07000000029802322,0.13699999451637268,0.45000001788139343]],"raw_keys":["axis","collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh","properties"]},{"id":"condenser_grille","name_zh":"前后通风格栅","function_zh":"前部四段散热网及后部通风;侧板无风口。","physical_meaning_zh":"前部四段散热网及后部通风;侧板无风口。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["julabo_corio_cd200f__condenser_grille"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"功能布局与局部尺寸为工程估计;非厂商 CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.08799999952316284,-0.19519999623298645,0.05400000140070915],[0.08799999952316284,0.1939999908208847,0.2800000011920929]],"raw_keys":["axis","collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh","properties"]},{"id":"pump_supply","name_zh":"循环泵出口","function_zh":"M16×1外螺纹与8/12 mm软管接头位置;环纹为视觉示意。","physical_meaning_zh":"M16×1外螺纹与8/12 mm软管接头位置;环纹为视觉示意。","subsystem":null,"parent":"root","origin_m":[-0.04,0.167,0.506],"rpy_rad":[0,0,0],"objects":["julabo_corio_cd200f__pump_supply","julabo_corio_cd200f__pump_supply_label"],"collisions":[{"shape":"cylinder","origin_m":[0,0,0],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.01,"length_m":0.015},{"shape":"cylinder","origin_m":[0,0.014,0],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.006,"length_m":0.026}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"功能布局与局部尺寸为工程估计;非厂商 CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["circulation.set_running"],"bbox_m":[[-0.04999999701976776,0.15950000286102295,0.4959999918937683],[-0.029999999329447746,0.19460000097751617,0.515999972820282]],"raw_keys":["axis","collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh","properties"]},{"id":"pump_return","name_zh":"循环泵回流口","function_zh":"M16×1外螺纹与8/12 mm软管接头位置;环纹为视觉示意。","physical_meaning_zh":"M16×1外螺纹与8/12 mm软管接头位置;环纹为视觉示意。","subsystem":null,"parent":"root","origin_m":[0.04,0.167,0.506],"rpy_rad":[0,0,0],"objects":["julabo_corio_cd200f__pump_return","julabo_corio_cd200f__pump_return_label"],"collisions":[{"shape":"cylinder","origin_m":[0,0,0],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.01,"length_m":0.015},{"shape":"cylinder","origin_m":[0,0.014,0],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.006,"length_m":0.026}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"功能布局与局部尺寸为工程估计;非厂商 CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["circulation.set_running"],"bbox_m":[[0.029999999329447746,0.15950000286102295,0.4959999918937683],[0.04999999701976776,0.19460000097751617,0.515999972820282]],"raw_keys":["axis","collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh","properties"]},{"id":"drain","name_zh":"排液阀","function_zh":"浴槽排放端口;几何可识别,物质转移待宿主实现。","physical_meaning_zh":"浴槽排放端口;几何可识别,物质转移待宿主实现。","subsystem":null,"parent":"root","origin_m":[0.08,0.181,0.32],"rpy_rad":[0,0,0],"objects":["julabo_corio_cd200f__drain"],"collisions":[{"shape":"cylinder","origin_m":[0,0,0],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.008,"length_m":0.022},{"shape":"box","origin_m":[0,0,0.015],"rpy_rad":[0,0,0],"size_m":[0.018,0.007,0.007]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"功能布局与局部尺寸为工程估计;非厂商 CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[0.07099999487400055,0.16999998688697815,0.31200000643730164],[0.08900000154972076,0.19200000166893005,0.3384999930858612]],"raw_keys":["axis","collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh","properties"]},{"id":"power_inlet","name_zh":"电源接口","function_zh":"230V 50Hz配置;只定义端口和模拟通断。","physical_meaning_zh":"230V 50Hz配置;只定义端口和模拟通断。","subsystem":null,"parent":"root","origin_m":[-0.065,0.185,0.061],"rpy_rad":[0,0,0],"objects":["julabo_corio_cd200f__power_inlet"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.029,0.012,0.023]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"功能布局与局部尺寸为工程估计;非厂商 CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set"],"bbox_m":[[-0.0794999971985817,0.17900000512599945,0.0494999997317791],[-0.05049999803304672,0.19099999964237213,0.07249999791383743]],"raw_keys":["axis","collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh","properties"]},{"id":"usb_port","name_zh":"USB接口","function_zh":"厂家USB连接位置示意,真实通信未实现。","physical_meaning_zh":"厂家USB连接位置示意,真实通信未实现。","subsystem":null,"parent":"root","origin_m":[0.048,0.149,0.59],"rpy_rad":[0,0,0],"objects":["julabo_corio_cd200f__usb_port"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.013,0.009,0.015]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"功能布局与局部尺寸为工程估计;非厂商 CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[0.04150000214576721,0.1445000022649765,0.5824999809265137],[0.054499998688697815,0.15395000576972961,0.5974999666213989]],"raw_keys":["axis","collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh","properties"]}],"component_source":"geometry_manifest.json + asset.contract.json + collision_proxies.json","capabilities":{"power.set":{"function_zh":"设置供电;断电停止循环,保留温度与累计热量","kind":"device_command","availability":"implemented","component_ids":["power_inlet","controller","display","heater","refrigeration_unit","circulation_pump"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["enabled"]},"thermal.set_temperature":{"function_zh":"只写温度目标,需本机已上电;已配置流体时还必须处于其明确适用温区","kind":"device_command","availability":"implemented","component_ids":["controller","display","control_buttons","heater","temperature_probe","bath_vessel","refrigeration_unit"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["temperature_K"]},"circulation.set_running":{"function_zh":"设置模拟循环许可;开启须已供电且浴热模型已配置;开启后才允许热输入","kind":"device_command","availability":"implemented","component_ids":["controller","control_buttons","display","bath_vessel","circulation_pump","pump_supply","pump_return"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["running"]},"scene.set_bath_lid":{"function_zh":"设置浴盖角度;须有同步场景回调,正角度映射负X旋转;不是机器人执行","kind":"simulation","availability":"implemented","component_ids":["bath_lid","bath_vessel"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["angle_rad"]}},"state_slots":{"power.enabled":{"meaning_zh":"本机供电许可","unit":"1","access":"read_write","origin":"setpoint","component_ids":["power_inlet","controller","display","heater","refrigeration_unit","circulation_pump"],"write_via":"power.set"},"thermal.target_k":{"meaning_zh":"只写入温度目标;实际温度由宿主时间推进","unit":"K","access":"read_write","origin":"setpoint","component_ids":["controller","display","control_buttons","heater","temperature_probe","bath_vessel","refrigeration_unit"],"write_via":"thermal.set_temperature"},"thermal.temperature_k":{"meaning_zh":"均匀混合浴液有效温度;未配置热模型为null","unit":"K","access":"read_only","origin":"process_truth","component_ids":["controller","display","control_buttons","heater","temperature_probe","bath_vessel","refrigeration_unit"],"write_via":null},"thermal.indicated_temperature_k":{"meaning_zh":"0.01°C网格取整的理想温度显示代理;非传感器精度模型","unit":"K","access":"read_only","origin":"derived","component_ids":["controller","display","control_buttons","heater","temperature_probe","bath_vessel","refrigeration_unit"],"write_via":null},"thermal.model_configured":{"meaning_zh":"宿主已显式配置有效热容和热损失","unit":"1","access":"read_only","origin":"derived","component_ids":["controller","display","control_buttons","heater","temperature_probe","bath_vessel","refrigeration_unit"],"write_via":null},"thermal.cooling_curve_supported":{"meaning_zh":"温度位于有据制冷功率插值域且环境为20°C;仅乙醇参考等效模型","unit":"1","access":"read_only","origin":"derived","component_ids":["controller","display","control_buttons","heater","temperature_probe","bath_vessel","refrigeration_unit"],"write_via":null},"bath_lid.angle_rad":{"meaning_zh":"浴盖角度;宿主同步至bath_lid_joint负X轴","unit":"rad","access":"read_write","origin":"scene","component_ids":["bath_lid"],"write_via":"scene.set_bath_lid"},"circulation.running":{"meaning_zh":"模拟循环许可;不代表已解算外部回路流动","unit":"1","access":"read_write","origin":"setpoint","component_ids":["circulation_pump","pump_supply","pump_return"],"write_via":"circulation.set_running"},"circulation.external_connected":{"meaning_zh":"宿主已配置外部流量/压差边界;并非真实管线连接检测","unit":"1","access":"read_only","origin":"derived","component_ids":["circulation_pump","pump_supply","pump_return"],"write_via":null},"circulation.flow_rate_m3_s":{"meaning_zh":"宿主给定运行点的实际体积流量;未配置运行点为null,停止为0;非流量传感器","unit":"m^3/s","access":"read_only","origin":"derived","component_ids":["circulation_pump","pump_supply","pump_return"],"write_via":null},"circulation.pressure_rise_pa":{"meaning_zh":"宿主给定运行点的泵压差;未配置运行点为null,停止为0;非压力传感器","unit":"Pa","access":"read_only","origin":"derived","component_ids":["circulation_pump","pump_supply","pump_return"],"write_via":null},"thermal.heater_energy_j":{"meaning_zh":"���计加热输入","unit":"J","access":"read_only","origin":"process_truth","component_ids":["controller","display","control_buttons","heater","temperature_probe","bath_vessel","refrigeration_unit"],"write_via":null},"thermal.cooling_energy_j":{"meaning_zh":"累计制冷移除热量","unit":"J","access":"read_only","origin":"process_truth","component_ids":["controller","display","control_buttons","heater","temperature_probe","bath_vessel","refrigeration_unit"],"write_via":null},"thermal.environment_energy_j":{"meaning_zh":"累计向环境净放热,可为负","unit":"J","access":"read_only","origin":"process_truth","component_ids":["controller","display","control_buttons","heater","temperature_probe","bath_vessel","refrigeration_unit"],"write_via":null},"thermal.stored_energy_change_j":{"meaning_zh":"相对本次配置初态的浴液储能变化","unit":"J","access":"read_only","origin":"process_truth","component_ids":["controller","display","control_buttons","heater","temperature_probe","bath_vessel","refrigeration_unit"],"write_via":null}},"mechanisms":{"lumped_bath_thermal":{"meaning_zh":"浴液集中参数能量账本;加热和制冷功率来自精确N1.03配置,热容/散热场景显式配置,宿主统一step。","implementation":"lumped","equations":["C = mass_kg * specific_heat_J_kg_K, or host-configured effective_heat_capacity_J_K","C * dT/dt = P_heater - P_cooling + UA_effective * (T_ambient - T)","delta_E_stored = E_heater - E_cooling - E_environment","UA_effective = UA_closed + UA_open_lid * angle_rad / (pi/2)"],"parameters":{"heater_power_w":{"value":2000.0,"unit":"W","evidence":"documented","meaning_zh":"https://www.julabo.com/en/products/refrigerated-circulators/refrigerated-heating-circulators/corio-cd-200f; 9012701.N1.03 heating capacity"},"minimum_temperature_k":{"value":253.15,"unit":"K","evidence":"documented","meaning_zh":"https://www.julabo.com/en/products/refrigerated-circulators/refrigerated-heating-circulators/corio-cd-200f"},"maximum_temperature_k":{"value":423.15,"unit":"K","evidence":"documented","meaning_zh":"https://www.julabo.com/en/products/refrigerated-circulators/refrigerated-heating-circulators/corio-cd-200f"},"cooling_capacity_20c_w":{"value":220.0,"unit":"W","evidence":"documented","meaning_zh":"Ethanol; ambient 20°C; DIN12876"},"cooling_capacity_0c_w":{"value":170.0,"unit":"W","evidence":"documented","meaning_zh":"Ethanol; ambient 20°C; DIN12876"},"cooling_capacity_minus10c_w":{"value":130.0,"unit":"W","evidence":"documented","meaning_zh":"Ethanol; ambient 20°C; DIN12876"},"cooling_capacity_minus20c_w":{"value":60.0,"unit":"W","evidence":"documented","meaning_zh":"Ethanol; ambient 20°C; DIN12876"},"maximum_flow_rate_m3_s":{"value":0.00025,"unit":"m^3/s","evidence":"documented","meaning_zh":"15 L/min; independent maximum, not simultaneous 0.35 bar"},"maximum_pressure_rise_pa":{"value":35000.0,"unit":"Pa","evidence":"documented","meaning_zh":"0.35 bar; independent maximum, not simultaneous 15 L/min"},"thermal_capacity_j_k":{"value":null,"unit":"J/K","evidence":"unknown","meaning_zh":"No default. Host must explicitly supply effective C or fluid mass*cp; whole-instrument 26 kg is not used."},"heat_loss_w_k":{"value":null,"unit":"W/K","evidence":"unknown","meaning_zh":"No default. Host must explicitly supply UA; graph slope alone does not identify both C and UA."},"lid_open_loss_w_k":{"value":null,"unit":"W/K","evidence":"unknown","meaning_zh":"No default. Explicit host assumption, not measured lid heat transfer."},"cooling_capacity_above20c_w":{"value":null,"unit":"W","evidence":"unknown","meaning_zh":"No extrapolation: refrigeration is inactive above supported curve domain and status reports unsupported; passive environmental exchange remains."},"maximum_lid_angle_rad":{"value":1.5707963267948966,"unit":"rad","evidence":"assumption","meaning_zh":"Illustrative scene joint travel; not a manufacturer actuator limit"},"graph_inferred_heating_capacity_j_k":{"value":7200.0,"unit":"J/K","evidence":"assumption","meaning_zh":"Thermal medium: C=2000W*180s/50K from approximate 100→150°C graph segment; assumes UA=0 and full heater input; not default, not component heat capacity"},"device_heat_capacity":{"value":null,"unit":"J/K","evidence":"unknown","meaning_zh":"设备本体实测热容未知;配置液体热容或读图等效参数不冒充部件物性。"},"device_heat_loss_coefficient":{"value":null,"unit":"W/K","evidence":"unknown","meaning_zh":"设备本体散热系数未知;由宿主显式配置场景UA。"}}},"circulation_boundary":{"meaning_zh":"循环启停和受信任宿主提供的单一流量/差压工作点;不独立假造泵与管路求解。","implementation":"qualitative","equations":["Q <= 0.00025 m^3/s","delta_p <= 35000 Pa","not(Q == Q_max and delta_p == delta_p_max)"],"parameters":{"maximum_flow":{"value":0.00025,"unit":"m^3/s","evidence":"documented","meaning_zh":"15L/min名义最大流量,不能与最大压力同时取值"},"maximum_pressure":{"value":35000,"unit":"Pa","evidence":"documented","meaning_zh":"0.35bar最大差压;与最大流量是不同工况��"}}}},"limitations":["局部尺寸、铰链行程和细节依据布局作工程估计,不是制造商 CAD。","URDF base_link使用整机26kg与整机包围盒惯量近似,部件质量未知且不分摊;仅限运动学与碰撞代理,开盖后的惯量变化及接触动力学未验证。","URDF 门 effort/velocity=1 仅为可解析的宿主限制假设,不是执行器额定值。","屏幕初始数值为仿真占位;字体只在 Blender 中可编辑,GLB 是导出时静态文字快照。","厂家未给的部件质量、惯量、摩擦、实测热容与散热系数为null;局部几何照片估计和内构功能示意明确区分。","低液位浮子、独立超温切断旋钮与内外循环拨杆可识别;真实保护互锁、旋钮阈值及拨杆状态未实现。","设温只写目标,过程由宿主统一step推进;read不推进时间。","未配置浴液时温度是null,不能把缺测伪装为0K或已达到设定。","设备动态、接触与机器人抓取未验证;URDF仅运动学和基元接触代理。","过程与观测的会话过滤不等于对共享文件、Python内省或独立部署的安全隔离。","无真实USB、机器人、真实硬件和外部物质转移驱动。"],"sources":[],"checks":{"coverage":{"status":"bridged","implemented":["circulation.set_running","power.set","scene.set_bath_lid","thermal.set_temperature"],"unsupported":[],"note_zh":"桥接 basic40_runtime_thermal.JulaboCorioCD200FRuntime(推进方式 step_dt),15 个状态槽;与运行层镜像对比全同;受信设置需经 host.call;关节化 USD(4 个按键(碰到即触发)、1 个旋钮(可转动)、1 个门/盖/阀等被动关节);1 个门/盖/升降关节与运行层双向同步;接口点 1 个(放置面);布局:台面、两人搬、正面 −y、前方留空 0.25 m;面板读数 temp(4)"}},"previews":["previews/julabo_corio_cd200f/thermal_julabo_corio_cd200f_closed.webp","previews/julabo_corio_cd200f/thermal_julabo_corio_cd200f_open.webp","previews/julabo_corio_cd200f/thermal_julabo_corio_cd200f_rear.webp"],"files":[{"name":"asset.contract.json","path":"assets/basic40_batch02/t1_thermal/julabo_corio_cd200f/asset.contract.json","bytes":254584},{"name":"collision_proxies.json","path":"assets/basic40_batch02/t1_thermal/julabo_corio_cd200f/collision_proxies.json","bytes":14596},{"name":"geometry_manifest.json","path":"assets/basic40_batch02/t1_thermal/julabo_corio_cd200f/geometry_manifest.json","bytes":38257},{"name":"model.blend","path":"assets/basic40_batch02/t1_thermal/julabo_corio_cd200f/model.blend","bytes":463179},{"name":"model.glb","path":"assets/basic40_batch02/t1_thermal/julabo_corio_cd200f/model.glb","bytes":1938740},{"name":"model.urdf","path":"assets/basic40_batch02/t1_thermal/julabo_corio_cd200f/model.urdf","bytes":12961}],"completeness":{"components":20,"with_collisions":11,"with_objects":20,"with_function":20,"with_mass":0,"joints_matching_component":2,"joints":6,"has_contract":true,"has_layout":true,"has_glb":true,"checks_present":["articulation_check","coverage","validation_summary","contract_validation","runtime_validation","scene_validation"]},"slug":"julabo_corio_cd200f","chem_id":"CHEM-187","name_en":"Heating/refrigerated circulator","maker":"JULABO","model":"CORIO CD-200F","domain":"facility","domain_name":"Lab Environment & Utilities","path":"assets/basic40_batch02/t1_thermal/julabo_corio_cd200f","glb_up":"y","has_contract":true,"contract":"assets/basic40_batch02/t1_thermal/julabo_corio_cd200f/asset.contract.json","runtime":"scripts/basic40_runtime_thermal.py"}
|
|
|
|
| 1 |
+
{"tid":"instrument.julabo_corio_cd200f","asset_dir":"basic40_batch02/t1_thermal/julabo_corio_cd200f","name_zh":"JULABO CORIO CD-200F 9012701.N1.03 加热制冷循环浴","category":"环境与公用系统","description_zh":"CHEM-187 JULABO CORIO CD-200F 9012701.N1.03 加热制冷循环浴。full表示本批明确配置的功能组件全部登记;不是厂家全部模式或硬件接口已实现。","coordinate_system":{"status":"defined","length_unit":"m","angle_unit":"rad","handedness":"right","up_axis":"+Z","frame":"asset_root:台面投影中心,底面z=0;+X向右,+Y向后,+Z向上;各宿主实例偏移独立。GLB导出为规范+Y向上。"},"mass_kg":26.0,"size_m":[0.23,0.3898,0.65],"bbox_min":[-0.115,-0.1952,0.0],"bbox_max":[0.115,0.1946,0.65],"manifest_dimensions_m":[0.23,0.39,0.65],"glb":"assets/basic40_batch02/t1_thermal/julabo_corio_cd200f/model.glb","glb_orientation":"gltf_y_up_rotated","usd":null,"urdf":"assets/basic40_batch02/t1_thermal/julabo_corio_cd200f/model.urdf","links":{"base_link":"/Geometry/base_link","bath_lid":"/Geometry/base_link/bath_lid","pump_selector":"/Geometry/base_link/pump_selector","btn_control_buttons_key_ok_link":"/Geometry/base_link/btn_control_buttons_key_ok_link","btn_control_buttons_key__0_0110_link":"/Geometry/base_link/btn_control_buttons_key__0_0110_link","btn_control_buttons_key_0_0110_link":"/Geometry/base_link/btn_control_buttons_key_0_0110_link","btn_control_buttons_key_00_012_link":"/Geometry/base_link/btn_control_buttons_key_00_012_link"},"frames":{"pre_place":[0.0,-0.0425,0.65],"place":[0.0,-0.0425,0.52],"post_place":[0.0,-0.0425,0.65],"joint_bath_lid_joint":[0.0,-0.015,0.481],"joint_knob_pump_selector":[0.0,0.022,0.492],"joint_btn_control_buttons_key_ok":[-0.00102,0.034,0.57117],"joint_btn_control_buttons_key__0_0110":[-0.01081,0.034,0.57122],"joint_btn_control_buttons_key_0_0110":[0.01081,0.034,0.57122],"joint_btn_control_buttons_key_00_012":[0.0,0.034,0.58321]},"joints":[{"name":"bath_lid_joint","type":"revolute","parent":"base_link","child":"bath_lid","axis":[-1.0,0.0,0.0],"lower":0.0,"upper":1.5707963267948966,"effort":1.0,"mimic":null,"origin_m":[0.0,-0.015,0.481],"child_prim":"/Geometry/base_link/bath_lid","child_bbox_min":[-0.0725,-0.1735,0.476],"child_bbox_max":[0.0725,-0.011,0.5155],"kind":"door"},{"name":"knob_pump_selector","type":"revolute","parent":"base_link","child":"pump_selector","axis":[0.0,-0.200893,-0.979613],"lower":-2.617994,"upper":2.617994,"effort":1.0,"mimic":null,"origin_m":[0.0,0.022,0.492],"child_prim":"/Geometry/base_link/pump_selector","child_bbox_min":[-0.014,0.0025,0.486],"child_bbox_max":[0.014,0.0285,0.5],"kind":"knob"},{"name":"btn_control_buttons_key_ok","type":"prismatic","parent":"control_buttons","child":"btn_control_buttons_key_ok_link","axis":[0.0,1.0,0.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[-0.00102,0.034,0.57117],"child_prim":"/Geometry/base_link/btn_control_buttons_key_ok_link","child_bbox_min":[-0.00278,0.03399,0.56976],"child_bbox_max":[0.00295,0.03401,0.57256],"kind":"button"},{"name":"btn_control_buttons_key__0_0110","type":"prismatic","parent":"control_buttons","child":"btn_control_buttons_key__0_0110_link","axis":[-0.0,1.0,-0.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[-0.01081,0.034,0.57122],"child_prim":"/Geometry/base_link/btn_control_buttons_key__0_0110_link","child_bbox_min":[-0.01195,0.03399,0.57024],"child_bbox_max":[-0.01005,0.03401,0.57219],"kind":"button"},{"name":"btn_control_buttons_key_0_0110","type":"prismatic","parent":"control_buttons","child":"btn_control_buttons_key_0_0110_link","axis":[-0.0,1.0,0.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[0.01081,0.034,0.57122],"child_prim":"/Geometry/base_link/btn_control_buttons_key_0_0110_link","child_bbox_min":[0.01005,0.03399,0.57024],"child_bbox_max":[0.01195,0.03401,0.57219],"kind":"button"},{"name":"btn_control_buttons_key_00_012","type":"prismatic","parent":"control_buttons","child":"btn_control_buttons_key_00_012_link","axis":[0.0,1.0,-0.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[0.0,0.034,0.58321],"child_prim":"/Geometry/base_link/btn_control_buttons_key_00_012_link","child_bbox_min":[-0.00094,0.03399,0.58227],"child_bbox_max":[0.00094,0.03401,0.58416],"kind":"button"}],"controls":{"buttons":["btn_control_buttons_key_ok","btn_control_buttons_key__0_0110","btn_control_buttons_key_0_0110","btn_control_buttons_key_00_012"],"knobs":["knob_pump_selector"]},"slots":[{"name":"bath","link":"base_link","part":"bath_vessel","pos":[0.0,-0.0425,0.32],"rot":[0.0,0.0,0.0,1.0],"pos_link":[0.0,-0.0425,0.32],"rot_link":[0.0,0.0,0.0,1.0],"radius_m":0.06,"kind":"surface","fits":["flask","beaker","vial"],"anchor":"base","insert_axis":[0.0,0.0,1.0],"capture_m":0.03,"access":["bath_lid_joint"],"modelled_occupant":false}],"hidden_parts":[],"readouts":[{"name":"temp","part":"julabo_corio_cd200f__display_digits","prim":"/Geometry/base_link/readout_temp","link":"base_link","digits":4,"decimals":1,"unit":"C","center":[0.0001,0.038,0.6157],"up":[-0.0,-0.0,1.0],"source":{"bridge":["thermal.indicated_temperature_k","thermal.target_k"],"offset":-273.15},"blank_channel":null,"on":[1.0,0.12,0.05],"off":[0.03,0.03,0.03],"size_m":[0.027,0.0112],"normal":[0.0,1.0,0.0]}],"layout":{"front":[0.0,-1.0,0.0],"front_source":"lid:bath_lid_joint","mount":"bench","weight_class":"two_person","mass_kg":26.0,"footprint_m":[0.23,0.3898],"height_m":0.65,"clearance_m":{"front":0.25,"back":0.15,"left":0.05,"right":0.05,"top":0.212},"robot_standoff_m":0.35,"work_height_m":0.32,"primary_slot":"bath","access":["bath_lid_joint"],"slot_count":1},"components":[{"id":"housing","name_zh":"承载外壳与提手","function_zh":"承载浴槽及制冷器;壁板围成空腔,前部凹入提手供搬运。","physical_meaning_zh":"承载浴槽及制冷器;壁板围成空腔,前部凹入提手供搬运。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["julabo_corio_cd200f__housing","julabo_corio_cd200f__brand_badge","julabo_corio_cd200f__base_model"],"collisions":[{"shape":"box","origin_m":[0,0,0.024],"rpy_rad":[0,0,0],"size_m":[0.23,0.38,0.02]},{"shape":"box","origin_m":[-0.111,0,0.249],"rpy_rad":[0,0,0],"size_m":[0.008,0.38,0.43]},{"shape":"box","origin_m":[0.111,0,0.249],"rpy_rad":[0,0,0],"size_m":[0.008,0.38,0.43]},{"shape":"box","origin_m":[0,0.186,0.249],"rpy_rad":[0,0,0],"size_m":[0.214,0.008,0.43]},{"shape":"box","origin_m":[0,-0.188,0.223],"rpy_rad":[0,0,0],"size_m":[0.214,0.008,0.378]},{"shape":"box","origin_m":[0,-0.189,0.414],"rpy_rad":[0,0,0],"size_m":[0.214,0.006,0.106]},{"shape":"box","origin_m":[0,0,0.311],"rpy_rad":[0,0,0],"size_m":[0.214,0.364,0.012]},{"shape":"box","origin_m":[-0.09,0,0.468],"rpy_rad":[0,0,0],"size_m":[0.05,0.38,0.016]},{"shape":"box","origin_m":[0.09,0,0.468],"rpy_rad":[0,0,0],"size_m":[0.05,0.38,0.016]},{"shape":"box","origin_m":[0,-0.1775,0.468],"rpy_rad":[0,0,0],"size_m":[0.13,0.025,0.016]},{"shape":"box","origin_m":[0,0.0875,0.468],"rpy_rad":[0,0,0],"size_m":[0.13,0.205,0.016]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"功能布局与局部尺寸为工程估计;非厂商 CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.11500000208616257,-0.19499999284744263,0.014000000432133675],[0.11500000208616257,0.1899999976158142,0.47599998116493225]],"raw_keys":["axis","collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh","properties"]},{"id":"feet","name_zh":"防滑支脚","function_zh":"四点支撑;摩擦系数未知。","physical_meaning_zh":"四点支撑;摩擦系数未知。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["julabo_corio_cd200f__feet"],"collisions":[{"shape":"cylinder","origin_m":[-0.09,-0.158,0.007],"rpy_rad":[0,0,0],"radius_m":0.013,"length_m":0.014},{"shape":"cylinder","origin_m":[-0.09,0.158,0.007],"rpy_rad":[0,0,0],"radius_m":0.013,"length_m":0.014},{"shape":"cylinder","origin_m":[0.09,-0.158,0.007],"rpy_rad":[0,0,0],"radius_m":0.013,"length_m":0.014},{"shape":"cylinder","origin_m":[0.09,0.158,0.007],"rpy_rad":[0,0,0],"radius_m":0.013,"length_m":0.014}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"功能布局与局部尺寸为工程估计;非厂商 CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.10300000011920929,-0.17100000381469727,0.0],[0.10300000011920929,0.17100001871585846,0.014000000432133675]],"raw_keys":["axis","collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh","properties"]},{"id":"bath_vessel","name_zh":"不锈钢浴槽","function_zh":"盛装3–4 L工作液;前部可用开口130×150 mm,深150 mm,后部浸入区为几何估计。","physical_meaning_zh":"盛装3–4 L工作液;前部可用开口130×150 mm,深150 mm,后部浸入区为几何估计。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["julabo_corio_cd200f__bath_vessel"],"collisions":[{"shape":"box","origin_m":[0,-0.0425,0.3175],"rpy_rad":[0,0,0],"size_m":[0.136,0.251,0.005]},{"shape":"box","origin_m":[-0.0665,-0.0425,0.395],"rpy_rad":[0,0,0],"size_m":[0.003,0.251,0.15]},{"shape":"box","origin_m":[0.0665,-0.0425,0.395],"rpy_rad":[0,0,0],"size_m":[0.003,0.251,0.15]},{"shape":"box","origin_m":[0,-0.1665,0.395],"rpy_rad":[0,0,0],"size_m":[0.13,0.003,0.15]},{"shape":"box","origin_m":[0,0.0815,0.395],"rpy_rad":[0,0,0],"size_m":[0.13,0.003,0.15]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"功能布局与局部尺寸为工程估计;非厂商 CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["thermal.set_temperature","circulation.set_running","scene.set_bath_lid"],"bbox_m":[[-0.06800000369548798,-0.1679999977350235,0.3149999976158142],[0.06800000369548798,0.08299998939037323,0.4700000286102295]],"raw_keys":["axis","collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh","properties"]},{"id":"bath_lid","name_zh":"浴盖及把手","function_zh":"开启后暴露浴槽前部;绕负X轴开盖,关节范围及3mm软垫装配间隙为仿真假设。","physical_meaning_zh":"开启后暴露浴槽前部;绕负X轴开盖,关节范围及3mm软垫装配间隙为仿真假设。","subsystem":null,"parent":"root","origin_m":[0,-0.015,0.481],"rpy_rad":[0,0,0],"objects":["julabo_corio_cd200f__bath_lid","julabo_corio_cd200f__hot_lid"],"collisions":[{"shape":"box","origin_m":[0,-0.078,0],"rpy_rad":[0,0,0],"size_m":[0.145,0.161,0.004]},{"shape":"box","origin_m":[-0.041,-0.095,0.015],"rpy_rad":[0,0,0],"size_m":[0.008,0.022,0.028]},{"shape":"box","origin_m":[0.041,-0.095,0.015],"rpy_rad":[0,0,0],"size_m":[0.008,0.022,0.028]},{"shape":"box","origin_m":[0,-0.095,0.029],"rpy_rad":[0,0,0],"size_m":[0.09,0.023,0.011]},{"shape":"cylinder","origin_m":[0,0,0],"rpy_rad":[0,1.5707963267948966,0],"radius_m":0.004,"length_m":0.145}],"joint":{"type":"revolute","axis":[-1,0,0],"limits":[0,1.5707963267948966],"state_id":"bath_lid.angle_rad","accessor":"-rotation_euler[0]"},"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"功能布局与局部尺寸为工程估计;非厂商 CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["scene.set_bath_lid"],"bbox_m":[[-0.07249999791383743,-0.17350000143051147,0.47600001096725464],[0.07249999791383743,-0.01099999900907278,0.515500009059906]],"raw_keys":["axis","collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh","properties"]},{"id":"controller","name_zh":"CORIO CD控制头","function_zh":"温度控制与本地操作界面;控制头与浸入加热泵为本型号布局估计。","physical_meaning_zh":"温度控制与本地操作界面;控制头与浸入加热泵为本型号布局估计。","subsystem":null,"parent":"root","origin_m":[0,0.085,0.555],"rpy_rad":[0,0,0],"objects":["julabo_corio_cd200f__controller","julabo_corio_cd200f__controller_brand","julabo_corio_cd200f__controller_model"],"collisions":[{"shape":"box","origin_m":[0,0,-0.062],"rpy_rad":[0,0,0],"size_m":[0.156,0.137,0.03]},{"shape":"box","origin_m":[0,0.01,0.017],"rpy_rad":[0,0,0],"size_m":[0.124,0.103,0.156]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"功能布局与局部尺寸为工程估计;非厂商 CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","thermal.set_temperature","circulation.set_running"],"bbox_m":[[-0.07800000160932541,0.01650000363588333,0.4780000150203705],[0.07800000160932541,0.15349999070167542,0.6500000357627869]],"raw_keys":["axis","collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh","properties"]},{"id":"display","name_zh":"温度显示","function_zh":"可编辑FONT显示理想仿真读数;未实现真实传感器噪声。","physical_meaning_zh":"可编辑FONT显示理想仿真读数;未实现真实传感器噪声。","subsystem":null,"parent":"root","origin_m":[0,0.04,0.615],"rpy_rad":[0,0,0],"objects":["julabo_corio_cd200f__display","julabo_corio_cd200f__display_digits"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"功能布局与局部尺寸为工程估计;非厂商 CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","thermal.set_temperature","circulation.set_running"],"bbox_m":[[-0.03700000047683716,0.03849999979138374,0.6019999980926514],[0.03700000047683716,0.04149999842047691,0.628000020980835]],"raw_keys":["axis","collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh","properties"]},{"id":"control_buttons","name_zh":"按键与开关","function_zh":"温度设定及运行按键的视觉交互目标。","physical_meaning_zh":"温度设定及运行按键的视觉交互目标。","subsystem":null,"parent":"root","origin_m":[0,0.038,0.571],"rpy_rad":[0,0,0],"objects":["julabo_corio_cd200f__control_buttons","julabo_corio_cd200f__key_ok","julabo_corio_cd200f__key_-0.0110","julabo_corio_cd200f__key_0.0110","julabo_corio_cd200f__key_00.012"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"功能布局与局部尺寸为工程估计;非厂商 CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["thermal.set_temperature","circulation.set_running"],"bbox_m":[[-0.017000000923871994,0.03449999913573265,0.5539999604225159],[0.017000000923871994,0.03949999809265137,0.5879999995231628]],"raw_keys":["axis","collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh","properties"]},{"id":"heater","name_zh":"浸入式加热元件","function_zh":"2 kW整机加热能力对应热过程;管径和折弯为示意,不赋部件质量。","physical_meaning_zh":"2 kW整机加热能力对应热过程;管径和折弯为示意,不赋部件质量。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["julabo_corio_cd200f__heater"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"schematic","geometry_note_zh":"功能布局与局部尺寸为工程估计;非厂商 CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","thermal.set_temperature"],"bbox_m":[[-0.0390000082552433,0.043999992311000824,0.34599998593330383],[0.0390000082552433,0.052000004798173904,0.46000000834465027]],"raw_keys":["axis","collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh","properties"]},{"id":"temperature_probe","name_zh":"温度探头","function_zh":"浴液理想读数对应位置;热响应与噪声未知。","physical_meaning_zh":"浴液理想读数对应位置;热响应与噪声未知。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["julabo_corio_cd200f__temperature_probe"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"schematic","geometry_note_zh":"功能布局与局部尺寸为工程估计;非厂商 CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["thermal.set_temperature"],"bbox_m":[[0.045499999076128006,0.032499998807907104,0.36149999499320984],[0.05050000175833702,0.03750000149011612,0.46650001406669617]],"raw_keys":["axis","collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh","properties"]},{"id":"low_level_sensor","name_zh":"低液位浮子开关","function_zh":"独立低液位保护的功能示意;未耦合液位或厂家安全互锁。","physical_meaning_zh":"独立低液位保护的功能示意;未耦合液位或厂家安全互锁。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["julabo_corio_cd200f__low_level_sensor"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"schematic","geometry_note_zh":"功能布局与局部尺寸为工程估计;非厂商 CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.05900000035762787,0.009999999776482582,0.36399999260902405],[-0.03700000047683716,0.03199999779462814,0.46400001645088196]],"raw_keys":["axis","collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh","properties"]},{"id":"pump_selector","name_zh":"内外循环切换拨杆","function_zh":"厂家内外循环切换机构的交互位置,机械模式切换尚未实现。","physical_meaning_zh":"厂家内外循环切换机构的交互位置,机械模式切换尚未实现。","subsystem":null,"parent":"root","origin_m":[0,0.022,0.492],"rpy_rad":[0,0,0],"objects":["julabo_corio_cd200f__pump_selector"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.028,0.013,0.012]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"功能布局与局部尺寸为工程估计;非厂商 CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.014000000432133675,0.0025000013411045074,0.4860000014305115],[0.014000000432133675,0.02850000001490116,0.5]],"raw_keys":["axis","collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh","properties"]},{"id":"safety_cutoff","name_zh":"独立超温设定旋钮","function_zh":"厂家超温安全设定的交互位置,独立安全通道未仿真。","physical_meaning_zh":"厂家超温安全设定的交互位置,独立安全通道未仿真。","subsystem":null,"parent":"root","origin_m":[-0.026,0.038,0.535],"rpy_rad":[0,0,0],"objects":["julabo_corio_cd200f__safety_cutoff"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"功能布局与局部尺寸为工程估计;非厂商 CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.03400000184774399,0.03449999913573265,0.5270000100135803],[-0.017999999225139618,0.04050000011920929,0.5430000424385071]],"raw_keys":["axis","collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh","properties"]},{"id":"circulation_pump","name_zh":"浸入循环泵","function_zh":"泵向外部回路提供流量;流量与扬压由同一工况决定。","physical_meaning_zh":"泵向外部回路提供流量;流量与扬压由同一工况决定。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["julabo_corio_cd200f__circulation_pump"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"schematic","geometry_note_zh":"功能布局与局部尺寸为工程估计;非厂商 CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","circulation.set_running"],"bbox_m":[[-0.028999999165534973,-0.01899999938905239,0.3479999899864197],[0.028999999165534973,0.038999997079372406,0.45900002121925354]],"raw_keys":["axis","collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh","properties"]},{"id":"refrigeration_unit","name_zh":"压缩机与冷却盘管","function_zh":"空气冷却制冷单元;内部结构仅功能示意。","physical_meaning_zh":"空气冷却制冷单元;内部结构仅功能示意。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["julabo_corio_cd200f__refrigeration_unit"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"schematic","geometry_note_zh":"功能布局与局部尺寸为工程估计;非厂商 CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","thermal.set_temperature"],"bbox_m":[[-0.07000000029802322,-0.12999999523162842,0.060999996960163116],[0.07000000029802322,0.13699999451637268,0.45000001788139343]],"raw_keys":["axis","collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh","properties"]},{"id":"condenser_grille","name_zh":"前后通风格栅","function_zh":"前部四段散热网及后部通风;侧板无风口。","physical_meaning_zh":"前部四段散热网及后部通风;侧板无风口。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["julabo_corio_cd200f__condenser_grille"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"功能布局与局部尺寸为工程估计;非厂商 CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.08799999952316284,-0.19519999623298645,0.05400000140070915],[0.08799999952316284,0.1939999908208847,0.2800000011920929]],"raw_keys":["axis","collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh","properties"]},{"id":"pump_supply","name_zh":"循环泵出口","function_zh":"M16×1外螺纹与8/12 mm软管接头位置;环纹为视觉示意。","physical_meaning_zh":"M16×1外螺纹与8/12 mm软管接头位置;环纹为视觉示意。","subsystem":null,"parent":"root","origin_m":[-0.04,0.167,0.506],"rpy_rad":[0,0,0],"objects":["julabo_corio_cd200f__pump_supply","julabo_corio_cd200f__pump_supply_label"],"collisions":[{"shape":"cylinder","origin_m":[0,0,0],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.01,"length_m":0.015},{"shape":"cylinder","origin_m":[0,0.014,0],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.006,"length_m":0.026}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"功能布局与局部尺寸为工程估计;非厂商 CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["circulation.set_running"],"bbox_m":[[-0.04999999701976776,0.15950000286102295,0.4959999918937683],[-0.029999999329447746,0.19460000097751617,0.515999972820282]],"raw_keys":["axis","collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh","properties"]},{"id":"pump_return","name_zh":"循环泵回流口","function_zh":"M16×1外螺纹与8/12 mm软管接头位置;环纹为视觉示意。","physical_meaning_zh":"M16×1外螺纹与8/12 mm软管接头位置;环纹为视觉示意。","subsystem":null,"parent":"root","origin_m":[0.04,0.167,0.506],"rpy_rad":[0,0,0],"objects":["julabo_corio_cd200f__pump_return","julabo_corio_cd200f__pump_return_label"],"collisions":[{"shape":"cylinder","origin_m":[0,0,0],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.01,"length_m":0.015},{"shape":"cylinder","origin_m":[0,0.014,0],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.006,"length_m":0.026}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"功能布局与局部尺寸为工程估计;非厂商 CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["circulation.set_running"],"bbox_m":[[0.029999999329447746,0.15950000286102295,0.4959999918937683],[0.04999999701976776,0.19460000097751617,0.515999972820282]],"raw_keys":["axis","collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh","properties"]},{"id":"drain","name_zh":"排液阀","function_zh":"浴槽排放端口;几何可识别,物质转移待宿主实现。","physical_meaning_zh":"浴槽排放端口;几何可识别,物质转移待宿主实现。","subsystem":null,"parent":"root","origin_m":[0.08,0.181,0.32],"rpy_rad":[0,0,0],"objects":["julabo_corio_cd200f__drain"],"collisions":[{"shape":"cylinder","origin_m":[0,0,0],"rpy_rad":[1.5707963267948966,0,0],"radius_m":0.008,"length_m":0.022},{"shape":"box","origin_m":[0,0,0.015],"rpy_rad":[0,0,0],"size_m":[0.018,0.007,0.007]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"功能布局与局部尺寸为工程估计;非厂商 CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[0.07099999487400055,0.16999998688697815,0.31200000643730164],[0.08900000154972076,0.19200000166893005,0.3384999930858612]],"raw_keys":["axis","collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh","properties"]},{"id":"power_inlet","name_zh":"电源接口","function_zh":"230V 50Hz配置;只定义端口和模拟通断。","physical_meaning_zh":"230V 50Hz配置;只定义端口和模拟通断。","subsystem":null,"parent":"root","origin_m":[-0.065,0.185,0.061],"rpy_rad":[0,0,0],"objects":["julabo_corio_cd200f__power_inlet"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.029,0.012,0.023]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"功能布局与局部尺寸为工程估计;非厂商 CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set"],"bbox_m":[[-0.0794999971985817,0.17900000512599945,0.0494999997317791],[-0.05049999803304672,0.19099999964237213,0.07249999791383743]],"raw_keys":["axis","collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh","properties"]},{"id":"usb_port","name_zh":"USB接口","function_zh":"厂家USB连接位置示意,真实通信未实现。","physical_meaning_zh":"厂家USB连接位置示意,真实通信未实现。","subsystem":null,"parent":"root","origin_m":[0.048,0.149,0.59],"rpy_rad":[0,0,0],"objects":["julabo_corio_cd200f__usb_port"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.013,0.009,0.015]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"功能布局与局部尺寸为工程估计;非厂商 CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[0.04150000214576721,0.1445000022649765,0.5824999809265137],[0.054499998688697815,0.15395000576972961,0.5974999666213989]],"raw_keys":["axis","collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh","properties"]}],"component_source":"geometry_manifest.json + asset.contract.json + collision_proxies.json","capabilities":{"power.set":{"function_zh":"设置供电;断电停止循环,保留温度与累计热量","kind":"device_command","availability":"implemented","component_ids":["power_inlet","controller","display","heater","refrigeration_unit","circulation_pump"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["enabled"]},"thermal.set_temperature":{"function_zh":"只写温度目标,需本机已上电;已配置流体时还必须处于其明确适用温区","kind":"device_command","availability":"implemented","component_ids":["controller","display","control_buttons","heater","temperature_probe","bath_vessel","refrigeration_unit"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["temperature_K"]},"circulation.set_running":{"function_zh":"设置模拟循环许可;开启须已供电且浴热模型已配置;开启后才允许热输入","kind":"device_command","availability":"implemented","component_ids":["controller","control_buttons","display","bath_vessel","circulation_pump","pump_supply","pump_return"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["running"]},"scene.set_bath_lid":{"function_zh":"设置浴盖角度;须有同步场景回调,正角度映射负X旋转;不是机器人执行","kind":"simulation","availability":"implemented","component_ids":["bath_lid","bath_vessel"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["angle_rad"]}},"state_slots":{"power.enabled":{"meaning_zh":"本机供电许可","unit":"1","access":"read_write","origin":"setpoint","component_ids":["power_inlet","controller","display","heater","refrigeration_unit","circulation_pump"],"write_via":"power.set"},"thermal.target_k":{"meaning_zh":"只写入温度目标;实际温度由宿主时间推进","unit":"K","access":"read_write","origin":"setpoint","component_ids":["controller","display","control_buttons","heater","temperature_probe","bath_vessel","refrigeration_unit"],"write_via":"thermal.set_temperature"},"thermal.temperature_k":{"meaning_zh":"均匀混合浴液有效温度;未配置热模型为null","unit":"K","access":"read_only","origin":"process_truth","component_ids":["controller","display","control_buttons","heater","temperature_probe","bath_vessel","refrigeration_unit"],"write_via":null},"thermal.indicated_temperature_k":{"meaning_zh":"0.01°C网格取整的理想温度显示代理;非传感器精度模型","unit":"K","access":"read_only","origin":"derived","component_ids":["controller","display","control_buttons","heater","temperature_probe","bath_vessel","refrigeration_unit"],"write_via":null},"thermal.model_configured":{"meaning_zh":"宿主已显式配置有效热容和热损失","unit":"1","access":"read_only","origin":"derived","component_ids":["controller","display","control_buttons","heater","temperature_probe","bath_vessel","refrigeration_unit"],"write_via":null},"thermal.cooling_curve_supported":{"meaning_zh":"温度位于有据制冷功率插值域且环境为20°C;仅乙醇参考等效模型","unit":"1","access":"read_only","origin":"derived","component_ids":["controller","display","control_buttons","heater","temperature_probe","bath_vessel","refrigeration_unit"],"write_via":null},"bath_lid.angle_rad":{"meaning_zh":"浴盖角度;宿主同步至bath_lid_joint负X轴","unit":"rad","access":"read_write","origin":"scene","component_ids":["bath_lid"],"write_via":"scene.set_bath_lid"},"circulation.running":{"meaning_zh":"模拟循环许可;不代表已解算外部回路流动","unit":"1","access":"read_write","origin":"setpoint","component_ids":["circulation_pump","pump_supply","pump_return"],"write_via":"circulation.set_running"},"circulation.external_connected":{"meaning_zh":"宿主已配置外部流量/压差边界;并非真实管线连接检测","unit":"1","access":"read_only","origin":"derived","component_ids":["circulation_pump","pump_supply","pump_return"],"write_via":null},"circulation.flow_rate_m3_s":{"meaning_zh":"宿主给定运行点的实际体积流量;未配置运行点为null,停止为0;非流量传感器","unit":"m^3/s","access":"read_only","origin":"derived","component_ids":["circulation_pump","pump_supply","pump_return"],"write_via":null},"circulation.pressure_rise_pa":{"meaning_zh":"宿主给定运行点的泵压差;未配置运行点为null,停止为0;非压力传感器","unit":"Pa","access":"read_only","origin":"derived","component_ids":["circulation_pump","pump_supply","pump_return"],"write_via":null},"thermal.heater_energy_j":{"meaning_zh":"累计加热输入","unit":"J","access":"read_only","origin":"process_truth","component_ids":["controller","display","control_buttons","heater","temperature_probe","bath_vessel","refrigeration_unit"],"write_via":null},"thermal.cooling_energy_j":{"meaning_zh":"累计制冷移除热量","unit":"J","access":"read_only","origin":"process_truth","component_ids":["controller","display","control_buttons","heater","temperature_probe","bath_vessel","refrigeration_unit"],"write_via":null},"thermal.environment_energy_j":{"meaning_zh":"累计向环境净放热,可为负","unit":"J","access":"read_only","origin":"process_truth","component_ids":["controller","display","control_buttons","heater","temperature_probe","bath_vessel","refrigeration_unit"],"write_via":null},"thermal.stored_energy_change_j":{"meaning_zh":"相对本次配置初态的浴液储能变化","unit":"J","access":"read_only","origin":"process_truth","component_ids":["controller","display","control_buttons","heater","temperature_probe","bath_vessel","refrigeration_unit"],"write_via":null}},"mechanisms":{"lumped_bath_thermal":{"meaning_zh":"浴液集中参数能量账本;加热和制冷功率来自精确N1.03配置,热容/散热场景显式配置,宿主统一step。","implementation":"lumped","equations":["C = mass_kg * specific_heat_J_kg_K, or host-configured effective_heat_capacity_J_K","C * dT/dt = P_heater - P_cooling + UA_effective * (T_ambient - T)","delta_E_stored = E_heater - E_cooling - E_environment","UA_effective = UA_closed + UA_open_lid * angle_rad / (pi/2)"],"parameters":{"heater_power_w":{"value":2000.0,"unit":"W","evidence":"documented","meaning_zh":"https://www.julabo.com/en/products/refrigerated-circulators/refrigerated-heating-circulators/corio-cd-200f; 9012701.N1.03 heating capacity"},"minimum_temperature_k":{"value":253.15,"unit":"K","evidence":"documented","meaning_zh":"https://www.julabo.com/en/products/refrigerated-circulators/refrigerated-heating-circulators/corio-cd-200f"},"maximum_temperature_k":{"value":423.15,"unit":"K","evidence":"documented","meaning_zh":"https://www.julabo.com/en/products/refrigerated-circulators/refrigerated-heating-circulators/corio-cd-200f"},"cooling_capacity_20c_w":{"value":220.0,"unit":"W","evidence":"documented","meaning_zh":"Ethanol; ambient 20°C; DIN12876"},"cooling_capacity_0c_w":{"value":170.0,"unit":"W","evidence":"documented","meaning_zh":"Ethanol; ambient 20°C; DIN12876"},"cooling_capacity_minus10c_w":{"value":130.0,"unit":"W","evidence":"documented","meaning_zh":"Ethanol; ambient 20°C; DIN12876"},"cooling_capacity_minus20c_w":{"value":60.0,"unit":"W","evidence":"documented","meaning_zh":"Ethanol; ambient 20°C; DIN12876"},"maximum_flow_rate_m3_s":{"value":0.00025,"unit":"m^3/s","evidence":"documented","meaning_zh":"15 L/min; independent maximum, not simultaneous 0.35 bar"},"maximum_pressure_rise_pa":{"value":35000.0,"unit":"Pa","evidence":"documented","meaning_zh":"0.35 bar; independent maximum, not simultaneous 15 L/min"},"thermal_capacity_j_k":{"value":null,"unit":"J/K","evidence":"unknown","meaning_zh":"No default. Host must explicitly supply effective C or fluid mass*cp; whole-instrument 26 kg is not used."},"heat_loss_w_k":{"value":null,"unit":"W/K","evidence":"unknown","meaning_zh":"No default. Host must explicitly supply UA; graph slope alone does not identify both C and UA."},"lid_open_loss_w_k":{"value":null,"unit":"W/K","evidence":"unknown","meaning_zh":"No default. Explicit host assumption, not measured lid heat transfer."},"cooling_capacity_above20c_w":{"value":null,"unit":"W","evidence":"unknown","meaning_zh":"No extrapolation: refrigeration is inactive above supported curve domain and status reports unsupported; passive environmental exchange remains."},"maximum_lid_angle_rad":{"value":1.5707963267948966,"unit":"rad","evidence":"assumption","meaning_zh":"Illustrative scene joint travel; not a manufacturer actuator limit"},"graph_inferred_heating_capacity_j_k":{"value":7200.0,"unit":"J/K","evidence":"assumption","meaning_zh":"Thermal medium: C=2000W*180s/50K from approximate 100→150°C graph segment; assumes UA=0 and full heater input; not default, not component heat capacity"},"device_heat_capacity":{"value":null,"unit":"J/K","evidence":"unknown","meaning_zh":"设备本体实测热容未知;配置液体热容或读图等效参数不冒充部件物性。"},"device_heat_loss_coefficient":{"value":null,"unit":"W/K","evidence":"unknown","meaning_zh":"设备本体散热系数未知;由宿主显式配置场景UA。"}}},"circulation_boundary":{"meaning_zh":"循环启停和受信任宿主提供的单一流量/差压工作点;不独立假造泵与管路求解。","implementation":"qualitative","equations":["Q <= 0.00025 m^3/s","delta_p <= 35000 Pa","not(Q == Q_max and delta_p == delta_p_max)"],"parameters":{"maximum_flow":{"value":0.00025,"unit":"m^3/s","evidence":"documented","meaning_zh":"15L/min名义最大流量,不能与最大压力同时取值"},"maximum_pressure":{"value":35000,"unit":"Pa","evidence":"documented","meaning_zh":"0.35bar最大差压;与最大流量是不同工况点"}}}},"limitations":["局部尺寸、铰链行程和细节依据布局作工程估计,不是制造商 CAD。","URDF base_link使用整机26kg与整机包围盒惯量近似,部件质量未知且不分摊;仅限运动学与碰撞代理,开盖后的惯量变化及接触动力学未验证。","URDF 门 effort/velocity=1 仅为可解析的宿主限制假设,不是执行器额定值。","屏幕初始数值为仿真占位;字体只在 Blender 中可编辑,GLB 是导出时静态文字快照。","厂家未给的部件质量、惯量、摩擦、实测热容与散热系数为null;局部几何照片估计和内构功能示意明确区分。","低液位浮子、独立超温切断旋钮与内外循环拨杆可识别;真实保护互锁、旋钮阈值及拨杆状态未实现。","设温只写目标,过程由宿主统一step推进;read不推进时间。","未配置浴液时温度是null,不能把缺测伪装为0K或已达到设定。","设备动态、接触与机器人抓取未验证;URDF仅运动学和基元接触代理。","过程与观测的会话过滤不等于对共享文件、Python内省或独立部署的安全隔离。","无真实USB、机器人、真实硬件和外部物质转移驱动。"],"sources":[],"checks":{"coverage":{"status":"bridged","implemented":["circulation.set_running","power.set","scene.set_bath_lid","thermal.set_temperature"],"unsupported":[],"note_zh":"桥接 basic40_runtime_thermal.JulaboCorioCD200FRuntime(推进方式 step_dt),15 个状态���;与运行层镜像对比全同;受信设置需经 host.call;关节化 USD(4 个按键(碰到即触发)、1 个旋钮(可转动)、1 个门/盖/阀等被动关节);1 个门/盖/升降关节与运行层双向同步;接口点 1 个(放置面);布局:台面、两人搬、正面 −y、前方留空 0.25 m;面板读数 temp(4)"}},"previews":["previews/julabo_corio_cd200f/thermal_julabo_corio_cd200f_closed.webp","previews/julabo_corio_cd200f/thermal_julabo_corio_cd200f_open.webp","previews/julabo_corio_cd200f/thermal_julabo_corio_cd200f_rear.webp"],"files":[{"name":"asset.contract.json","path":"assets/basic40_batch02/t1_thermal/julabo_corio_cd200f/asset.contract.json","bytes":254886},{"name":"collision_proxies.json","path":"assets/basic40_batch02/t1_thermal/julabo_corio_cd200f/collision_proxies.json","bytes":14596},{"name":"geometry_manifest.json","path":"assets/basic40_batch02/t1_thermal/julabo_corio_cd200f/geometry_manifest.json","bytes":38257},{"name":"model.blend","path":"assets/basic40_batch02/t1_thermal/julabo_corio_cd200f/model.blend","bytes":462875},{"name":"model.glb","path":"assets/basic40_batch02/t1_thermal/julabo_corio_cd200f/model.glb","bytes":1938740},{"name":"model.urdf","path":"assets/basic40_batch02/t1_thermal/julabo_corio_cd200f/model.urdf","bytes":12961}],"completeness":{"components":20,"with_collisions":11,"with_objects":20,"with_function":20,"with_mass":0,"joints_matching_component":2,"joints":6,"has_contract":true,"has_layout":true,"has_glb":true,"checks_present":["articulation_check","coverage","validation_summary","contract_validation","runtime_validation","scene_validation"]},"slug":"julabo_corio_cd200f","chem_id":"CHEM-187","name_en":"Heating/refrigerated circulator","maker":"JULABO","model":"CORIO CD-200F","domain":"facility","domain_name":"Lab Environment & Utilities","path":"assets/basic40_batch02/t1_thermal/julabo_corio_cd200f","glb_up":"y","has_contract":true,"contract":"assets/basic40_batch02/t1_thermal/julabo_corio_cd200f/asset.contract.json","runtime":"scripts/basic40_runtime_thermal.py"}
|
data/assets/instrument.magritek_spinsolve80.json
CHANGED
|
@@ -1 +1 @@
|
|
| 1 |
-
{"tid":"instrument.magritek_spinsolve80","asset_dir":"basic40_batch02/t4_measure/magritek_spinsolve80","name_zh":"核磁共振结构光谱仪 — Magritek Spinsolve 80 Carbon","category":"molecular_spectroscopy_structure","description_zh":"CHEM-068,按指定清单第73行建立Magritek Spinsolve 80 Carbon Classic规格的手动进样三维物理资产。实现样品槽和synthetic单脉冲1H/13C采集、FID、1D谱及数值积分;2D、解耦、梯度和结构约束等明确登记为未实现。","coordinate_system":{"status":"assumed","length_unit":"m","angle_unit":"rad","handedness":"right","up_axis":"+Z","frame":"asset_root=spinsolve80;原点在台面投影中心,+Y后、+Z上;轴向分配为本次假设。"},"mass_kg":72.5,"size_m":[0.5814,0.4005,0.675],"bbox_min":[-0.29,-0.2,0.0],"bbox_max":[0.2914,0.2005,0.675],"manifest_dimensions_m":null,"glb":"assets/basic40_batch02/t4_measure/magritek_spinsolve80/model.glb","glb_orientation":"gltf_y_up_rotated","usd":null,"urdf":"assets/basic40_batch02/t4_measure/magritek_spinsolve80/model.urdf","links":{"root":"/Geometry/root","sample_tube":"/Geometry/root/sample_tube"},"frames":{"pre_place":[0.0,0.0,0.6078],"place":[0.0,0.0,0.4778],"post_place":[0.0,0.0,0.6078],"joint_sample_tube_joint":[0.0,0.0,0.58]},"joints":[{"name":"sample_tube_joint","type":"prismatic","parent":"root","child":"sample_tube","axis":[0.0,0.0,-1.0],"lower":0.0,"upper":0.16,"effort":0.0,"mimic":null,"origin_m":[0.0,0.0,0.58],"child_prim":"/Geometry/root/sample_tube","child_bbox_min":[-0.0035,-0.0035,0.49],"child_bbox_max":[0.0035,0.0035,0.675],"kind":"other"}],"controls":{"buttons":[],"knobs":[]},"slots":[{"name":"sample_port","link":"root","part":"sample_port","pos":[0.0,0.0,0.31],"rot":[0.0,0.0,0.0,1.0],"pos_link":[0.0,0.0,0.31],"rot_link":[0.0,0.0,0.0,1.0],"radius_m":0.005,"kind":"hole","fits":["nmr_tube"],"anchor":"base","insert_axis":[0.0,0.0,1.0],"capture_m":0.03,"access":[],"modelled_occupant":false}],"hidden_parts":[],"readouts":[],"layout":{"front":[0.0,-1.0,0.0],"front_source":"convention","mount":"bench","weight_class":"two_person","mass_kg":72.5,"footprint_m":[0.5814,0.4005],"height_m":0.675,"clearance_m":{"front":0.25,"back":0.15,"left":0.05,"right":0.05,"top":0.1},"robot_standoff_m":0.35,"work_height_m":0.31,"primary_slot":"sample_port","access":[],"slot_count":1},"components":[{"id":"housing","name_zh":"弧面外壳","function_zh":"保护磁体和电子学,外观采用灰色弧面筒身","physical_meaning_zh":"照片估计的椭圆筒外形;内部壁厚、材料与屏蔽性能未知。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["spinsolve80__housing"],"collisions":[{"shape":"box","origin_m":[0.2738139534883721,0.0,0.2120344827586207],"rpy_rad":[0,0,0],"size_m":[0.024279069767441857,0.104,0.37810344827586206]},{"shape":"box","origin_m":[0.23712983963158096,0.09399999999999999,0.2120344827586207],"rpy_rad":[0,0,0],"size_m":[0.09116582608258032,0.09906664199358162,0.37810344827586206]},{"shape":"box","origin_m":[0.1369069767441861,0.16281277591147444,0.2120344827586207],"rpy_rad":[0,0,0],"size_m":[0.1336247729215752,0.0675884572681199,0.37810344827586206]},{"shape":"box","origin_m":[1.6766269085070857e-17,0.188,0.2120344827586207],"rpy_rad":[0,0,0],"size_m":[0.14027906976744184,0.018000000000000006,0.37810344827586206]},{"shape":"box","origin_m":[-0.136906976744186,0.16281277591147447,0.2120344827586207],"rpy_rad":[0,0,0],"size_m":[0.1336247729215752,0.06758845726811988,0.37810344827586206]},{"shape":"box","origin_m":[-0.23712983963158096,0.09399999999999999,0.2120344827586207],"rpy_rad":[0,0,0],"size_m":[0.09116582608258032,0.09906664199358162,0.37810344827586206]},{"shape":"box","origin_m":[-0.2738139534883721,2.3023359823970242e-17,0.2120344827586207],"rpy_rad":[0,0,0],"size_m":[0.024279069767441878,0.104,0.37810344827586206]},{"shape":"box","origin_m":[-0.237129839631581,-0.09399999999999996,0.2120344827586207],"rpy_rad":[0,0,0],"size_m":[0.0911658260825803,0.09906664199358163,0.37810344827586206]},{"shape":"box","origin_m":[-0.13690697674418617,-0.16281277591147442,0.2120344827586207],"rpy_rad":[0,0,0],"size_m":[0.13362477292157515,0.06758845726811993,0.37810344827586206]},{"shape":"box","origin_m":[-5.0298807255212564e-17,-0.188,0.2120344827586207],"rpy_rad":[0,0,0],"size_m":[0.14027906976744184,0.01800000000000002,0.37810344827586206]},{"shape":"box","origin_m":[0.1369069767441861,-0.16281277591147444,0.2120344827586207],"rpy_rad":[0,0,0],"size_m":[0.1336247729215752,0.0675884572681199,0.37810344827586206]},{"shape":"box","origin_m":[0.23712983963158088,-0.09400000000000008,0.2120344827586207],"rpy_rad":[0,0,0],"size_m":[0.09116582608258038,0.09906664199358159,0.37810344827586206]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"外形参照指定2021手册;局部尺寸是几何代理假设,实际部件尺寸未知。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set"],"bbox_m":[[-0.28999999165534973,-0.20000000298023224,0.018534483388066292],[0.28999999165534973,0.20000000298023224,0.42110344767570496]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"base","name_zh":"底座","function_zh":"整机的台面支撑底座","physical_meaning_zh":"简化支承结构;接触压力与刚度未求解。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["spinsolve80__base"],"collisions":[{"shape":"box","origin_m":[0.0,0,0.013344827586206896],"rpy_rad":[0,0,0],"size_m":[0.48558139534883715,0.33,0.017793103448275862]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"外形参照指定2021手册;局部尺寸是几何代理假设,实际部件尺寸未知。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.27651163935661316,-0.1899999976158142,0.00444827601313591],[0.27651163935661316,0.1899999976158142,0.02149999886751175]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"feet","name_zh":"支脚","function_zh":"支承台面;摩擦与弹性未知","physical_meaning_zh":"照片/几何假设的支承件;摩擦、弹性和减振参数未知。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["spinsolve80__feet"],"collisions":[{"shape":"cylinder","origin_m":[-0.17534883720930233,-0.12,0.003706896551724138],"rpy_rad":[0,0,0],"radius_m":0.02967441860465116,"length_m":0.007413793103448276},{"shape":"cylinder","origin_m":[-0.17534883720930233,0.12,0.003706896551724138],"rpy_rad":[0,0,0],"radius_m":0.02967441860465116,"length_m":0.007413793103448276},{"shape":"cylinder","origin_m":[0.17534883720930233,-0.12,0.003706896551724138],"rpy_rad":[0,0,0],"radius_m":0.02967441860465116,"length_m":0.007413793103448276},{"shape":"cylinder","origin_m":[0.17534883720930233,0.12,0.003706896551724138],"rpy_rad":[0,0,0],"radius_m":0.02967441860465116,"length_m":0.007413793103448276}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"外形参照指定2021手册;局部尺寸是几何代理假设,实际部件尺寸未知。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.20502324402332306,-0.1419999897480011,0.0],[0.20502327382564545,0.1419999897480011,0.007413792889565229]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"top_plate","name_zh":"顶部面板","function_zh":"围绕真实开口的顶部面板","physical_meaning_zh":"固定保护板;厚度与材料按视觉近似,非结构强度模型。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["spinsolve80__top_plate"],"collisions":[{"shape":"box","origin_m":[-0.12813953488372093,0,0.42332758620689653],"rpy_rad":[0,0,0],"size_m":[0.2158139534883721,0.27,0.008896551724137931]},{"shape":"box","origin_m":[0.12813953488372093,0,0.42332758620689653],"rpy_rad":[0,0,0],"size_m":[0.2158139534883721,0.27,0.008896551724137931]},{"shape":"box","origin_m":[0.0,-0.075,0.42332758620689653],"rpy_rad":[0,0,0],"size_m":[0.04046511627906976,0.12,0.008896551724137931]},{"shape":"box","origin_m":[0.0,0.075,0.42332758620689653],"rpy_rad":[0,0,0],"size_m":[0.04046511627906976,0.12,0.008896551724137931]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"外形参照指定2021手册;局部尺寸是几何代理假设,实际部件尺寸未知。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.2603255808353424,-0.17800000309944153,0.41962069272994995],[0.2603255808353424,0.17800000309944153,0.4290362000465393]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"sample_port","name_zh":"样品口与管槽","function_zh":"兼容5 mm核磁管;开口和Z轴插拔参考系","physical_meaning_zh":"唯一机械槽,沿+Z插拔;真实孔径、允许负载和兼容材料证据不足。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["spinsolve80__sample_port"],"collisions":[{"shape":"box","origin_m":[0.016186046511627906,0.0,0.42443965517241383],"rpy_rad":[0,0,0],"size_m":[0.010790697674418604,0.008,0.011120689655172414]},{"shape":"box","origin_m":[0.011445263248972956,0.00848528137423857,0.42443965517241383],"rpy_rad":[0,0,0],"size_m":[0.01526035099863061,0.011313708498984762,0.011120689655172414]},{"shape":"box","origin_m":[9.91109502565765e-19,0.012,0.42443965517241383],"rpy_rad":[0,0,0],"size_m":[0.010790697674418604,0.008,0.011120689655172414]},{"shape":"box","origin_m":[-0.011445263248972954,0.008485281374238571,0.42443965517241383],"rpy_rad":[0,0,0],"size_m":[0.01526035099863061,0.011313708498984762,0.011120689655172414]},{"shape":"box","origin_m":[-0.016186046511627906,1.4695761589768239e-18,0.42443965517241383],"rpy_rad":[0,0,0],"size_m":[0.010790697674418606,0.008000000000000002,0.011120689655172414]},{"shape":"box","origin_m":[-0.01144526324897296,-0.00848528137423857,0.42443965517241383],"rpy_rad":[0,0,0],"size_m":[0.01526035099863061,0.011313708498984762,0.011120689655172414]},{"shape":"box","origin_m":[-2.9733285076972943e-18,-0.012,0.42443965517241383],"rpy_rad":[0,0,0],"size_m":[0.010790697674418606,0.008000000000000002,0.011120689655172414]},{"shape":"box","origin_m":[0.011445263248972952,-0.008485281374238573,0.42443965517241383],"rpy_rad":[0,0,0],"size_m":[0.01526035099863061,0.011313708498984762,0.011120689655172414]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"外形参照指定2021手册;局部尺寸是几何代理假设,实际部件尺寸未知。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["sample.insert","sample.remove"],"bbox_m":[[-0.01899999938905239,-0.01899999938905239,0.42851725220680237],[0.01899999938905239,0.01899999938905239,0.429999977350235]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"sample_tube","name_zh":"核磁样品管代理","function_zh":"放样可视对象;管径5 mm有厂家依据,其长度与装液长度仅为示意","physical_meaning_zh":"管、帽与液体子网格可合并导出;样品真值独立于可见几何。","subsystem":null,"parent":"sample_joint","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["spinsolve80__sample_tube"],"collisions":[{"shape":"cylinder","origin_m":[0,0,0],"rpy_rad":[0,0,0],"radius_m":0.0025,"length_m":0.18}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"外形参照指定2021手册;局部尺寸是几何代理假设,实际部件尺寸未知。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["sample.insert","sample.remove"],"bbox_m":[[-0.0035000001080334187,-0.0035000001080334187,0.4899999797344208],[0.0035000001080334187,0.0035000001080334187,0.675000011920929]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"magnet_module","name_zh":"磁体与射频探头示意","function_zh":"隐藏内部功能代理;没有制造商内部CAD与部件物性","physical_meaning_zh":"隐藏的简化内部代理;不虚构永久磁体真实内部结构或磁场安全分布。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["spinsolve80__magnet_module"],"collisions":[{"shape":"box","origin_m":[0.08767441860465117,0.0,0.20387931034482762],"rpy_rad":[0,0,0],"size_m":[0.08093023255813953,0.045,0.22982758620689658]},{"shape":"box","origin_m":[0.06199517593193685,0.045961940777125586,0.20387931034482762],"rpy_rad":[0,0,0],"size_m":[0.10014605342851336,0.07424621202458748,0.22982758620689658]},{"shape":"box","origin_m":[5.36850980556456e-18,0.065,0.20387931034482762],"rpy_rad":[0,0,0],"size_m":[0.06069767441860466,0.06,0.22982758620689658]},{"shape":"box","origin_m":[-0.06199517593193683,0.04596194077712559,0.20387931034482762],"rpy_rad":[0,0,0],"size_m":[0.10014605342851333,0.07424621202458749,0.22982758620689658]},{"shape":"box","origin_m":[-0.08767441860465117,7.960204194457797e-18,0.20387931034482762],"rpy_rad":[0,0,0],"size_m":[0.08093023255813954,0.045000000000000005,0.22982758620689658]},{"shape":"box","origin_m":[-0.061995175931936854,-0.045961940777125586,0.20387931034482762],"rpy_rad":[0,0,0],"size_m":[0.10014605342851338,0.07424621202458749,0.22982758620689658]},{"shape":"box","origin_m":[-1.610552941669368e-17,-0.065,0.20387931034482762],"rpy_rad":[0,0,0],"size_m":[0.060697674418604665,0.060000000000000005,0.22982758620689658]},{"shape":"box","origin_m":[0.061995175931936826,-0.0459619407771256,0.20387931034482762],"rpy_rad":[0,0,0],"size_m":[0.10014605342851333,0.07424621202458749,0.22982758620689658]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"外形参照指定2021手册;局部尺寸是几何代理假设,实际部件尺寸未知。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["acquisition.configure","acquisition.start","acquisition.stop","nmr.read_fid","nmr.read_spectrum","acquisition.configure_2d","nmr.read_2d","nmr.configure_extended_sequence","nmr.configure_decoupling","nmr.configure_gradient","nmr.structure_constraints"],"bbox_m":[[-0.13488371670246124,-0.10000000149011612,0.0889655128121376],[0.13488371670246124,0.10000000149011612,0.3187931180000305]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"control_panel","name_zh":"状态指示灯","function_zh":"宿主电源/采集状态的示意指示;非实体屏幕","physical_meaning_zh":"只映射状态灯颜色;不增加厂家机体屏幕,外部host文字仅保存custom property。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["spinsolve80__control_panel"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"外形参照指定2021手册;局部尺寸是几何代理假设,实际部件尺寸未知。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","acquisition.configure","acquisition.start","acquisition.stop","nmr.integrate","acquisition.configure_2d","nmr.read_2d","nmr.configure_extended_sequence","nmr.configure_decoupling","nmr.configure_gradient","nmr.structure_constraints"],"bbox_m":[[-0.24413952231407166,-0.1185000017285347,0.08229310810565948],[-0.2279534935951233,-0.11549999564886093,0.09118965268135071]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"ventilation","name_zh":"侧面通风区","function_zh":"侧壳通风外观;没有热过程与风机性能参数","physical_meaning_zh":"被动通风几何;未实现风量、热传导、温升或风扇驱动。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["spinsolve80__ventilation"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"外形参照指定2021手册;局部尺寸是几何代理假设,实际部件尺寸未知。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[0.2580609917640686,-0.09228014945983887,0.26066893339157104],[0.29136812686920166,0.06645526736974716,0.34874480962753296]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"rear_panel","name_zh":"后接口面板","function_zh":"供电/数据端口的布置代理,细节尺寸待实测","physical_meaning_zh":"视觉重建,不声称背板精确孔位和电路配置。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["spinsolve80__rear_panel"],"collisions":[{"shape":"box","origin_m":[0.0,0.189,0.08525862068965519],"rpy_rad":[0,0,0],"size_m":[0.15511627906976744,0.01,0.06820689655172414]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"外形参照指定2021手册;局部尺寸是几何代理假设,实际部件尺寸未知。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.07755813747644424,0.18400000035762787,0.051155176013708115],[0.07755813747644424,0.19599999487400055,0.11936207115650177]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"power_inlet","name_zh":"电源接口","function_zh":"电源连接槽;电气硬件未连接","physical_meaning_zh":"电气兼容、电压、电流、引脚与真实硬件连接均未知。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["spinsolve80__power_inlet"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"外形参照指定2021手册;局部尺寸是几何代理假设,实际部件尺寸未知。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set"],"bbox_m":[[-0.06272092461585999,0.19699999690055847,0.07969827204942703],[-0.018209300935268402,0.2004999965429306,0.09823275357484818]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"data_port","name_zh":"数据接口","function_zh":"外部主机数据端口空间槽;非厂商API","physical_meaning_zh":"厂家协议与连接器电气细节未实现;只登记空间端口。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["spinsolve80__data_port"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"外形参照指定2021手册;局部尺寸是几何代理假设,实际部件尺寸未知。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[0.024279069155454636,0.1965000033378601,0.08155172318220139],[0.05934883654117584,0.2004999965429306,0.09637930989265442]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"branding","name_zh":"型号标识","function_zh":"明确保留Magritek Spinsolve 80 Carbon,不添加ULTRA或自动换样器","physical_meaning_zh":"视觉标签;不赋予主动功能。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["spinsolve80__branding"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"外形参照指定2021手册;局部尺寸是几何代理假设,实际部件尺寸未知。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.19814689457416534,-0.1983991265296936,0.06737877428531647],[0.19609598815441132,-0.14648407697677612,0.12169149518013]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]}],"component_source":"geometry_manifest.json + asset.contract.json + collision_proxies.json","capabilities":{"power.set":{"function_zh":"设置逻辑电源,关闭保留已完成扫描。","kind":"device_command","availability":"implemented","component_ids":["housing","control_panel","power_inlet"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["enabled"]},"sample.insert":{"function_zh":"将已由宿主注册的样品放入唯一逻辑管槽,示意场景同步由宿主适配器执行。","kind":"configuration","availability":"implemented","component_ids":["sample_port","sample_tube"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["sample_id"]},"sample.remove":{"function_zh":"清空逻辑槽及当前运行结果;不从世界删除样品。","kind":"configuration","availability":"implemented","component_ids":["sample_port","sample_tube"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":[]},"acquisition.configure":{"function_zh":"显式配置1H/13C单脉冲合成采集;解耦或梯度启用明确拒绝。","kind":"configuration","availability":"implemented","component_ids":["magnet_module","control_panel"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["nucleus","pulse_sequence","scans","relaxation_delay_s","acquisition_time_s","points","decoupling","gradient_enabled"]},"acquisition.start":{"function_zh":"启动采集计划;调用不推进时间,也不立即生成FID。","kind":"device_command","availability":"implemented","component_ids":["magnet_module","control_panel"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":[]},"acquisition.stop":{"function_zh":"停止采集,保留已完整扫描及耗时;未完成扫描丢弃,不伪称完成。","kind":"device_command","availability":"implemented","component_ids":["magnet_module","control_panel"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":[]},"nmr.read_fid":{"function_zh":"读取已有合成FID,不推进时间、不读取隐藏样品参数。","kind":"query","availability":"implemented","component_ids":["magnet_module"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":[]},"nmr.read_spectrum":{"function_zh":"读取已有1D合成DFT谱;不提供2D谱或结构约束。","kind":"query","availability":"implemented","component_ids":["magnet_module"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":[]},"nmr.integrate":{"function_zh":"对已观察到的合成频谱幅度执行梯形积分,不使用样品真值。","kind":"analysis","availability":"implemented","component_ids":["control_panel"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":["frequency_min_hz","frequency_max_hz"]},"acquisition.configure_2d":{"function_zh":"清单多维设置:2D采集配置未实现。","kind":"configuration","availability":"unsupported","component_ids":["magnet_module","control_panel"],"implementation":{"process":"absent","scene":"absent","robot":"absent","hardware":"absent","host":"absent"},"input":[]},"nmr.read_2d":{"function_zh":"清单输出:2D核磁谱未实现。","kind":"query","availability":"unsupported","component_ids":["magnet_module","control_panel"],"implementation":{"process":"absent","scene":"absent","robot":"absent","hardware":"absent","host":"absent"},"input":[]},"nmr.configure_extended_sequence":{"function_zh":"清单脉冲序列:除单脉冲1D外的序列未实现。","kind":"configuration","availability":"unsupported","component_ids":["magnet_module","control_panel"],"implementation":{"process":"absent","scene":"absent","robot":"absent","hardware":"absent","host":"absent"},"input":["sequence_name"]},"nmr.configure_decoupling":{"function_zh":"清单解耦设置:解耦过程未实现;现有acquisition.configure仅接受false。","kind":"configuration","availability":"unsupported","component_ids":["magnet_module","control_panel"],"implementation":{"process":"absent","scene":"absent","robot":"absent","hardware":"absent","host":"absent"},"input":["enabled"]},"nmr.configure_gradient":{"function_zh":"清单梯度选件:配置、场梯度及相关脉冲过程未实现。","kind":"configuration","availability":"unsupported","component_ids":["magnet_module","control_panel"],"implementation":{"process":"absent","scene":"absent","robot":"absent","hardware":"absent","host":"absent"},"input":["enabled"]},"nmr.structure_constraints":{"function_zh":"清单输出:结构约束推断未实现,合成1D谱不冒充结构解析。","kind":"analysis","availability":"unsupported","component_ids":["magnet_module","control_panel"],"implementation":{"process":"absent","scene":"absent","robot":"absent","hardware":"absent","host":"absent"},"input":[]}},"state_slots":{"power.enabled":{"meaning_zh":"逻辑电源;关闭时停止采集并保留已完成扫描。","unit":"1","access":"read_write","origin":"setpoint","component_ids":["housing"],"write_via":"power.set"},"slot.sample_tube.connection_id":{"meaning_zh":"唯一管槽的宿主注册样品标识;不暴露样品信号真值。","unit":"1","access":"read_only","origin":"scene","component_ids":["sample_port","sample_tube"],"write_via":null},"sample.insertion_fraction":{"meaning_zh":"放样为1、移除为0;几何插入深度另以假设声明,不是厂家行程。","unit":"1","access":"read_only","origin":"scene","component_ids":["sample_tube"],"write_via":null},"method.nucleus":{"meaning_zh":"用户显式合成采集设置;资源范围为engineering_assumption,不是厂家规格。","unit":"1","access":"read_only","origin":"setpoint","component_ids":["magnet_module"],"write_via":null},"method.pulse_sequence":{"meaning_zh":"用户显式合成采集设置;资源范围为engineering_assumption,不是厂家规格。","unit":"1","access":"read_only","origin":"setpoint","component_ids":["magnet_module"],"write_via":null},"method.scans":{"meaning_zh":"用户显式合成采集设置;资源范围为engineering_assumption,不是厂家规格。","unit":"1","access":"read_only","origin":"setpoint","component_ids":["magnet_module"],"write_via":null},"method.relaxation_delay_s":{"meaning_zh":"用户显式合成采集设置;资源范围为engineering_assumption,不是厂家规格。","unit":"s","access":"read_only","origin":"setpoint","component_ids":["magnet_module"],"write_via":null},"method.acquisition_time_s":{"meaning_zh":"用户显式合成采集设置;资源范围为engineering_assumption,不是厂家规格。","unit":"s","access":"read_only","origin":"setpoint","component_ids":["magnet_module"],"write_via":null},"method.points":{"meaning_zh":"用户显式合成采集设置;资源范围为engineering_assumption,不是厂家规格。","unit":"1","access":"read_only","origin":"setpoint","component_ids":["magnet_module"],"write_via":null},"method.decoupling":{"meaning_zh":"用户显式合成采集设置;资源范围为engineering_assumption,不是厂家规格。","unit":"1","access":"read_only","origin":"setpoint","component_ids":["magnet_module"],"write_via":null},"method.gradient_enabled":{"meaning_zh":"用户显式合成采集设置;资源范围为engineering_assumption,不是厂家规格。","unit":"1","access":"read_only","origin":"setpoint","component_ids":["magnet_module"],"write_via":null},"method.carrier_frequency_hz":{"meaning_zh":"1H载频为清单80 MHz;13C载频未知为null,合成横轴始终用Hz偏移。","unit":"Hz","access":"read_only","origin":"derived","component_ids":["magnet_module"],"write_via":null},"acquisition.status":{"meaning_zh":"采集状态;完成不代表真实仪器采集。","unit":"1","access":"read_only","origin":"derived","component_ids":["magnet_module"],"write_via":null},"acquisition.running":{"meaning_zh":"宿主时间推进的合成采集是否运行。","unit":"1","access":"read_only","origin":"derived","component_ids":["magnet_module"],"write_via":null},"acquisition.progress":{"meaning_zh":"本次采集计划的时间完成比例。","unit":"1","access":"read_only","origin":"derived","component_ids":["magnet_module"],"write_via":null},"acquisition.completed_scans":{"meaning_zh":"已完整结束的扫描数量;未完成扫描不输出伪完整数据。","unit":"1","access":"read_only","origin":"derived","component_ids":["magnet_module"],"write_via":null},"acquisition.elapsed_s":{"meaning_zh":"宿主推进后的本次采集耗时。","unit":"s","access":"read_only","origin":"derived","component_ids":["magnet_module"],"write_via":null},"measurement.sample_time_s":{"meaning_zh":"最近完整扫描的结束时刻。","unit":"s","access":"read_only","origin":"derived","component_ids":["magnet_module"],"write_via":null},"measurement.synthetic":{"meaning_zh":"FID、1D频谱与积分全部为synthetic。","unit":"1","access":"read_only","origin":"derived","component_ids":["magnet_module"],"write_via":null},"measurement.fid":{"meaning_zh":"阻尼复正弦叠加的合成FID;信号幅值无量纲。","unit":"1","access":"read_only","origin":"derived","component_ids":["magnet_module"],"write_via":null},"measurement.spectrum":{"meaning_zh":"对合成FID执行归一化DFT的1D频谱;频率偏移单位Hz,幅值无量纲。","unit":"1","access":"read_only","origin":"derived","component_ids":["magnet_module"],"write_via":null},"measurement.integral_hz":{"meaning_zh":"按指定频带对幅度做分段线性积分;不是核数、浓度或定量核磁结果。","unit":"Hz","access":"read_only","origin":"derived","component_ids":["control_panel"],"write_via":null},"display.text":{"meaning_zh":"状态标签,始终带SYNTHETIC;未新增厂商自带屏幕主张。","unit":"1","access":"read_only","origin":"derived","component_ids":["control_panel"],"write_via":null},"truth.registered_samples":{"meaning_zh":"宿主专有合成样品表;代理describe/read/invoke/logs/scene均不含这些真值。","unit":"1","access":"read_only","origin":"process_truth","component_ids":["sample_port"],"write_via":null}},"mechanisms":{"synthetic_nmr_signal":{"meaning_zh":"engineering_assumption:阻尼复正弦合成FID、归一化DFT和观测频带积分;全部输出synthetic。","implementation":"numerical","equations":["FID[n]=sum(A_j*exp(-t_n/T2_j)*exp(i*2*pi*f_j*t_n)); t_n=n*T_acq/N","S[k]=sum(FID[n]*exp(-i*2*pi*k*n/N))/N; k=-floor(N/2)..N-floor(N/2)-1; f_k=k/T_acq","integral=piecewise-linear trapezoid integral of abs(S) over explicit observed frequency interval"],"parameters":{"proton_carrier_frequency_hz":{"value":80000000.0,"unit":"Hz","evidence":"documented","meaning_zh":"清单1H频率80MHz;不代表部件工作响应。"},"carbon_carrier_frequency_hz":{"value":null,"unit":"Hz","evidence":"unknown","meaning_zh":"清单未给13C载频,保持null。"},"fwhm_specification_hz":{"value":0.4,"unit":"Hz","evidence":"documented","meaning_zh":"Classic整机半高线宽严格小于0.4Hz;不用于生成合成T2。"},"tail_linewidth_specification_hz":{"value":16,"unit":"Hz","evidence":"documented","meaning_zh":"Classic整机0.55%峰高线宽严格小于16Hz;不作为合成响应参数。"},"sensitivity_ratio_lower_bound":{"value":200,"unit":"1","evidence":"documented","meaning_zh":"整机双通道1H灵敏度>200:1,条件1%乙苯;未实现噪声与灵敏度验证。"},"max_points":{"value":512,"unit":"1","evidence":"assumption","meaning_zh":"engineering_assumption:本Python DFT计算资源上限,不是厂商规格。"},"manufacturer_pulse_duration_s":{"value":null,"unit":"s","evidence":"unknown","meaning_zh":"清单未提供真实响应证据;保持null。"},"manufacturer_t1_s":{"value":null,"unit":"s","evidence":"unknown","meaning_zh":"清单未提供真实响应证据;保持null。"},"manufacturer_t2_s":{"value":null,"unit":"s","evidence":"unknown","meaning_zh":"清单未提供真实响应证据;保持null。"},"noise_amplitude":{"value":null,"unit":"1","evidence":"unknown","meaning_zh":"清单未提供真实响应证据;保持null。"},"calibration_accuracy_hz":{"value":null,"unit":"Hz","evidence":"unknown","meaning_zh":"清单未提供真实响应证据;保持null。"},"fault_probability":{"value":null,"unit":"1","evidence":"unknown","meaning_zh":"清单未提供真实响应证据;保持null。"}}},"host_timed_scanning":{"meaning_zh":"engineering_assumption:由共享宿主绝对时钟推进离散完整扫描。","implementation":"numerical","equations":["cycle=T_relax+T_acq; completed_scans=min(scans,floor((host_time-start_time)/cycle)); progress=min(1,elapsed/(scans*cycle))"],"parameters":{}}},"limitations":["所有FID、1D频谱与数值积分均为synthetic;工程假设教学模型不能声称复现Spinsolve响应、Classic线宽、灵敏度或真实测量。","只实现1H/13C单脉冲1D、宿主显式扫描计时与无噪声平均;2D、耦合多重峰自动求解、解耦、梯度、结构约束、定量核磁、真实校准与故障概率未实现。","每扫描耗时=用户弛豫延迟+用户采集时间;不模拟T1饱和恢复、脉冲时宽、接收器死区、磁场漂移或厂商固件。","幅度任意且无量纲,积分单位Hz;积分不是浓度或核数。13C载频未知,不输出ppm横轴。","样品槽仅逻辑关联;插入占比为示意映射,不执行机器人插入、接触或真实磁场作用。","注册样品、共同绝对时钟由可信宿主管理;公开session过滤是API边界,不是同进程Python或文件系统沙箱。请求幂等缓存仅在内存中。","可选scene_adapter失败时过程不提交;外部场景可能已部分修改,需宿主协调恢复。","coverage=full仅表示本批手动进样配置的功能组件登记完整;不表示所有表列实验、输出、真实物理或硬件能力已完成。","灰色椭圆筒外形和部件位置依据资料作视觉近似;机体轴向[X,Y,Z]=[0.58, 0.4, 0.43] m是明确假设,源表只给原次序58×43×40cm。","原点位于台面投影中心、Z向上;未将模型坐标约定写成厂商长宽高证据。","根部集中惯量是包围盒近似;部件质量与真实惯量为null。URDF仅盒/柱/球碰撞代理,存在文件不代表已做接触、稳定性或碰撞求解验证。","磁体内部、磁场分布、杂散场与真实安全半径未建模;不得由本几何模型推断真实仪器安全边界。","主机没有新增实体屏幕;display.text与acquisition.progress仅作外部host可读属性。"],"sources":[],"checks":{"coverage":{"status":"bridged","implemented":["acquisition.configure","acquisition.start","acquisition.stop","nmr.integrate","nmr.read_fid","nmr.read_spectrum","power.set","sample.insert","sample.remove"],"unsupported":[],"note_zh":"桥接 basic40_runtime_measure.MagritekSpinsolve80Runtime(推进方式 host_step_abs),24 个状态槽;与运行层镜像对比全同;受信设置需经 host.call;关节化 USD(1 个门/盖/阀等被动关节);1 个关节跟随运行层状态;接口点 1 个(孔位);布局:台面、两人搬、正面 −y、前方留空 0.25 m;面板为菜单/文字屏(待办)"}},"previews":["previews/magritek_spinsolve80/preview_assembled.webp","previews/magritek_spinsolve80/preview_rear.webp","previews/magritek_spinsolve80/preview_sample_raised.webp"],"files":[{"name":"asset.contract.json","path":"assets/basic40_batch02/t4_measure/magritek_spinsolve80/asset.contract.json","bytes":226489},{"name":"collision_proxies.json","path":"assets/basic40_batch02/t4_measure/magritek_spinsolve80/collision_proxies.json","bytes":13691},{"name":"geometry_manifest.json","path":"assets/basic40_batch02/t4_measure/magritek_spinsolve80/geometry_manifest.json","bytes":28468},{"name":"model.blend","path":"assets/basic40_batch02/t4_measure/magritek_spinsolve80/model.blend","bytes":420957},{"name":"model.glb","path":"assets/basic40_batch02/t4_measure/magritek_spinsolve80/model.glb","bytes":1122216},{"name":"model.urdf","path":"assets/basic40_batch02/t4_measure/magritek_spinsolve80/model.urdf","bytes":14109},{"name":"scene_adapter.py","path":"assets/basic40_batch02/t4_measure/magritek_spinsolve80/scene_adapter.py","bytes":3488}],"completeness":{"components":13,"with_collisions":8,"with_objects":13,"with_function":13,"with_mass":0,"joints_matching_component":1,"joints":1,"has_contract":true,"has_layout":true,"has_glb":true,"checks_present":["articulation_check","coverage","validation_summary","contract_validation"]},"slug":"magritek_spinsolve80","chem_id":"CHEM-068","name_en":"Benchtop NMR spectrometer","maker":"Magritek","model":"Spinsolve 80 Carbon","domain":"spectroscopy","domain_name":"Molecular Spectroscopy & Structure","path":"assets/basic40_batch02/t4_measure/magritek_spinsolve80","glb_up":"y","has_contract":true,"contract":"assets/basic40_batch02/t4_measure/magritek_spinsolve80/asset.contract.json","runtime":null}
|
|
|
|
| 1 |
+
{"tid":"instrument.magritek_spinsolve80","asset_dir":"basic40_batch02/t4_measure/magritek_spinsolve80","name_zh":"核磁共振结构光谱仪 — Magritek Spinsolve 80 Carbon","category":"molecular_spectroscopy_structure","description_zh":"CHEM-068,按指定清单第73行建立Magritek Spinsolve 80 Carbon Classic规格的手动进样三维物理资产。实现样品槽和synthetic单脉冲1H/13C采集、FID、1D谱及数值积分;2D、解耦、梯度和结构约束等明确登记为未实现。","coordinate_system":{"status":"assumed","length_unit":"m","angle_unit":"rad","handedness":"right","up_axis":"+Z","frame":"asset_root=spinsolve80;原点在台面投影中心,+Y后、+Z上;轴向分配为本次假设。"},"mass_kg":72.5,"size_m":[0.5814,0.4005,0.675],"bbox_min":[-0.29,-0.2,0.0],"bbox_max":[0.2914,0.2005,0.675],"manifest_dimensions_m":null,"glb":"assets/basic40_batch02/t4_measure/magritek_spinsolve80/model.glb","glb_orientation":"gltf_y_up_rotated","usd":null,"urdf":"assets/basic40_batch02/t4_measure/magritek_spinsolve80/model.urdf","links":{"root":"/Geometry/root","sample_tube":"/Geometry/root/sample_tube"},"frames":{"pre_place":[0.0,0.0,0.6078],"place":[0.0,0.0,0.4778],"post_place":[0.0,0.0,0.6078],"joint_sample_tube_joint":[0.0,0.0,0.58]},"joints":[{"name":"sample_tube_joint","type":"prismatic","parent":"root","child":"sample_tube","axis":[0.0,0.0,-1.0],"lower":0.0,"upper":0.16,"effort":0.0,"mimic":null,"origin_m":[0.0,0.0,0.58],"child_prim":"/Geometry/root/sample_tube","child_bbox_min":[-0.0035,-0.0035,0.49],"child_bbox_max":[0.0035,0.0035,0.675],"kind":"other"}],"controls":{"buttons":[],"knobs":[]},"slots":[{"name":"sample_port","link":"root","part":"sample_port","pos":[0.0,0.0,0.31],"rot":[0.0,0.0,0.0,1.0],"pos_link":[0.0,0.0,0.31],"rot_link":[0.0,0.0,0.0,1.0],"radius_m":0.005,"kind":"hole","fits":["nmr_tube"],"anchor":"base","insert_axis":[0.0,0.0,1.0],"capture_m":0.03,"access":[],"modelled_occupant":false}],"hidden_parts":[],"readouts":[],"layout":{"front":[0.0,-1.0,0.0],"front_source":"convention","mount":"bench","weight_class":"two_person","mass_kg":72.5,"footprint_m":[0.5814,0.4005],"height_m":0.675,"clearance_m":{"front":0.25,"back":0.15,"left":0.05,"right":0.05,"top":0.1},"robot_standoff_m":0.35,"work_height_m":0.31,"primary_slot":"sample_port","access":[],"slot_count":1},"components":[{"id":"housing","name_zh":"弧面外壳","function_zh":"保护磁体和电子学,外观采用灰色弧面筒身","physical_meaning_zh":"照片估计的椭圆筒外形;内部壁厚、材料与屏蔽性能未知。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["spinsolve80__housing"],"collisions":[{"shape":"box","origin_m":[0.2738139534883721,0.0,0.2120344827586207],"rpy_rad":[0,0,0],"size_m":[0.024279069767441857,0.104,0.37810344827586206]},{"shape":"box","origin_m":[0.23712983963158096,0.09399999999999999,0.2120344827586207],"rpy_rad":[0,0,0],"size_m":[0.09116582608258032,0.09906664199358162,0.37810344827586206]},{"shape":"box","origin_m":[0.1369069767441861,0.16281277591147444,0.2120344827586207],"rpy_rad":[0,0,0],"size_m":[0.1336247729215752,0.0675884572681199,0.37810344827586206]},{"shape":"box","origin_m":[1.6766269085070857e-17,0.188,0.2120344827586207],"rpy_rad":[0,0,0],"size_m":[0.14027906976744184,0.018000000000000006,0.37810344827586206]},{"shape":"box","origin_m":[-0.136906976744186,0.16281277591147447,0.2120344827586207],"rpy_rad":[0,0,0],"size_m":[0.1336247729215752,0.06758845726811988,0.37810344827586206]},{"shape":"box","origin_m":[-0.23712983963158096,0.09399999999999999,0.2120344827586207],"rpy_rad":[0,0,0],"size_m":[0.09116582608258032,0.09906664199358162,0.37810344827586206]},{"shape":"box","origin_m":[-0.2738139534883721,2.3023359823970242e-17,0.2120344827586207],"rpy_rad":[0,0,0],"size_m":[0.024279069767441878,0.104,0.37810344827586206]},{"shape":"box","origin_m":[-0.237129839631581,-0.09399999999999996,0.2120344827586207],"rpy_rad":[0,0,0],"size_m":[0.0911658260825803,0.09906664199358163,0.37810344827586206]},{"shape":"box","origin_m":[-0.13690697674418617,-0.16281277591147442,0.2120344827586207],"rpy_rad":[0,0,0],"size_m":[0.13362477292157515,0.06758845726811993,0.37810344827586206]},{"shape":"box","origin_m":[-5.0298807255212564e-17,-0.188,0.2120344827586207],"rpy_rad":[0,0,0],"size_m":[0.14027906976744184,0.01800000000000002,0.37810344827586206]},{"shape":"box","origin_m":[0.1369069767441861,-0.16281277591147444,0.2120344827586207],"rpy_rad":[0,0,0],"size_m":[0.1336247729215752,0.0675884572681199,0.37810344827586206]},{"shape":"box","origin_m":[0.23712983963158088,-0.09400000000000008,0.2120344827586207],"rpy_rad":[0,0,0],"size_m":[0.09116582608258038,0.09906664199358159,0.37810344827586206]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"外形参照指定2021手册;局部尺寸是几何代理假设,实际部件尺寸未知。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set"],"bbox_m":[[-0.28999999165534973,-0.20000000298023224,0.018534483388066292],[0.28999999165534973,0.20000000298023224,0.42110344767570496]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"base","name_zh":"底座","function_zh":"整机的台面支撑底座","physical_meaning_zh":"简化支承结构;接触压力与刚度未求解。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["spinsolve80__base"],"collisions":[{"shape":"box","origin_m":[0.0,0,0.013344827586206896],"rpy_rad":[0,0,0],"size_m":[0.48558139534883715,0.33,0.017793103448275862]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"外形参照指定2021手册;局部尺寸是几何代理假设,实际部件尺寸未知。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.27651163935661316,-0.1899999976158142,0.00444827601313591],[0.27651163935661316,0.1899999976158142,0.02149999886751175]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"feet","name_zh":"支脚","function_zh":"支承台面;摩擦与弹性未知","physical_meaning_zh":"照片/几何假设的支承件;摩擦、弹性和减振参数未知。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["spinsolve80__feet"],"collisions":[{"shape":"cylinder","origin_m":[-0.17534883720930233,-0.12,0.003706896551724138],"rpy_rad":[0,0,0],"radius_m":0.02967441860465116,"length_m":0.007413793103448276},{"shape":"cylinder","origin_m":[-0.17534883720930233,0.12,0.003706896551724138],"rpy_rad":[0,0,0],"radius_m":0.02967441860465116,"length_m":0.007413793103448276},{"shape":"cylinder","origin_m":[0.17534883720930233,-0.12,0.003706896551724138],"rpy_rad":[0,0,0],"radius_m":0.02967441860465116,"length_m":0.007413793103448276},{"shape":"cylinder","origin_m":[0.17534883720930233,0.12,0.003706896551724138],"rpy_rad":[0,0,0],"radius_m":0.02967441860465116,"length_m":0.007413793103448276}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"外形参照指定2021手册;局部尺寸是几何代理假设,实际部件尺寸未知。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.20502324402332306,-0.1419999897480011,0.0],[0.20502327382564545,0.1419999897480011,0.007413792889565229]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"top_plate","name_zh":"顶部面板","function_zh":"围绕真实开口的顶部面板","physical_meaning_zh":"固定保护板;厚度与材料按视觉近似,非结构强度模型。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["spinsolve80__top_plate"],"collisions":[{"shape":"box","origin_m":[-0.12813953488372093,0,0.42332758620689653],"rpy_rad":[0,0,0],"size_m":[0.2158139534883721,0.27,0.008896551724137931]},{"shape":"box","origin_m":[0.12813953488372093,0,0.42332758620689653],"rpy_rad":[0,0,0],"size_m":[0.2158139534883721,0.27,0.008896551724137931]},{"shape":"box","origin_m":[0.0,-0.075,0.42332758620689653],"rpy_rad":[0,0,0],"size_m":[0.04046511627906976,0.12,0.008896551724137931]},{"shape":"box","origin_m":[0.0,0.075,0.42332758620689653],"rpy_rad":[0,0,0],"size_m":[0.04046511627906976,0.12,0.008896551724137931]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"外形参照指定2021手册;局部尺寸是几何代理假设,实际部件尺寸未知。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.2603255808353424,-0.17800000309944153,0.41962069272994995],[0.2603255808353424,0.17800000309944153,0.4290362000465393]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"sample_port","name_zh":"样品口与管槽","function_zh":"兼容5 mm核磁管;开口和Z轴插拔参考系","physical_meaning_zh":"唯一机械槽,沿+Z插拔;真实孔径、允许负载和兼容材料证据不足。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["spinsolve80__sample_port"],"collisions":[{"shape":"box","origin_m":[0.016186046511627906,0.0,0.42443965517241383],"rpy_rad":[0,0,0],"size_m":[0.010790697674418604,0.008,0.011120689655172414]},{"shape":"box","origin_m":[0.011445263248972956,0.00848528137423857,0.42443965517241383],"rpy_rad":[0,0,0],"size_m":[0.01526035099863061,0.011313708498984762,0.011120689655172414]},{"shape":"box","origin_m":[9.91109502565765e-19,0.012,0.42443965517241383],"rpy_rad":[0,0,0],"size_m":[0.010790697674418604,0.008,0.011120689655172414]},{"shape":"box","origin_m":[-0.011445263248972954,0.008485281374238571,0.42443965517241383],"rpy_rad":[0,0,0],"size_m":[0.01526035099863061,0.011313708498984762,0.011120689655172414]},{"shape":"box","origin_m":[-0.016186046511627906,1.4695761589768239e-18,0.42443965517241383],"rpy_rad":[0,0,0],"size_m":[0.010790697674418606,0.008000000000000002,0.011120689655172414]},{"shape":"box","origin_m":[-0.01144526324897296,-0.00848528137423857,0.42443965517241383],"rpy_rad":[0,0,0],"size_m":[0.01526035099863061,0.011313708498984762,0.011120689655172414]},{"shape":"box","origin_m":[-2.9733285076972943e-18,-0.012,0.42443965517241383],"rpy_rad":[0,0,0],"size_m":[0.010790697674418606,0.008000000000000002,0.011120689655172414]},{"shape":"box","origin_m":[0.011445263248972952,-0.008485281374238573,0.42443965517241383],"rpy_rad":[0,0,0],"size_m":[0.01526035099863061,0.011313708498984762,0.011120689655172414]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"外形参照指定2021手册;局部尺寸是几何代理假设,实际部件尺寸未知。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["sample.insert","sample.remove"],"bbox_m":[[-0.01899999938905239,-0.01899999938905239,0.42851725220680237],[0.01899999938905239,0.01899999938905239,0.429999977350235]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"sample_tube","name_zh":"核磁样品管代理","function_zh":"放样可视对象;管径5 mm有厂家依据,其长度与装液长度仅为示意","physical_meaning_zh":"管、帽与液体子网格可合并导出;样品真值独立于可见几何。","subsystem":null,"parent":"sample_joint","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["spinsolve80__sample_tube"],"collisions":[{"shape":"cylinder","origin_m":[0,0,0],"rpy_rad":[0,0,0],"radius_m":0.0025,"length_m":0.18}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"外形参照指定2021手册;局部尺寸是几何代理假设,实际部件尺寸未知。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["sample.insert","sample.remove"],"bbox_m":[[-0.0035000001080334187,-0.0035000001080334187,0.4899999797344208],[0.0035000001080334187,0.0035000001080334187,0.675000011920929]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"magnet_module","name_zh":"磁体与射频探头示意","function_zh":"隐藏内部功能代理;没有制造商内部CAD与部件物性","physical_meaning_zh":"隐藏的简化内部代理;不虚构永久磁体真实内部结构或磁场安全分布。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["spinsolve80__magnet_module"],"collisions":[{"shape":"box","origin_m":[0.08767441860465117,0.0,0.20387931034482762],"rpy_rad":[0,0,0],"size_m":[0.08093023255813953,0.045,0.22982758620689658]},{"shape":"box","origin_m":[0.06199517593193685,0.045961940777125586,0.20387931034482762],"rpy_rad":[0,0,0],"size_m":[0.10014605342851336,0.07424621202458748,0.22982758620689658]},{"shape":"box","origin_m":[5.36850980556456e-18,0.065,0.20387931034482762],"rpy_rad":[0,0,0],"size_m":[0.06069767441860466,0.06,0.22982758620689658]},{"shape":"box","origin_m":[-0.06199517593193683,0.04596194077712559,0.20387931034482762],"rpy_rad":[0,0,0],"size_m":[0.10014605342851333,0.07424621202458749,0.22982758620689658]},{"shape":"box","origin_m":[-0.08767441860465117,7.960204194457797e-18,0.20387931034482762],"rpy_rad":[0,0,0],"size_m":[0.08093023255813954,0.045000000000000005,0.22982758620689658]},{"shape":"box","origin_m":[-0.061995175931936854,-0.045961940777125586,0.20387931034482762],"rpy_rad":[0,0,0],"size_m":[0.10014605342851338,0.07424621202458749,0.22982758620689658]},{"shape":"box","origin_m":[-1.610552941669368e-17,-0.065,0.20387931034482762],"rpy_rad":[0,0,0],"size_m":[0.060697674418604665,0.060000000000000005,0.22982758620689658]},{"shape":"box","origin_m":[0.061995175931936826,-0.0459619407771256,0.20387931034482762],"rpy_rad":[0,0,0],"size_m":[0.10014605342851333,0.07424621202458749,0.22982758620689658]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"外形参照指定2021手册;局部尺寸是几何代理假设,实际部件尺寸未知。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["acquisition.configure","acquisition.start","acquisition.stop","nmr.read_fid","nmr.read_spectrum","acquisition.configure_2d","nmr.read_2d","nmr.configure_extended_sequence","nmr.configure_decoupling","nmr.configure_gradient","nmr.structure_constraints"],"bbox_m":[[-0.13488371670246124,-0.10000000149011612,0.0889655128121376],[0.13488371670246124,0.10000000149011612,0.3187931180000305]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"control_panel","name_zh":"状态指示灯","function_zh":"宿主电源/采集状态的示意指示;非实体屏幕","physical_meaning_zh":"只映射状态灯颜色;不增加厂家机体屏幕,外部host文字仅保存custom property。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["spinsolve80__control_panel"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"外形参照指定2021手册;局部尺寸是几何代理假设,实际部件尺寸未知。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","acquisition.configure","acquisition.start","acquisition.stop","nmr.integrate","acquisition.configure_2d","nmr.read_2d","nmr.configure_extended_sequence","nmr.configure_decoupling","nmr.configure_gradient","nmr.structure_constraints"],"bbox_m":[[-0.24413952231407166,-0.1185000017285347,0.08229310810565948],[-0.2279534935951233,-0.11549999564886093,0.09118965268135071]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"ventilation","name_zh":"侧面通风区","function_zh":"侧壳通风外观;没有热过程与风机性能参数","physical_meaning_zh":"被动通风几何;未实现风量、热传导、温升或风扇驱动。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["spinsolve80__ventilation"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"外形参照指定2021手册;局部尺寸是几何代理假设,实际部件尺寸未知。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[0.2580609917640686,-0.09228014945983887,0.26066893339157104],[0.29136812686920166,0.06645526736974716,0.34874480962753296]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"rear_panel","name_zh":"后接口面板","function_zh":"供电/数据端口的布置代理,细节尺寸待实测","physical_meaning_zh":"视觉重建,不声称背板精确孔位和电路配置。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["spinsolve80__rear_panel"],"collisions":[{"shape":"box","origin_m":[0.0,0.189,0.08525862068965519],"rpy_rad":[0,0,0],"size_m":[0.15511627906976744,0.01,0.06820689655172414]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"外形参照指定2021手册;局部尺寸是几何代理假设,实际部件尺寸未知。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.07755813747644424,0.18400000035762787,0.051155176013708115],[0.07755813747644424,0.19599999487400055,0.11936207115650177]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"power_inlet","name_zh":"电源接口","function_zh":"电源连接槽;电气硬件未连接","physical_meaning_zh":"电气兼容、电压、电流、引脚与真实硬件连接均未知。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["spinsolve80__power_inlet"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"外形参照指定2021手册;局部尺寸是几何代理假设,实际部件尺寸未知。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set"],"bbox_m":[[-0.06272092461585999,0.19699999690055847,0.07969827204942703],[-0.018209300935268402,0.2004999965429306,0.09823275357484818]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"data_port","name_zh":"数据接口","function_zh":"外部主机数据端口空间槽;非厂商API","physical_meaning_zh":"厂家协议与连接器电气细节未实现;只登记空间端口。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["spinsolve80__data_port"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"外形参照指定2021手册;局部尺寸是几何代理假设,实际部件尺寸未知。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[0.024279069155454636,0.1965000033378601,0.08155172318220139],[0.05934883654117584,0.2004999965429306,0.09637930989265442]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]},{"id":"branding","name_zh":"型号标识","function_zh":"明确保留Magritek Spinsolve 80 Carbon,不添加ULTRA或自动换样器","physical_meaning_zh":"视觉标签;不赋予主动功能。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["spinsolve80__branding"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":"外形参照指定2021手册;局部尺寸是几何代理假设,实际部件尺寸未知。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.19814689457416534,-0.1983991265296936,0.06737877428531647],[0.19609598815441132,-0.14648407697677612,0.12169149518013]],"raw_keys":["collisions","evaluated_bounds_world_m","function_zh","geometry_evidence","geometry_note_zh","id","inertia_kg_m2","mass_kg","name_zh","objects","origin_m","parent"]}],"component_source":"geometry_manifest.json + asset.contract.json + collision_proxies.json","capabilities":{"power.set":{"function_zh":"设置逻辑电源,关闭保留已完成扫描。","kind":"device_command","availability":"implemented","component_ids":["housing","control_panel","power_inlet"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["enabled"]},"sample.insert":{"function_zh":"将已由宿主注册的样品放入唯一逻辑管槽,示意场景同步由宿主适配器执行。","kind":"configuration","availability":"implemented","component_ids":["sample_port","sample_tube"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["sample_id"]},"sample.remove":{"function_zh":"清空逻辑槽及当前运行结果;不从世界删除样品。","kind":"configuration","availability":"implemented","component_ids":["sample_port","sample_tube"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":[]},"acquisition.configure":{"function_zh":"显式配置1H/13C单脉冲合成采集;解耦或梯度启用明确拒绝。","kind":"configuration","availability":"implemented","component_ids":["magnet_module","control_panel"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["nucleus","pulse_sequence","scans","relaxation_delay_s","acquisition_time_s","points","decoupling","gradient_enabled"]},"acquisition.start":{"function_zh":"启动采集计划;调用不推进时间,也不立即生成FID。","kind":"device_command","availability":"implemented","component_ids":["magnet_module","control_panel"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":[]},"acquisition.stop":{"function_zh":"停止采集,保留已完整扫描及耗时;未完成扫描丢弃,不伪称完成。","kind":"device_command","availability":"implemented","component_ids":["magnet_module","control_panel"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":[]},"nmr.read_fid":{"function_zh":"读取已有合成FID,不推进时间、不读取隐藏样品参数。","kind":"query","availability":"implemented","component_ids":["magnet_module"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":[]},"nmr.read_spectrum":{"function_zh":"读取已有1D合成DFT谱;不提供2D谱或结构约束。","kind":"query","availability":"implemented","component_ids":["magnet_module"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":[]},"nmr.integrate":{"function_zh":"对已观察到的合成频谱幅度执行梯形积分,不使用样品真值。","kind":"analysis","availability":"implemented","component_ids":["control_panel"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":["frequency_min_hz","frequency_max_hz"]},"acquisition.configure_2d":{"function_zh":"清单多维设置:2D采集配置未实现。","kind":"configuration","availability":"unsupported","component_ids":["magnet_module","control_panel"],"implementation":{"process":"absent","scene":"absent","robot":"absent","hardware":"absent","host":"absent"},"input":[]},"nmr.read_2d":{"function_zh":"清单输出:2D核磁谱未实现。","kind":"query","availability":"unsupported","component_ids":["magnet_module","control_panel"],"implementation":{"process":"absent","scene":"absent","robot":"absent","hardware":"absent","host":"absent"},"input":[]},"nmr.configure_extended_sequence":{"function_zh":"清单脉冲序列:除单脉冲1D外的序列未实现。","kind":"configuration","availability":"unsupported","component_ids":["magnet_module","control_panel"],"implementation":{"process":"absent","scene":"absent","robot":"absent","hardware":"absent","host":"absent"},"input":["sequence_name"]},"nmr.configure_decoupling":{"function_zh":"清单解耦设置:解耦过程未实现;现有acquisition.configure仅接受false。","kind":"configuration","availability":"unsupported","component_ids":["magnet_module","control_panel"],"implementation":{"process":"absent","scene":"absent","robot":"absent","hardware":"absent","host":"absent"},"input":["enabled"]},"nmr.configure_gradient":{"function_zh":"清单梯度选件:配置、场梯度及相关脉冲过程未实现。","kind":"configuration","availability":"unsupported","component_ids":["magnet_module","control_panel"],"implementation":{"process":"absent","scene":"absent","robot":"absent","hardware":"absent","host":"absent"},"input":["enabled"]},"nmr.structure_constraints":{"function_zh":"清单输出:结构约束推断未实现,合成1D谱不冒充结构解析。","kind":"analysis","availability":"unsupported","component_ids":["magnet_module","control_panel"],"implementation":{"process":"absent","scene":"absent","robot":"absent","hardware":"absent","host":"absent"},"input":[]}},"state_slots":{"power.enabled":{"meaning_zh":"逻辑电源;关闭时停止采集并保留已完成扫描。","unit":"1","access":"read_write","origin":"setpoint","component_ids":["housing"],"write_via":"power.set"},"slot.sample_tube.connection_id":{"meaning_zh":"唯一管槽的宿主注册样品标识;不暴露样品信号真值。","unit":"1","access":"read_only","origin":"scene","component_ids":["sample_port","sample_tube"],"write_via":null},"sample.insertion_fraction":{"meaning_zh":"放样为1、移除为0;几何插入深度另以假设声明,不是厂家行程。","unit":"1","access":"read_only","origin":"scene","component_ids":["sample_tube"],"write_via":null},"method.nucleus":{"meaning_zh":"用户显式合成采集设置;资源范围为engineering_assumption,不是厂家规格。","unit":"1","access":"read_only","origin":"setpoint","component_ids":["magnet_module"],"write_via":null},"method.pulse_sequence":{"meaning_zh":"用户显式合成采集设置;资源范围为engineering_assumption,不是厂家规格。","unit":"1","access":"read_only","origin":"setpoint","component_ids":["magnet_module"],"write_via":null},"method.scans":{"meaning_zh":"用户显式合成采集设置;资源范围为engineering_assumption,不是厂家规格。","unit":"1","access":"read_only","origin":"setpoint","component_ids":["magnet_module"],"write_via":null},"method.relaxation_delay_s":{"meaning_zh":"用户显式合成采集设置;资源范围为engineering_assumption,不是厂家规格。","unit":"s","access":"read_only","origin":"setpoint","component_ids":["magnet_module"],"write_via":null},"method.acquisition_time_s":{"meaning_zh":"用户显式合成采集设置;资源范围为engineering_assumption,不是厂家规格。","unit":"s","access":"read_only","origin":"setpoint","component_ids":["magnet_module"],"write_via":null},"method.points":{"meaning_zh":"用户显式合成采集设置;资源范围为engineering_assumption,不是厂家规格。","unit":"1","access":"read_only","origin":"setpoint","component_ids":["magnet_module"],"write_via":null},"method.decoupling":{"meaning_zh":"用户显式合成采集设置;资源范围为engineering_assumption,不是厂家规格。","unit":"1","access":"read_only","origin":"setpoint","component_ids":["magnet_module"],"write_via":null},"method.gradient_enabled":{"meaning_zh":"用户显式合成采集设置;资源范围为engineering_assumption,不是厂家规格。","unit":"1","access":"read_only","origin":"setpoint","component_ids":["magnet_module"],"write_via":null},"method.carrier_frequency_hz":{"meaning_zh":"1H载频为清单80 MHz;13C载频未知为null,合成横轴始终用Hz偏移。","unit":"Hz","access":"read_only","origin":"derived","component_ids":["magnet_module"],"write_via":null},"acquisition.status":{"meaning_zh":"采集状态;完成不代表真实仪器采集。","unit":"1","access":"read_only","origin":"derived","component_ids":["magnet_module"],"write_via":null},"acquisition.running":{"meaning_zh":"宿主时间推进的合成采集是否运行。","unit":"1","access":"read_only","origin":"derived","component_ids":["magnet_module"],"write_via":null},"acquisition.progress":{"meaning_zh":"本次采集计划的时间完成比例。","unit":"1","access":"read_only","origin":"derived","component_ids":["magnet_module"],"write_via":null},"acquisition.completed_scans":{"meaning_zh":"已完整结束的扫描数量;未完成扫描不输出伪完整数据。","unit":"1","access":"read_only","origin":"derived","component_ids":["magnet_module"],"write_via":null},"acquisition.elapsed_s":{"meaning_zh":"宿主推进后的本次采集耗时。","unit":"s","access":"read_only","origin":"derived","component_ids":["magnet_module"],"write_via":null},"measurement.sample_time_s":{"meaning_zh":"最近完整扫描的结束时刻。","unit":"s","access":"read_only","origin":"derived","component_ids":["magnet_module"],"write_via":null},"measurement.synthetic":{"meaning_zh":"FID、1D频谱与积分全部为synthetic。","unit":"1","access":"read_only","origin":"derived","component_ids":["magnet_module"],"write_via":null},"measurement.fid":{"meaning_zh":"阻尼复正弦叠加的合成FID;信号幅值无量纲。","unit":"1","access":"read_only","origin":"derived","component_ids":["magnet_module"],"write_via":null},"measurement.spectrum":{"meaning_zh":"对合成FID执行归一化DFT的1D频谱;频率偏移单位Hz,幅值无量纲。","unit":"1","access":"read_only","origin":"derived","component_ids":["magnet_module"],"write_via":null},"measurement.integral_hz":{"meaning_zh":"按指定频带对幅度做分段线性积分;不是核数、浓度或定量核磁结果。","unit":"Hz","access":"read_only","origin":"derived","component_ids":["control_panel"],"write_via":null},"display.text":{"meaning_zh":"状态标签,始终带SYNTHETIC;未新增厂商自带屏幕主张。","unit":"1","access":"read_only","origin":"derived","component_ids":["control_panel"],"write_via":null},"truth.registered_samples":{"meaning_zh":"宿主专有合成样品表;代理describe/read/invoke/logs/scene均不含这些真值。","unit":"1","access":"read_only","origin":"process_truth","component_ids":["sample_port"],"write_via":null}},"mechanisms":{"synthetic_nmr_signal":{"meaning_zh":"engineering_assumption:阻尼复正弦合成FID、归一化DFT和观测频带积分;全部输出synthetic。","implementation":"numerical","equations":["FID[n]=sum(A_j*exp(-t_n/T2_j)*exp(i*2*pi*f_j*t_n)); t_n=n*T_acq/N","S[k]=sum(FID[n]*exp(-i*2*pi*k*n/N))/N; k=-floor(N/2)..N-floor(N/2)-1; f_k=k/T_acq","integral=piecewise-linear trapezoid integral of abs(S) over explicit observed frequency interval"],"parameters":{"proton_carrier_frequency_hz":{"value":80000000.0,"unit":"Hz","evidence":"documented","meaning_zh":"清单1H频率80MHz;不代表部件工作响应。"},"carbon_carrier_frequency_hz":{"value":null,"unit":"Hz","evidence":"unknown","meaning_zh":"清单未给13C载频,保持null。"},"fwhm_specification_hz":{"value":0.4,"unit":"Hz","evidence":"documented","meaning_zh":"Classic整机半高线宽严格小于0.4Hz;不用于生成合成T2。"},"tail_linewidth_specification_hz":{"value":16,"unit":"Hz","evidence":"documented","meaning_zh":"Classic整机0.55%峰高线宽严格小于16Hz;不作为合成响应参数。"},"sensitivity_ratio_lower_bound":{"value":200,"unit":"1","evidence":"documented","meaning_zh":"整机双通道1H灵敏度>200:1,条件1%乙苯;未实现噪声与灵敏度验证。"},"max_points":{"value":512,"unit":"1","evidence":"assumption","meaning_zh":"engineering_assumption:本Python DFT计算资源上限,不是厂商规格。"},"manufacturer_pulse_duration_s":{"value":null,"unit":"s","evidence":"unknown","meaning_zh":"清单未提供真实响应证据;保持null。"},"manufacturer_t1_s":{"value":null,"unit":"s","evidence":"unknown","meaning_zh":"清单未提供真实响应证据;保持null。"},"manufacturer_t2_s":{"value":null,"unit":"s","evidence":"unknown","meaning_zh":"清单未提供真实响应证据;保持null。"},"noise_amplitude":{"value":null,"unit":"1","evidence":"unknown","meaning_zh":"清单未提供真实响应证据;保持null。"},"calibration_accuracy_hz":{"value":null,"unit":"Hz","evidence":"unknown","meaning_zh":"清单未提供真实响应证据;保持null。"},"fault_probability":{"value":null,"unit":"1","evidence":"unknown","meaning_zh":"清单未提供真实响应证据;保持null。"}}},"host_timed_scanning":{"meaning_zh":"engineering_assumption:由共享宿主绝对时钟推进离散完整扫描。","implementation":"numerical","equations":["cycle=T_relax+T_acq; completed_scans=min(scans,floor((host_time-start_time)/cycle)); progress=min(1,elapsed/(scans*cycle))"],"parameters":{}}},"limitations":["所有FID、1D频谱与数值积分均为synthetic;工程假设教学模型不能声称复现Spinsolve响应、Classic线宽、灵敏度或真实测量。","只实现1H/13C单脉冲1D、宿主显式扫描计时与无噪声平均;2D、耦合多重峰自动求解、解耦、梯度、结构约束、定量核磁、真实校准与故障概率未实现。","每扫描耗时=用户弛豫延迟+用户采集时间;不模拟T1饱和恢复、脉冲时宽、接收器死区、磁场漂移或厂商固件。","幅度任意且无量纲,积分单位Hz;积分不是浓度或核数。13C载频未知,不输出ppm横轴。","样品槽仅逻辑关联;插入占比为示意映射,不执行机器人插入、接触或真实磁场作用。","注册样品、共同绝对时钟由可信宿主管理;公开session过滤是API边界,不是同进程Python或文件系统沙箱。请求幂等缓存仅在内存中。","可选scene_adapter失败时过程不提交;外部场景可能已部分修改,需宿主协调恢复。","coverage=full仅表示本批手动进样配置的功能组件登记完整;不表示所有表列实验、输出、真实物理或硬件能力已完成。","灰色椭圆筒外形和部件位置依据资料作视觉近似;机体轴向[X,Y,Z]=[0.58, 0.4, 0.43] m是明确假设,源表只给原次序58×43×40cm。","原点位于台面投影中心、Z向上;未将模型坐标约定写成厂商长宽高证据。","根部集中惯量是包围盒近似;部件质量与真实惯量为null。URDF仅盒/柱/球碰撞代理,存在文件不代表已做接触、稳定性或碰撞求解验证。","磁体内部、磁场分布、杂散场与真实安全半径未建模;不得由本几何模型推断真实仪器安全边界。","主机没有新增实体屏幕;display.text与acquisition.progress仅作外部host可读属性。"],"sources":[],"checks":{"coverage":{"status":"bridged","implemented":["acquisition.configure","acquisition.start","acquisition.stop","nmr.integrate","nmr.read_fid","nmr.read_spectrum","power.set","sample.insert","sample.remove"],"unsupported":[],"note_zh":"桥接 basic40_runtime_measure.MagritekSpinsolve80Runtime(推进方式 host_step_abs),24 个状态槽;与运行层镜像对比全同;受信设置需经 host.call;关节化 USD(1 个门/盖/阀等被动关节);1 个关节跟随运行层状态;接口点 1 个(孔位);布局:台面、两人搬、正面 −y、前方留空 0.25 m;面板为菜单/文字屏(待办)"}},"previews":["previews/magritek_spinsolve80/preview_assembled.webp","previews/magritek_spinsolve80/preview_rear.webp","previews/magritek_spinsolve80/preview_sample_raised.webp"],"files":[{"name":"asset.contract.json","path":"assets/basic40_batch02/t4_measure/magritek_spinsolve80/asset.contract.json","bytes":254593},{"name":"collision_proxies.json","path":"assets/basic40_batch02/t4_measure/magritek_spinsolve80/collision_proxies.json","bytes":13691},{"name":"geometry_manifest.json","path":"assets/basic40_batch02/t4_measure/magritek_spinsolve80/geometry_manifest.json","bytes":28468},{"name":"model.blend","path":"assets/basic40_batch02/t4_measure/magritek_spinsolve80/model.blend","bytes":420957},{"name":"model.glb","path":"assets/basic40_batch02/t4_measure/magritek_spinsolve80/model.glb","bytes":1122216},{"name":"model.urdf","path":"assets/basic40_batch02/t4_measure/magritek_spinsolve80/model.urdf","bytes":14109},{"name":"scene_adapter.py","path":"assets/basic40_batch02/t4_measure/magritek_spinsolve80/scene_adapter.py","bytes":3488}],"completeness":{"components":13,"with_collisions":8,"with_objects":13,"with_function":13,"with_mass":0,"joints_matching_component":1,"joints":1,"has_contract":true,"has_layout":true,"has_glb":true,"checks_present":["articulation_check","coverage","validation_summary","contract_validation"]},"slug":"magritek_spinsolve80","chem_id":"CHEM-068","name_en":"Benchtop NMR spectrometer","maker":"Magritek","model":"Spinsolve 80 Carbon","domain":"spectroscopy","domain_name":"Molecular Spectroscopy & Structure","path":"assets/basic40_batch02/t4_measure/magritek_spinsolve80","glb_up":"y","has_contract":true,"contract":"assets/basic40_batch02/t4_measure/magritek_spinsolve80/asset.contract.json","runtime":null}
|
data/assets/instrument.metrohm_899.json
CHANGED
|
@@ -1 +1 @@
|
|
| 1 |
-
{"tid":"instrument.metrohm_899","asset_dir":"basic40_batch02/t4_measure/metrohm_899","name_zh":"CHEM-102 卡尔费休水分滴定仪 · Metrohm 899 Coulometer","category":"电化学与定量分析","description_zh":"以仪器总表第107行Metrohm 899为唯一型号依据。提供原生分件几何、基元碰撞、合成库仑过程、三只安装槽与显示同步;手册数值、照片估计和工程假设分层记录。","coordinate_system":{"status":"defined","length_unit":"m","angle_unit":"rad","handedness":"right","up_axis":"+Z","frame":"原点在主机台面投影中心,Z=0为台面;X横向、Y沿深度,模型朝向由geometry_manifest定义。"},"mass_kg":2.8,"size_m":[0.1436,0.2889,0.3373],"bbox_min":[-0.0718,-0.1408,0.0],"bbox_max":[0.0718,0.1481,0.3373],"manifest_dimensions_m":null,"glb":"assets/basic40_batch02/t4_measure/metrohm_899/model.glb","glb_orientation":"gltf_y_up_rotated","usd":null,"urdf":"assets/basic40_batch02/t4_measure/metrohm_899/model.urdf","links":{"world":"/Geometry/world","cell":"/Geometry/world/cell","generator":"/Geometry/world/generator","indicator":"/Geometry/world/indicator","btn_keypad_key_0_link":"/Geometry/world/btn_keypad_key_0_link","btn_keypad_key_1_link":"/Geometry/world/btn_keypad_key_1_link","btn_keypad_key_2_link":"/Geometry/world/btn_keypad_key_2_link","btn_keypad_key_3_link":"/Geometry/world/btn_keypad_key_3_link","btn_keypad_key_4_link":"/Geometry/world/btn_keypad_key_4_link","btn_keypad_key_5_link":"/Geometry/world/btn_keypad_key_5_link","btn_keypad_key_6_link":"/Geometry/world/btn_keypad_key_6_link","btn_keypad_key_7_link":"/Geometry/world/btn_keypad_key_7_link"},"frames":{"pre_place":[0.0,0.0037,0.5173],"place":[0.0,0.0037,0.3873],"post_place":[0.0,0.0037,0.5173],"joint_cell_joint":[0.0,0.05,0.116],"joint_generator_joint":[0.012,0.065,0.243],"joint_indicator_joint":[-0.02,0.036,0.246],"joint_btn_keypad_key_0":[-0.043,-0.116,0.05],"joint_btn_keypad_key_1":[-0.026,-0.116,0.05],"joint_btn_keypad_key_2":[-0.014,-0.1113,0.05373],"joint_btn_keypad_key_3":[-0.014,-0.1207,0.04627],"joint_btn_keypad_key_4":[-0.002,-0.116,0.05],"joint_btn_keypad_key_5":[0.015,-0.116,0.05],"joint_btn_keypad_key_6":[0.031,-0.116,0.05],"joint_btn_keypad_key_7":[0.046,-0.116,0.05]},"joints":[{"name":"cell_joint","type":"prismatic","parent":"body","child":"cell","axis":[0.0,0.0,1.0],"lower":0.0,"upper":0.08,"effort":0.0,"mimic":null,"origin_m":[0.0,0.05,0.116],"child_prim":"/Geometry/world/cell","child_bbox_min":[-0.035,-0.00375,0.117],"child_bbox_max":[0.035,0.085,0.265],"kind":"other"},{"name":"generator_joint","type":"prismatic","parent":"body","child":"generator","axis":[0.0,0.0,1.0],"lower":0.0,"upper":0.08,"effort":0.0,"mimic":null,"origin_m":[0.012,0.065,0.243],"child_prim":"/Geometry/world/generator","child_bbox_min":[-0.001,0.052,0.06278],"child_bbox_max":[0.06258,0.14805,0.336],"kind":"other"},{"name":"indicator_joint","type":"prismatic","parent":"body","child":"indicator","axis":[0.0,0.0,1.0],"lower":0.0,"upper":0.08,"effort":0.0,"mimic":null,"origin_m":[-0.02,0.036,0.246],"child_prim":"/Geometry/world/indicator","child_bbox_min":[-0.04348,0.027,0.06589],"child_bbox_max":[-0.011,0.13089,0.33733],"kind":"other"},{"name":"btn_keypad_key_0","type":"prismatic","parent":"keypad","child":"btn_keypad_key_0_link","axis":[-0.0,0.622321,-0.782763],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[-0.043,-0.116,0.05],"child_prim":"/Geometry/world/btn_keypad_key_0_link","child_bbox_min":[-0.0478,-0.12048,0.04604],"child_bbox_max":[-0.0382,-0.11152,0.05396],"kind":"button"},{"name":"btn_keypad_key_1","type":"prismatic","parent":"keypad","child":"btn_keypad_key_1_link","axis":[-0.0,0.622321,-0.782763],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[-0.026,-0.116,0.05],"child_prim":"/Geometry/world/btn_keypad_key_1_link","child_bbox_min":[-0.0308,-0.12048,0.04604],"child_bbox_max":[-0.0212,-0.11152,0.05396],"kind":"button"},{"name":"btn_keypad_key_2","type":"prismatic","parent":"keypad","child":"btn_keypad_key_2_link","axis":[0.0,0.622321,-0.782763],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[-0.014,-0.1113,0.05373],"child_prim":"/Geometry/world/btn_keypad_key_2_link","child_bbox_min":[-0.0188,-0.11579,0.04978],"child_bbox_max":[-0.0092,-0.10682,0.05769],"kind":"button"},{"name":"btn_keypad_key_3","type":"prismatic","parent":"keypad","child":"btn_keypad_key_3_link","axis":[0.0,0.622321,-0.782763],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[-0.014,-0.1207,0.04627],"child_prim":"/Geometry/world/btn_keypad_key_3_link","child_bbox_min":[-0.0188,-0.12518,0.04231],"child_bbox_max":[-0.0092,-0.11621,0.05022],"kind":"button"},{"name":"btn_keypad_key_4","type":"prismatic","parent":"keypad","child":"btn_keypad_key_4_link","axis":[-0.0,0.622321,-0.782763],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[-0.002,-0.116,0.05],"child_prim":"/Geometry/world/btn_keypad_key_4_link","child_bbox_min":[-0.0068,-0.12048,0.04604],"child_bbox_max":[0.0028,-0.11152,0.05396],"kind":"button"},{"name":"btn_keypad_key_5","type":"prismatic","parent":"keypad","child":"btn_keypad_key_5_link","axis":[-0.0,0.622321,-0.782763],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[0.015,-0.116,0.05],"child_prim":"/Geometry/world/btn_keypad_key_5_link","child_bbox_min":[0.0102,-0.12048,0.04604],"child_bbox_max":[0.0198,-0.11152,0.05396],"kind":"button"},{"name":"btn_keypad_key_6","type":"prismatic","parent":"keypad","child":"btn_keypad_key_6_link","axis":[-0.0,0.622321,-0.782763],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[0.031,-0.116,0.05],"child_prim":"/Geometry/world/btn_keypad_key_6_link","child_bbox_min":[0.0262,-0.12048,0.04604],"child_bbox_max":[0.0358,-0.11152,0.05396],"kind":"button"},{"name":"btn_keypad_key_7","type":"prismatic","parent":"keypad","child":"btn_keypad_key_7_link","axis":[-0.0,0.622321,-0.782763],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[0.046,-0.116,0.05],"child_prim":"/Geometry/world/btn_keypad_key_7_link","child_bbox_min":[0.0412,-0.12048,0.04604],"child_bbox_max":[0.0508,-0.11152,0.05396],"kind":"button"}],"controls":{"buttons":["btn_keypad_metrohm899__keypad__key_0","btn_keypad_metrohm899__keypad__key_1","btn_keypad_metrohm899__keypad__key_2","btn_keypad_metrohm899__keypad__key_3","btn_keypad_metrohm899__keypad__key_4","btn_keypad_metrohm899__keypad__key_5","btn_keypad_metrohm899__keypad__key_6","btn_keypad_metrohm899__keypad__key_7"],"knobs":[]},"slots":[{"name":"stirrer","link":"world","part":"stirrer","pos":[0.0,0.05,0.112],"rot":[0.0,0.0,0.0,1.0],"pos_link":[0.0,0.05,0.112],"rot_link":[0.0,0.0,0.0,1.0],"radius_m":0.035,"kind":"surface","fits":["beaker"],"anchor":"base","insert_axis":[0.0,0.0,1.0],"capture_m":0.03,"access":[],"modelled_occupant":false}],"hidden_parts":[],"readouts":[],"layout":{"front":[0.0,-1.0,0.0],"front_source":"controls","mount":"bench","weight_class":"robot_portable","mass_kg":2.8,"footprint_m":[0.1436,0.2889],"height_m":0.3373,"clearance_m":{"front":0.25,"back":0.15,"left":0.05,"right":0.05,"top":0.1},"robot_standoff_m":0.35,"work_height_m":0.112,"primary_slot":"stirrer","access":[],"slot_count":1},"components":[{"id":"body","name_zh":"主机与装配根","function_zh":"承载控制、供电和整机参考系;汇集外壳、底脚与标牌。","physical_meaning_zh":"承载控制、供电和整机参考系;汇集外壳、底脚与标牌。","subsystem":null,"parent":null,"origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["metrohm899__body__base","metrohm899__body__lower_dark_seam","metrohm899__body__foot","metrohm899__body__foot.001","metrohm899__body__foot.002","metrohm899__body__foot.003","metrohm899__body__back_deck","metrohm899__body__console","metrohm899__body__model_label","metrohm899__nameplate","metrohm899__body__brand_label","metrohm899__brand","metrohm899__asset_tag"],"collisions":[{"shape":"box","origin_m":[0,0,0.01],"rpy_rad":[0,0,0],"size_m":[0.1435,0.2815,0.014]},{"shape":"box","origin_m":[0,0,0.005],"rpy_rad":[0,0,0],"size_m":[0.139,0.277,0.004]},{"shape":"box","origin_m":[-0.053,-0.115,0.002],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.053,0.115,0.002],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.053,-0.115,0.002],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.053,0.115,0.002],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0.0535,0.059],"rpy_rad":[0,0,0],"size_m":[0.1435,0.1685,0.098]},{"shape":"box","origin_m":[0,-0.13068749999999998,0.0152],"rpy_rad":[0,0,0],"size_m":[0.14,0.020125,0.0063999999999999994]},{"shape":"box","origin_m":[0,-0.11056249999999998,0.0232],"rpy_rad":[0,0,0],"size_m":[0.14,0.020125,0.0224]},{"shape":"box","origin_m":[0,-0.09043749999999998,0.0312],"rpy_rad":[0,0,0],"size_m":[0.14,0.020125,0.038400000000000004]},{"shape":"box","origin_m":[0,-0.07031249999999999,0.0392],"rpy_rad":[0,0,0],"size_m":[0.14,0.020125,0.054400000000000004]},{"shape":"box","origin_m":[0,-0.05018749999999998,0.0472],"rpy_rad":[0,0,0],"size_m":[0.14,0.020125,0.0704]},{"shape":"box","origin_m":[0,-0.030062499999999978,0.0552],"rpy_rad":[0,0,0],"size_m":[0.14,0.020125,0.0864]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set"],"bbox_m":[[-0.07175000011920929,-0.1407500058412552,0.0],[0.07175000011920929,0.1407500058412552,0.11177085340023041]],"raw_keys":["bbox_m","collision_primitives","evidence","inertia_kg_m2","mass_kg","object_names","origin_m","root_object"]},{"id":"display","name_zh":"液晶显示区","function_zh":"显示电源及合成滴定状态;读数由运行 API 提供。","physical_meaning_zh":"显示电源及合成滴定状态;读数由运行 API 提供。","subsystem":null,"parent":"body","origin_m":[0,-0.074,0.07],"rpy_rad":[0,0,0],"objects":["metrohm899__display__bezel","metrohm899__display__lcd","metrohm899__display_text","metrohm899__screen_caption"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0.6717037457918319,0,0],"size_m":[0.104,0.066,0.003]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","coulometry.start","coulometry.stop","coulometry.reading","coulometry.curve"],"bbox_m":[[-0.052000001072883606,-0.026348501443862915,-0.021294578909873962],[0.052000001072883606,0.026348501443862915,0.021294578909873962]],"raw_keys":["bbox_m","collision_primitives","evidence","inertia_kg_m2","mass_kg","object_names","origin_m","root_object"]},{"id":"keypad","name_zh":"前面板按键","function_zh":"表示供电、方法设定及开始/停止操作入口。","physical_meaning_zh":"表示供电、方法设定及开始/停止操作入口。","subsystem":null,"parent":"body","origin_m":[0,-0.112,0.04],"rpy_rad":[0,0,0],"objects":["metrohm899__keypad__raised_console","metrohm899__keypad__key_0","metrohm899__key_label_0","metrohm899__keypad__key_1","metrohm899__key_label_1","metrohm899__keypad__key_2","metrohm899__key_label_2","metrohm899__keypad__key_3","metrohm899__key_label_3","metrohm899__keypad__key_4","metrohm899__key_label_4","metrohm899__keypad__key_5","metrohm899__key_label_5","metrohm899__keypad__key_6","metrohm899__key_label_6","metrohm899__keypad__key_7","metrohm899__key_label_7"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0.6717037457918319,0,0],"size_m":[0.105,0.023,0.014]},{"shape":"box","origin_m":[-0.043,-0.004,0.01],"rpy_rad":[0.6717037457918319,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.026,-0.004,0.01],"rpy_rad":[0.6717037457918319,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.014,0.0006965751590702904,0.013733923107832282],"rpy_rad":[0.6717037457918319,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.014,-0.00869657515907029,0.006266076892167719],"rpy_rad":[0.6717037457918319,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.002,-0.004,0.01],"rpy_rad":[0.6717037457918319,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.015,-0.004,0.01],"rpy_rad":[0.6717037457918319,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.031,-0.004,0.01],"rpy_rad":[0.6717037457918319,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.046,-0.004,0.01],"rpy_rad":[0.6717037457918319,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","coulometry.configure","coulometry.start","coulometry.stop"],"bbox_m":[[-0.05249999836087227,-0.013181298971176147,-0.01180373877286911],[0.05249999836087227,0.012525729835033417,0.017689239233732224]],"raw_keys":["bbox_m","collision_primitives","evidence","inertia_kg_m2","mass_kg","object_names","origin_m","root_object"]},{"id":"stirrer","name_zh":"磁力搅拌台","function_zh":"承托滴定池并接受搅拌档位设定;未建立转速映射或流体动力学。","physical_meaning_zh":"承托滴定池并接受搅拌档位设定;未建立转速映射或流体动力学。","subsystem":null,"parent":"body","origin_m":[0,0.05,0.1085],"rpy_rad":[0,0,0],"objects":["metrohm899__stirrer__disc","metrohm899__stirrer__plate"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0,0.003],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["coulometry.configure"],"bbox_m":[[-0.039000000804662704,-0.039000000804662704,-0.002499997615814209],[0.039000000804662704,0.039000000804662704,0.0034999996423721313]],"raw_keys":["bbox_m","collision_primitives","evidence","inertia_kg_m2","mass_kg","object_names","origin_m","root_object"]},{"id":"support","name_zh":"滴定池支架","function_zh":"稳定滴定池与电极组件的机械支撑。","physical_meaning_zh":"稳定滴定池与电极组件的机械支撑。","subsystem":null,"parent":"body","origin_m":[0,0.05,0.112],"rpy_rad":[0,0,0],"objects":["metrohm899__support__lower_collar","metrohm899__support__upright","metrohm899__support__upright.001","metrohm899__support__crossbar"],"collisions":[{"shape":"box","origin_m":[-0.033,0.016,0.055],"rpy_rad":[0,0,0],"size_m":[0.008,0.017,0.056]},{"shape":"box","origin_m":[0.033,0.016,0.055],"rpy_rad":[0,0,0],"size_m":[0.008,0.017,0.056]},{"shape":"box","origin_m":[0,0.034,0.076],"rpy_rad":[0,0,0],"size_m":[0.069,0.009,0.014]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.03799999877810478,-0.03799999877810478,0.0],[0.03799999877810478,0.03850000724196434,0.08299998939037323]],"raw_keys":["bbox_m","collision_primitives","evidence","inertia_kg_m2","mass_kg","object_names","origin_m","root_object"]},{"id":"cell","name_zh":"卡尔费休滴定池","function_zh":"容纳合成样品和试剂的装配槽;内部容量未知。","physical_meaning_zh":"容纳合成样品和试剂的装配槽;内部容量未知。","subsystem":null,"parent":"body","origin_m":[0,0.05,0.116],"rpy_rad":[0,0,0],"objects":["metrohm899__cell__vessel","metrohm899__cell__glass_floor","metrohm899__cell__shoulder","metrohm899__cell__lid","metrohm899__cell__spare_port_stop","metrohm899__cell__stir_bar","metrohm899__cell__unscaled_mark","metrohm899__cell__unscaled_mark.001","metrohm899__cell__unscaled_mark.002"],"collisions":[{"shape":"box","origin_m":[0,0.02,0.142],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.0328,0.0,0.064],"rpy_rad":[0,0,0.0],"size_m":[0.004,0.026,0.12]},{"shape":"box","origin_m":[0.023193102422918763,0.02319310242291876,0.064],"rpy_rad":[0,0,0.7853981633974483],"size_m":[0.004,0.026,0.12]},{"shape":"box","origin_m":[2.0084207506016593e-18,0.0328,0.064],"rpy_rad":[0,0,1.5707963267948966],"size_m":[0.004,0.026,0.12]},{"shape":"box","origin_m":[-0.02319310242291876,0.023193102422918763,0.064],"rpy_rad":[0,0,2.356194490192345],"size_m":[0.004,0.026,0.12]},{"shape":"box","origin_m":[-0.0328,4.0168415012033186e-18,0.064],"rpy_rad":[0,0,3.141592653589793],"size_m":[0.004,0.026,0.12]},{"shape":"box","origin_m":[-0.023193102422918766,-0.02319310242291876,0.064],"rpy_rad":[0,0,3.9269908169872414],"size_m":[0.004,0.026,0.12]},{"shape":"box","origin_m":[-6.025262251804978e-18,-0.0328,0.064],"rpy_rad":[0,0,4.71238898038469],"size_m":[0.004,0.026,0.12]},{"shape":"box","origin_m":[0.023193102422918756,-0.023193102422918766,0.064],"rpy_rad":[0,0,5.497787143782138],"size_m":[0.004,0.026,0.12]},{"shape":"box","origin_m":[0,0,0.003],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["slot.set_installed","coulometry.start"],"bbox_m":[[-0.03500000014901161,-0.03500000014901161,0.0010000020265579224],[0.03500000014901161,0.03500000014901161,0.14900001883506775]],"raw_keys":["bbox_m","collision_primitives","evidence","inertia_kg_m2","mass_kg","object_names","origin_m","root_object"]},{"id":"generator","name_zh":"无隔膜发生电极(配置补充假设)","function_zh":"按100/200/400 mA人工电流设定累计电荷的发生电极槽;本次选手册默认无隔膜分支,清单未指定隔膜配置。","physical_meaning_zh":"按100/200/400 mA人工电流设定累计电荷的发生电极槽;本次选手册默认无隔膜分支,清单未指定隔膜配置。","subsystem":null,"parent":"body","origin_m":[0.012,0.065,0.243],"rpy_rad":[0,0,0],"objects":["metrohm899__generator__glass_shaft","metrohm899__generator__lower_cage","metrohm899__generator__cage_wire","metrohm899__generator__cage_wire.001","metrohm899__generator__cage_wire.002","metrohm899__generator__cage_wire.003","metrohm899__generator__cage_wire.004","metrohm899__generator__cage_wire.005","metrohm899__generator__seal","metrohm899__generator__head","metrohm899__generator__sidearm","metrohm899__generator__side_connector","metrohm899__generator__electrode_cable"],"collisions":[{"shape":"box","origin_m":[0,0,-0.053],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0,-0.098],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0,0.006],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0,0.036],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.015,0,0.039],"rpy_rad":[0,1.5707963267948966,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.029,0,0.039],"rpy_rad":[0,1.5707963267948966,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["slot.set_installed","coulometry.configure","coulometry.start","coulometry.stop"],"bbox_m":[[-0.013000000268220901,-0.013000000268220901,-0.18021821975708008],[0.050576381385326385,0.08305427432060242,0.058999985456466675]],"raw_keys":["bbox_m","collision_primitives","evidence","inertia_kg_m2","mass_kg","object_names","origin_m","root_object"]},{"id":"indicator","name_zh":"指示电极","function_zh":"指示电极装配槽;模型使用理想耗尽终点,未求解电位或电极动力学。","physical_meaning_zh":"指示电极装配槽;模型使用理想耗尽终点,未求解电位或电极动力学。","subsystem":null,"parent":"body","origin_m":[-0.02,0.036,0.246],"rpy_rad":[0,0,0],"objects":["metrohm899__indicator__shaft","metrohm899__indicator__stopper","metrohm899__indicator__head","metrohm899__indicator__platinum_pin","metrohm899__indicator__platinum_pin.001","metrohm899__indicator__electrode_cable"],"collisions":[{"shape":"box","origin_m":[0,0,-0.045],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0,0.002],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0,0.037],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["slot.set_installed","coulometry.start"],"bbox_m":[[-0.023478250950574875,-0.008999999612569809,-0.18011333048343658],[0.008999999612569809,0.09489127993583679,0.0913306325674057]],"raw_keys":["bbox_m","collision_primitives","evidence","inertia_kg_m2","mass_kg","object_names","origin_m","root_object"]},{"id":"drying_tube","name_zh":"干燥管","function_zh":"表达滴定池与环境之间的防潮附件;未计算吸湿容量与传质。","physical_meaning_zh":"表达滴定池与环境之间的防潮附件;未计算吸湿容量与传质。","subsystem":null,"parent":"generator","origin_m":[0.012,0.065,0.301],"rpy_rad":[0,0,0],"objects":["metrohm899__drying_tube__neck","metrohm899__drying_tube__tube","metrohm899__drying_tube__drying_fill","metrohm899__drying_tube__cap"],"collisions":[{"shape":"box","origin_m":[0,0,-0.017],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0,0.031],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.008999999612569809,-0.008999999612569809,-0.03349998593330383],[0.008999999612569809,0.009000003337860107,0.034999996423721313]],"raw_keys":["bbox_m","collision_primitives","evidence","inertia_kg_m2","mass_kg","object_names","origin_m","root_object"]},{"id":"injection_port","name_zh":"加样口","function_zh":"表示兼容样品/试剂的加样位置;进样由外部操作或受信任宿主初始化。","physical_meaning_zh":"表示兼容样品/试剂的加样位置;进样由外部操作或受信任宿主初始化。","subsystem":null,"parent":"cell","origin_m":[0.018,0.016,0.231],"rpy_rad":[0,0,0],"objects":["metrohm899__injection_port__glass_neck","metrohm899__injection_port__septum_cap","metrohm899__injection_port__septum"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0.7853981633974483,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,-0.009,0.011],"rpy_rad":[0.7853981633974483,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.010999999940395355,-0.019752824679017067,-0.014641910791397095],[0.010999999940395355,0.014641912654042244,0.02175283432006836]],"raw_keys":["bbox_m","collision_primitives","evidence","inertia_kg_m2","mass_kg","object_names","origin_m","root_object"]},{"id":"rear_ports","name_zh":"后部连接接口","function_zh":"表示电源、发生电极、指示电极及数据连接位置;无真实硬件驱动。","physical_meaning_zh":"表示电源、发生电极、指示电极及数据连接位置;无真实硬件驱动。","subsystem":null,"parent":"body","origin_m":[0,0.13475,0.065],"rpy_rad":[0,0,0],"objects":["metrohm899__rear_ports__panel","metrohm899__rear_ports__jack_Gen.","metrohm899__rear_ports__jack_Ind.","metrohm899__rear_ports__jack_Temp.","metrohm899__ports_label","metrohm899__rear_ports__usb","metrohm899__rear_ports__remote"],"collisions":[{"shape":"box","origin_m":[0,0.004,0],"rpy_rad":[0,0,0],"size_m":[0.115,0.003,0.041]},{"shape":"box","origin_m":[-0.022,0.003,0.002],"rpy_rad":[1.5707963267948966,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.0,0.003,0.002],"rpy_rad":[1.5707963267948966,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.022,0.003,0.002],"rpy_rad":[1.5707963267948966,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.044,0.004,-0.007],"rpy_rad":[0,0,0],"size_m":[0.013,0.004,0.006]},{"shape":"box","origin_m":[-0.043,0.004,-0.007],"rpy_rad":[0,0,0],"size_m":[0.019,0.004,0.008]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.057500001043081284,0.0010000020265579224,-0.020500000566244125],[0.057500001043081284,0.006015002727508545,0.020500004291534424]],"raw_keys":["bbox_m","collision_primitives","evidence","inertia_kg_m2","mass_kg","object_names","origin_m","root_object"]}],"component_source":"geometry_manifest.json + asset.contract.json + collision_proxies.json","capabilities":{"power.set":{"function_zh":"设置供电;断电停止运行并保留已发生的积分结果。","kind":"device_command","availability":"implemented","component_ids":["body","keypad","display"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["enabled"]},"slot.set_installed":{"function_zh":"在关机闲置时声明滴定池或电极的场景装配槽位;不是机器人装卸。","kind":"configuration","availability":"implemented","component_ids":["cell","generator","indicator"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["slot","installed"]},"coulometry.configure":{"function_zh":"配置手动发生电流、漂移补偿、启动漂移、萃取时间、搅拌档位、样品质量及假设终点保持时间;至少一个字段。","kind":"configuration","availability":"implemented","component_ids":["keypad","generator","stirrer"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":["current_a","drift_compensation_kg_s","start_drift_threshold_kg_s","extraction_time_s","stirring_level","sample_mass_kg","endpoint_hold_s"]},"coulometry.start":{"function_zh":"由已装配、具备试剂且漂移满足阈值的状态启动合成库仑过程;重置当前测量积分。","kind":"device_command","availability":"implemented","component_ids":["keypad","cell","generator","indicator","display"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":[]},"coulometry.stop":{"function_zh":"停止并保留部分电荷、漂移补偿结果与曲线。","kind":"device_command","availability":"implemented","component_ids":["keypad","generator","display"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":[]},"coulometry.reading":{"function_zh":"返回合成可观测结果;不推进宿主时间。","kind":"query","availability":"implemented","component_ids":["display"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":[]},"coulometry.curve":{"function_zh":"返回每次运行中宿主步进后记录的合成滴定曲线;最后一点可使用步内解析完成时刻,不插值补造采样。","kind":"query","availability":"implemented","component_ids":["display"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":[]}},"state_slots":{"power.enabled":{"meaning_zh":"电源设定","unit":"1","access":"read_write","origin":"setpoint","component_ids":["body"],"write_via":"power.set"},"coulometry.running":{"meaning_zh":"合成测量是否进行中","unit":"1","access":"read_only","origin":"derived","component_ids":["display"],"write_via":null},"coulometry.status":{"meaning_zh":"合成过程状态;场景display.text回调来自此槽","unit":"1","access":"read_only","origin":"derived","component_ids":["display"],"write_via":null},"sample.present":{"meaning_zh":"受信任宿主已初始化合成样品","unit":"1","access":"read_only","origin":"scene","component_ids":["cell"],"write_via":null},"reagent.ready":{"meaning_zh":"受信任宿主声明试剂就绪","unit":"1","access":"read_only","origin":"scene","component_ids":["cell"],"write_via":null},"measurement.elapsed_s":{"meaning_zh":"本次测量实际累计时间,包含萃取与终点保持","unit":"s","access":"read_only","origin":"derived","component_ids":["display"],"write_via":null},"measurement.charge_c":{"meaning_zh":"发生电流随宿主时间累计的电荷","unit":"C","access":"read_only","origin":"derived","component_ids":["display"],"write_via":null},"measurement.water_mass_kg":{"meaning_zh":"synthetic:两电子库仑换算并扣除漂移的合成水质量","unit":"kg","access":"read_only","origin":"derived","component_ids":["display"],"write_via":null},"measurement.water_fraction":{"meaning_zh":"synthetic:水质量除以显式设置的样品质量;未知分母时null","unit":"1","access":"read_only","origin":"derived","component_ids":["display"],"write_via":null},"measurement.drift_kg_s":{"meaning_zh":"synthetic:宿主背景漂移的理想可观测代理;无传感器噪声","unit":"kg/s","access":"read_only","origin":"derived","component_ids":["display"],"write_via":null},"measurement.synthetic":{"meaning_zh":"始终true,标记全部结果为合成","unit":"1","access":"read_only","origin":"derived","component_ids":["display"],"write_via":null},"measurement.sample_time_s":{"meaning_zh":"上次合成读数的宿主采样时刻","unit":"s","access":"read_only","origin":"derived","component_ids":["display"],"write_via":null},"endpoint.hold_elapsed_s":{"meaning_zh":"理想耗尽后已保持的时间","unit":"s","access":"read_only","origin":"derived","component_ids":["display"],"write_via":null},"truth.water_remaining_kg":{"meaning_zh":"debug/evaluator限定:未反应水量","unit":"kg","access":"read_only","origin":"process_truth","component_ids":["cell"],"write_via":null},"truth.sample_water_kg":{"meaning_zh":"debug/evaluator限定:初始样品水量","unit":"kg","access":"read_only","origin":"process_truth","component_ids":["cell"],"write_via":null},"truth.background_drift_kg_s":{"meaning_zh":"debug/evaluator限定:宿主输入背景漂移真值","unit":"kg/s","access":"read_only","origin":"process_truth","component_ids":["cell"],"write_via":null},"settings.current_a":{"meaning_zh":"人工发生电流设定,100/200/400 mA;自动策略未实现","unit":"A","access":"read_write","origin":"setpoint","component_ids":["generator"],"write_via":"coulometry.configure"},"settings.drift_compensation_kg_s":{"meaning_zh":"漂移补偿设定,未知时null","unit":"kg/s","access":"read_write","origin":"setpoint","component_ids":["display"],"write_via":"coulometry.configure"},"settings.start_drift_threshold_kg_s":{"meaning_zh":"启动允许漂移阈值,表内1–999 µg/min换算SI","unit":"kg/s","access":"read_write","origin":"setpoint","component_ids":["display"],"write_via":"coulometry.configure"},"settings.extraction_time_s":{"meaning_zh":"萃取时间;0–999999 s","unit":"s","access":"read_write","origin":"setpoint","component_ids":["display"],"write_via":"coulometry.configure"},"settings.stirring_level":{"meaning_zh":"搅拌档位−15至+15;无数值转速转换","unit":"1","access":"read_write","origin":"setpoint","component_ids":["stirrer"],"write_via":"coulometry.configure"},"settings.sample_mass_kg":{"meaning_zh":"用户显式输入样品质量,未知时null","unit":"kg","access":"read_write","origin":"setpoint","component_ids":["display"],"write_via":"coulometry.configure"},"settings.endpoint_hold_s":{"meaning_zh":"理想耗尽后的保持时间,必须显式配置,不推断厂家默认","unit":"s","access":"read_write","origin":"setpoint","component_ids":["display"],"write_via":"coulometry.configure"},"slot.cell.installed":{"meaning_zh":"卡尔费休滴定池已安装;宿主逻辑状态和位姿/显隐映射","unit":"1","access":"read_write","origin":"scene","component_ids":["cell"],"write_via":"slot.set_installed"},"slot.generator.installed":{"meaning_zh":"无隔膜发生电极(配置补充假设)已安装;宿主逻辑状态和位姿/显隐映射","unit":"1","access":"read_write","origin":"scene","component_ids":["generator"],"write_via":"slot.set_installed"},"slot.indicator.installed":{"meaning_zh":"指示电极已安装;宿主逻辑状态和位姿/显隐映射","unit":"1","access":"read_write","origin":"scene","component_ids":["indicator"],"write_via":"slot.set_installed"}},"mechanisms":{"coulometric_water":{"meaning_zh":"engineering_assumption:两电子法库仑计量和漂移补偿。萃取阶段仅累积漂移,滴定阶段累计电荷,耗尽后用理想占空比抵消漂移并保持;不是厂商固件或真实试剂动力学。","implementation":"lumped","equations":["Q = integral(I_effective dt)","m_generated = Q*M_H2O/(2*F)","m_indicated=max(0,m_generated-drift_compensation_kg_s*elapsed_s)","water_fraction=m_indicated/sample_mass_kg (null when sample_mass_kg unknown)"],"parameters":{"current_choices_a":{"value":[0.1,0.2,0.4],"unit":"A","evidence":"documented","meaning_zh":"CHEM-102 参数与来源第107行;自动电流策略未实现"},"initial_current_a":{"value":0.1,"unit":"A","evidence":"assumption","meaning_zh":"合成初始设定,不宣称厂家默认"},"initial_extraction_time_s":{"value":0.0,"unit":"s","evidence":"assumption","meaning_zh":"合成初始设定;合法范围 0–999999 s"},"start_drift_default_kg_s":{"value":3.333333333333333e-10,"unit":"kg/s","evidence":"documented","meaning_zh":"CHEM-102 参数与来源第107行;20 µg/min"},"faraday_c_mol":{"value":96485.33212331001,"unit":"C/mol","evidence":"assumption","meaning_zh":"理想两电子库仑换算参数;不是厂家整机或部件测量"},"water_molar_mass_kg_mol":{"value":0.01801528,"unit":"kg/mol","evidence":"assumption","meaning_zh":"约定水摩尔质量用于合成化学计量"},"electrode_response_s":{"value":null,"unit":"s","evidence":"unknown","meaning_zh":"缺实测响应"},"current_efficiency":{"value":null,"unit":"1","evidence":"unknown","meaning_zh":"未知真实电流效率;模型明确使用理想100%假设"},"endpoint_hold_s":{"value":null,"unit":"s","evidence":"unknown","meaning_zh":"由仿真任务显式配置,不套用厂家终点默认"},"cell_capacity_m3":{"value":null,"unit":"m3","evidence":"unknown","meaning_zh":"不得从照片推断容量"},"modeled_current_efficiency":{"value":1,"unit":"1","evidence":"assumption","meaning_zh":"模型假设100%电流效率;真实电流效率仍为null。"},"documented_start_drift_range":{"value":[1.6666666666666667e-11,1.665e-08],"unit":"kg/s","evidence":"documented","meaning_zh":"清单启动漂移1–999 µg/min,统一换算SI。"},"documented_extraction_time_range":{"value":[0,999999],"unit":"s","evidence":"documented","meaning_zh":"清单萃取时间范围;未借此定义真实萃取速率。"},"documented_generation_rate_range":{"value":[2.5e-11,3.7349999999999994e-08],"unit":"kg/s","evidence":"documented","meaning_zh":"清单最大生成速率1.5–2241.0 µg/min的SI表示;只登记规格,不用该范围拟合未知自动电流算法。"},"documented_stirring_level_range":{"value":[-15,15],"unit":"1","evidence":"documented","meaning_zh":"清单搅拌档位范围;不是rad/s。"},"documented_default_stirring_level":{"value":8,"unit":"1","evidence":"documented","meaning_zh":"清单默认8档;运行初始设定使用同一档位。"},"documented_approx_speed_at_default_level":{"value":104.71975511965977,"unit":"rad/s","evidence":"documented","meaning_zh":"清单默认8档约1000 rpm的SI换算;不是所有档位通用转速映射,过程不使用该转速。"}}}},"limitations":["本次覆盖CHEM-102指定Metrohm 899配置及11个功能组件;full不代表所有厂家功能、硬件、机器人或真实动力学已实现。","滴定池、电极、干燥管、加样口与局部外形是手册图photo_estimate;完整安装高度没有厂家核实尺寸。","厂家195 mm指含支架高度;完整玻璃池与电极模型可高于该值。","2.8 kg是整机含电源质量;部件质量、真实惯量、摩擦、恢复系数、未记载材料参数及滴定池容量保持null。仅壳体PBT和底座1.4301材料分区另有手册证据。","聚合惯量用额定含支架包围盒0.1435×0.2815×0.195 m和含电源质量作engineering_assumption;不使用玻璃装配总高,不分配成未知部件惯量。","碰撞体仅使用盒、圆柱、球;未运行接触、稳定性、插拔力或刚体求解验证。","转速档位默认8约1000 rpm只是清单规格;未据此构造其余档位转速映射。","真实样本响应、噪声、校准曲线、准确度、故障概率、自动发生电流策略和电极电位终点均未实现。","固体/气体转移附件及外部电源未单独建模;外部真实服务需进一步集成。","All results synthetic; ideal stoichiometry, 100% modeled current efficiency and ideal depletion endpoint are engineering_assumption.","Manual 100/200/400 mA only; automatic current firmware, reagent chemistry, electrode potential endpoint, noise, accuracy, hardware and robots not implemented.","Stirring level is a setting only; no hydrodynamics or invented speed map. Cell capacity and component parameters stay null.","API truth filtering is not a Python/filesystem sandbox. Keep trusted host and sample fixtures in a separate process for untrusted agents.","Optional scene callback must be synchronous and atomic; callback tests do not prove evaluated Blender pose or contact physics.","Floating-point overflow is rejected before state/time mutation; excessively large requested steps may be conservatively rejected before endpoint clipping.","Failed scene callback outcomes are cached by logical request ID; retry does not replay the callback. A new request after reconciliation is explicit host/operator action.","Host step commits process/time together, but callbacks across scene instances are not transactional. A later callback failure can leave earlier scene instances changed; host must reconcile every affected scene instance.","Positive host increments and nonzero acquisition intervals that cannot be represented at the current floating-point time are rejected before callbacks or process mutation.","Slot installation/removal is a powered-off, idle scene configuration with cell-before-electrode dependencies. It does not simulate handling force, reagent spills, physical transfers or sample-container identity changes.","GLB按用户要求保留原始+Z向上坐标(export_yup=false),常规glTF加载器默认+Y向上;Blender导入后需对根施加X=-pi/2的逆坐标转换。geometry_validation已验证转换后的网格,消费端须遵守geometry_manifest坐标声明。","URDF固定于world;只有body含整机聚合惯量。子件质量未知未填,槽位effort=velocity=0是明确禁用电动驱动而非估计额定值;不得按当前URDF直接声称动态接触或子件动力学已有效。","无隔膜发生电极为依据手册默认分支作出的配置补充假设;清单没有规定有/无隔膜。吸附干燥管装配于发生电极上部,加样口属于滴定池。"],"sources":[],"checks":{"coverage":{"status":"bridged","implemented":["coulometry.configure","coulometry.curve","coulometry.reading","coulometry.start","coulometry.stop","power.set","slot.set_installed"],"unsupported":[],"note_zh":"桥接 basic40_runtime_measure.Metrohm899Host(推进方式 step_dt),26 个状态槽;与运行层镜像对��全同;受信设置需经 host.call;关节化 USD(8 个按键(碰到即触发)、3 个门/盖/阀等被动关节);接口点 1 个(放置面);布局:台面、单人可搬、正面 −y、前方留空 0.25 m;面板为菜单/文字屏(待办)"}},"previews":["previews/metrohm_899/preview.webp","previews/metrohm_899/preview_rear.webp"],"files":[{"name":"USAGE.md","path":"assets/basic40_batch02/t4_measure/metrohm_899/USAGE.md","bytes":2610},{"name":"asset.contract.json","path":"assets/basic40_batch02/t4_measure/metrohm_899/asset.contract.json","bytes":331703},{"name":"collision_proxies.json","path":"assets/basic40_batch02/t4_measure/metrohm_899/collision_proxies.json","bytes":15866},{"name":"geometry_manifest.json","path":"assets/basic40_batch02/t4_measure/metrohm_899/geometry_manifest.json","bytes":31136},{"name":"model.blend","path":"assets/basic40_batch02/t4_measure/metrohm_899/model.blend","bytes":161936},{"name":"model.glb","path":"assets/basic40_batch02/t4_measure/metrohm_899/model.glb","bytes":1096684},{"name":"model.urdf","path":"assets/basic40_batch02/t4_measure/metrohm_899/model.urdf","bytes":15463},{"name":"scene_adapter.py","path":"assets/basic40_batch02/t4_measure/metrohm_899/scene_adapter.py","bytes":2754}],"completeness":{"components":11,"with_collisions":11,"with_objects":11,"with_function":11,"with_mass":0,"joints_matching_component":3,"joints":11,"has_contract":true,"has_layout":true,"has_glb":true,"checks_present":["articulation_check","coverage","contract_validation","runtime_validation","scene_validation"]},"slug":"metrohm_899","chem_id":"CHEM-102","name_en":"Karl Fischer coulometer","maker":"Metrohm","model":"899 Coulometer","domain":"electrochem","domain_name":"Electrochemistry & Titration","path":"assets/basic40_batch02/t4_measure/metrohm_899","glb_up":"z","has_contract":true,"contract":"assets/basic40_batch02/t4_measure/metrohm_899/asset.contract.json","runtime":"scripts/basic40_runtime_measure.py"}
|
|
|
|
| 1 |
+
{"tid":"instrument.metrohm_899","asset_dir":"basic40_batch02/t4_measure/metrohm_899","name_zh":"CHEM-102 卡尔费休水分滴定仪 · Metrohm 899 Coulometer","category":"电化学与定量分析","description_zh":"以仪器总表第107行Metrohm 899为唯一型号依据。提供原生分件几何、基元碰撞、合成库仑过程、三只安装槽与显示同步;手册数值、照片估计和工程假设分层记录。","coordinate_system":{"status":"defined","length_unit":"m","angle_unit":"rad","handedness":"right","up_axis":"+Z","frame":"原点在主机台面投影中心,Z=0为台面;X横向、Y沿深度,模型朝向由geometry_manifest定义。"},"mass_kg":2.8,"size_m":[0.1436,0.2889,0.3373],"bbox_min":[-0.0718,-0.1408,0.0],"bbox_max":[0.0718,0.1481,0.3373],"manifest_dimensions_m":null,"glb":"assets/basic40_batch02/t4_measure/metrohm_899/model.glb","glb_orientation":"gltf_y_up_rotated","usd":null,"urdf":"assets/basic40_batch02/t4_measure/metrohm_899/model.urdf","links":{"world":"/Geometry/world","cell":"/Geometry/world/cell","generator":"/Geometry/world/generator","indicator":"/Geometry/world/indicator","btn_keypad_key_0_link":"/Geometry/world/btn_keypad_key_0_link","btn_keypad_key_1_link":"/Geometry/world/btn_keypad_key_1_link","btn_keypad_key_2_link":"/Geometry/world/btn_keypad_key_2_link","btn_keypad_key_3_link":"/Geometry/world/btn_keypad_key_3_link","btn_keypad_key_4_link":"/Geometry/world/btn_keypad_key_4_link","btn_keypad_key_5_link":"/Geometry/world/btn_keypad_key_5_link","btn_keypad_key_6_link":"/Geometry/world/btn_keypad_key_6_link","btn_keypad_key_7_link":"/Geometry/world/btn_keypad_key_7_link"},"frames":{"pre_place":[0.0,0.0037,0.5173],"place":[0.0,0.0037,0.3873],"post_place":[0.0,0.0037,0.5173],"joint_cell_joint":[0.0,0.05,0.116],"joint_generator_joint":[0.012,0.065,0.243],"joint_indicator_joint":[-0.02,0.036,0.246],"joint_btn_keypad_key_0":[-0.043,-0.116,0.05],"joint_btn_keypad_key_1":[-0.026,-0.116,0.05],"joint_btn_keypad_key_2":[-0.014,-0.1113,0.05373],"joint_btn_keypad_key_3":[-0.014,-0.1207,0.04627],"joint_btn_keypad_key_4":[-0.002,-0.116,0.05],"joint_btn_keypad_key_5":[0.015,-0.116,0.05],"joint_btn_keypad_key_6":[0.031,-0.116,0.05],"joint_btn_keypad_key_7":[0.046,-0.116,0.05]},"joints":[{"name":"cell_joint","type":"prismatic","parent":"body","child":"cell","axis":[0.0,0.0,1.0],"lower":0.0,"upper":0.08,"effort":0.0,"mimic":null,"origin_m":[0.0,0.05,0.116],"child_prim":"/Geometry/world/cell","child_bbox_min":[-0.035,-0.00375,0.117],"child_bbox_max":[0.035,0.085,0.265],"kind":"other"},{"name":"generator_joint","type":"prismatic","parent":"body","child":"generator","axis":[0.0,0.0,1.0],"lower":0.0,"upper":0.08,"effort":0.0,"mimic":null,"origin_m":[0.012,0.065,0.243],"child_prim":"/Geometry/world/generator","child_bbox_min":[-0.001,0.052,0.06278],"child_bbox_max":[0.06258,0.14805,0.336],"kind":"other"},{"name":"indicator_joint","type":"prismatic","parent":"body","child":"indicator","axis":[0.0,0.0,1.0],"lower":0.0,"upper":0.08,"effort":0.0,"mimic":null,"origin_m":[-0.02,0.036,0.246],"child_prim":"/Geometry/world/indicator","child_bbox_min":[-0.04348,0.027,0.06589],"child_bbox_max":[-0.011,0.13089,0.33733],"kind":"other"},{"name":"btn_keypad_key_0","type":"prismatic","parent":"keypad","child":"btn_keypad_key_0_link","axis":[-0.0,0.622321,-0.782763],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[-0.043,-0.116,0.05],"child_prim":"/Geometry/world/btn_keypad_key_0_link","child_bbox_min":[-0.0478,-0.12048,0.04604],"child_bbox_max":[-0.0382,-0.11152,0.05396],"kind":"button"},{"name":"btn_keypad_key_1","type":"prismatic","parent":"keypad","child":"btn_keypad_key_1_link","axis":[-0.0,0.622321,-0.782763],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[-0.026,-0.116,0.05],"child_prim":"/Geometry/world/btn_keypad_key_1_link","child_bbox_min":[-0.0308,-0.12048,0.04604],"child_bbox_max":[-0.0212,-0.11152,0.05396],"kind":"button"},{"name":"btn_keypad_key_2","type":"prismatic","parent":"keypad","child":"btn_keypad_key_2_link","axis":[0.0,0.622321,-0.782763],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[-0.014,-0.1113,0.05373],"child_prim":"/Geometry/world/btn_keypad_key_2_link","child_bbox_min":[-0.0188,-0.11579,0.04978],"child_bbox_max":[-0.0092,-0.10682,0.05769],"kind":"button"},{"name":"btn_keypad_key_3","type":"prismatic","parent":"keypad","child":"btn_keypad_key_3_link","axis":[0.0,0.622321,-0.782763],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[-0.014,-0.1207,0.04627],"child_prim":"/Geometry/world/btn_keypad_key_3_link","child_bbox_min":[-0.0188,-0.12518,0.04231],"child_bbox_max":[-0.0092,-0.11621,0.05022],"kind":"button"},{"name":"btn_keypad_key_4","type":"prismatic","parent":"keypad","child":"btn_keypad_key_4_link","axis":[-0.0,0.622321,-0.782763],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[-0.002,-0.116,0.05],"child_prim":"/Geometry/world/btn_keypad_key_4_link","child_bbox_min":[-0.0068,-0.12048,0.04604],"child_bbox_max":[0.0028,-0.11152,0.05396],"kind":"button"},{"name":"btn_keypad_key_5","type":"prismatic","parent":"keypad","child":"btn_keypad_key_5_link","axis":[-0.0,0.622321,-0.782763],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[0.015,-0.116,0.05],"child_prim":"/Geometry/world/btn_keypad_key_5_link","child_bbox_min":[0.0102,-0.12048,0.04604],"child_bbox_max":[0.0198,-0.11152,0.05396],"kind":"button"},{"name":"btn_keypad_key_6","type":"prismatic","parent":"keypad","child":"btn_keypad_key_6_link","axis":[-0.0,0.622321,-0.782763],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[0.031,-0.116,0.05],"child_prim":"/Geometry/world/btn_keypad_key_6_link","child_bbox_min":[0.0262,-0.12048,0.04604],"child_bbox_max":[0.0358,-0.11152,0.05396],"kind":"button"},{"name":"btn_keypad_key_7","type":"prismatic","parent":"keypad","child":"btn_keypad_key_7_link","axis":[-0.0,0.622321,-0.782763],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[0.046,-0.116,0.05],"child_prim":"/Geometry/world/btn_keypad_key_7_link","child_bbox_min":[0.0412,-0.12048,0.04604],"child_bbox_max":[0.0508,-0.11152,0.05396],"kind":"button"}],"controls":{"buttons":["btn_keypad_metrohm899__keypad__key_0","btn_keypad_metrohm899__keypad__key_1","btn_keypad_metrohm899__keypad__key_2","btn_keypad_metrohm899__keypad__key_3","btn_keypad_metrohm899__keypad__key_4","btn_keypad_metrohm899__keypad__key_5","btn_keypad_metrohm899__keypad__key_6","btn_keypad_metrohm899__keypad__key_7"],"knobs":[]},"slots":[{"name":"stirrer","link":"world","part":"stirrer","pos":[0.0,0.05,0.112],"rot":[0.0,0.0,0.0,1.0],"pos_link":[0.0,0.05,0.112],"rot_link":[0.0,0.0,0.0,1.0],"radius_m":0.035,"kind":"surface","fits":["beaker"],"anchor":"base","insert_axis":[0.0,0.0,1.0],"capture_m":0.03,"access":[],"modelled_occupant":false}],"hidden_parts":[],"readouts":[],"layout":{"front":[0.0,-1.0,0.0],"front_source":"controls","mount":"bench","weight_class":"robot_portable","mass_kg":2.8,"footprint_m":[0.1436,0.2889],"height_m":0.3373,"clearance_m":{"front":0.25,"back":0.15,"left":0.05,"right":0.05,"top":0.1},"robot_standoff_m":0.35,"work_height_m":0.112,"primary_slot":"stirrer","access":[],"slot_count":1},"components":[{"id":"body","name_zh":"主机与装配根","function_zh":"承载控制、供电和整机参考系;汇集外壳、底脚与标牌。","physical_meaning_zh":"承载控制、供电和整机参考系;汇集外壳、底脚与标牌。","subsystem":null,"parent":null,"origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["metrohm899__body__base","metrohm899__body__lower_dark_seam","metrohm899__body__foot","metrohm899__body__foot.001","metrohm899__body__foot.002","metrohm899__body__foot.003","metrohm899__body__back_deck","metrohm899__body__console","metrohm899__body__model_label","metrohm899__nameplate","metrohm899__body__brand_label","metrohm899__brand","metrohm899__asset_tag"],"collisions":[{"shape":"box","origin_m":[0,0,0.01],"rpy_rad":[0,0,0],"size_m":[0.1435,0.2815,0.014]},{"shape":"box","origin_m":[0,0,0.005],"rpy_rad":[0,0,0],"size_m":[0.139,0.277,0.004]},{"shape":"box","origin_m":[-0.053,-0.115,0.002],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.053,0.115,0.002],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.053,-0.115,0.002],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.053,0.115,0.002],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0.0535,0.059],"rpy_rad":[0,0,0],"size_m":[0.1435,0.1685,0.098]},{"shape":"box","origin_m":[0,-0.13068749999999998,0.0152],"rpy_rad":[0,0,0],"size_m":[0.14,0.020125,0.0063999999999999994]},{"shape":"box","origin_m":[0,-0.11056249999999998,0.0232],"rpy_rad":[0,0,0],"size_m":[0.14,0.020125,0.0224]},{"shape":"box","origin_m":[0,-0.09043749999999998,0.0312],"rpy_rad":[0,0,0],"size_m":[0.14,0.020125,0.038400000000000004]},{"shape":"box","origin_m":[0,-0.07031249999999999,0.0392],"rpy_rad":[0,0,0],"size_m":[0.14,0.020125,0.054400000000000004]},{"shape":"box","origin_m":[0,-0.05018749999999998,0.0472],"rpy_rad":[0,0,0],"size_m":[0.14,0.020125,0.0704]},{"shape":"box","origin_m":[0,-0.030062499999999978,0.0552],"rpy_rad":[0,0,0],"size_m":[0.14,0.020125,0.0864]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set"],"bbox_m":[[-0.07175000011920929,-0.1407500058412552,0.0],[0.07175000011920929,0.1407500058412552,0.11177085340023041]],"raw_keys":["bbox_m","collision_primitives","evidence","inertia_kg_m2","mass_kg","object_names","origin_m","root_object"]},{"id":"display","name_zh":"液晶显示区","function_zh":"显示电源及合成滴定状态;读数由运行 API 提供。","physical_meaning_zh":"显示电源及合成滴定状态;读数由运行 API 提供。","subsystem":null,"parent":"body","origin_m":[0,-0.074,0.07],"rpy_rad":[0,0,0],"objects":["metrohm899__display__bezel","metrohm899__display__lcd","metrohm899__display_text","metrohm899__screen_caption"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0.6717037457918319,0,0],"size_m":[0.104,0.066,0.003]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","coulometry.start","coulometry.stop","coulometry.reading","coulometry.curve"],"bbox_m":[[-0.052000001072883606,-0.026348501443862915,-0.021294578909873962],[0.052000001072883606,0.026348501443862915,0.021294578909873962]],"raw_keys":["bbox_m","collision_primitives","evidence","inertia_kg_m2","mass_kg","object_names","origin_m","root_object"]},{"id":"keypad","name_zh":"前面板按键","function_zh":"表示供电、方法设定及开始/停止操作入口。","physical_meaning_zh":"表示供电、方法设定及开始/停止操作入口。","subsystem":null,"parent":"body","origin_m":[0,-0.112,0.04],"rpy_rad":[0,0,0],"objects":["metrohm899__keypad__raised_console","metrohm899__keypad__key_0","metrohm899__key_label_0","metrohm899__keypad__key_1","metrohm899__key_label_1","metrohm899__keypad__key_2","metrohm899__key_label_2","metrohm899__keypad__key_3","metrohm899__key_label_3","metrohm899__keypad__key_4","metrohm899__key_label_4","metrohm899__keypad__key_5","metrohm899__key_label_5","metrohm899__keypad__key_6","metrohm899__key_label_6","metrohm899__keypad__key_7","metrohm899__key_label_7"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0.6717037457918319,0,0],"size_m":[0.105,0.023,0.014]},{"shape":"box","origin_m":[-0.043,-0.004,0.01],"rpy_rad":[0.6717037457918319,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.026,-0.004,0.01],"rpy_rad":[0.6717037457918319,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.014,0.0006965751590702904,0.013733923107832282],"rpy_rad":[0.6717037457918319,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.014,-0.00869657515907029,0.006266076892167719],"rpy_rad":[0.6717037457918319,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[-0.002,-0.004,0.01],"rpy_rad":[0.6717037457918319,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.015,-0.004,0.01],"rpy_rad":[0.6717037457918319,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.031,-0.004,0.01],"rpy_rad":[0.6717037457918319,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.046,-0.004,0.01],"rpy_rad":[0.6717037457918319,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","coulometry.configure","coulometry.start","coulometry.stop"],"bbox_m":[[-0.05249999836087227,-0.013181298971176147,-0.01180373877286911],[0.05249999836087227,0.012525729835033417,0.017689239233732224]],"raw_keys":["bbox_m","collision_primitives","evidence","inertia_kg_m2","mass_kg","object_names","origin_m","root_object"]},{"id":"stirrer","name_zh":"磁力搅拌台","function_zh":"承托滴定池并接受搅拌档位设定;未建立转速映射或流体动力学。","physical_meaning_zh":"承托滴定池并接受搅拌档位设定;未建立转速映射或流体动力学。","subsystem":null,"parent":"body","origin_m":[0,0.05,0.1085],"rpy_rad":[0,0,0],"objects":["metrohm899__stirrer__disc","metrohm899__stirrer__plate"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0,0.003],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["coulometry.configure"],"bbox_m":[[-0.039000000804662704,-0.039000000804662704,-0.002499997615814209],[0.039000000804662704,0.039000000804662704,0.0034999996423721313]],"raw_keys":["bbox_m","collision_primitives","evidence","inertia_kg_m2","mass_kg","object_names","origin_m","root_object"]},{"id":"support","name_zh":"滴定池支架","function_zh":"稳定滴定池与电极组件的机械支撑。","physical_meaning_zh":"稳定滴定池与电极组件的机械支撑。","subsystem":null,"parent":"body","origin_m":[0,0.05,0.112],"rpy_rad":[0,0,0],"objects":["metrohm899__support__lower_collar","metrohm899__support__upright","metrohm899__support__upright.001","metrohm899__support__crossbar"],"collisions":[{"shape":"box","origin_m":[-0.033,0.016,0.055],"rpy_rad":[0,0,0],"size_m":[0.008,0.017,0.056]},{"shape":"box","origin_m":[0.033,0.016,0.055],"rpy_rad":[0,0,0],"size_m":[0.008,0.017,0.056]},{"shape":"box","origin_m":[0,0.034,0.076],"rpy_rad":[0,0,0],"size_m":[0.069,0.009,0.014]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.03799999877810478,-0.03799999877810478,0.0],[0.03799999877810478,0.03850000724196434,0.08299998939037323]],"raw_keys":["bbox_m","collision_primitives","evidence","inertia_kg_m2","mass_kg","object_names","origin_m","root_object"]},{"id":"cell","name_zh":"卡尔费休滴定池","function_zh":"容纳合成样品和试剂的装配槽;内部容量未知。","physical_meaning_zh":"容纳合成样品和试剂的装配槽;内部容量未知。","subsystem":null,"parent":"body","origin_m":[0,0.05,0.116],"rpy_rad":[0,0,0],"objects":["metrohm899__cell__vessel","metrohm899__cell__glass_floor","metrohm899__cell__shoulder","metrohm899__cell__lid","metrohm899__cell__spare_port_stop","metrohm899__cell__stir_bar","metrohm899__cell__unscaled_mark","metrohm899__cell__unscaled_mark.001","metrohm899__cell__unscaled_mark.002"],"collisions":[{"shape":"box","origin_m":[0,0.02,0.142],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.0328,0.0,0.064],"rpy_rad":[0,0,0.0],"size_m":[0.004,0.026,0.12]},{"shape":"box","origin_m":[0.023193102422918763,0.02319310242291876,0.064],"rpy_rad":[0,0,0.7853981633974483],"size_m":[0.004,0.026,0.12]},{"shape":"box","origin_m":[2.0084207506016593e-18,0.0328,0.064],"rpy_rad":[0,0,1.5707963267948966],"size_m":[0.004,0.026,0.12]},{"shape":"box","origin_m":[-0.02319310242291876,0.023193102422918763,0.064],"rpy_rad":[0,0,2.356194490192345],"size_m":[0.004,0.026,0.12]},{"shape":"box","origin_m":[-0.0328,4.0168415012033186e-18,0.064],"rpy_rad":[0,0,3.141592653589793],"size_m":[0.004,0.026,0.12]},{"shape":"box","origin_m":[-0.023193102422918766,-0.02319310242291876,0.064],"rpy_rad":[0,0,3.9269908169872414],"size_m":[0.004,0.026,0.12]},{"shape":"box","origin_m":[-6.025262251804978e-18,-0.0328,0.064],"rpy_rad":[0,0,4.71238898038469],"size_m":[0.004,0.026,0.12]},{"shape":"box","origin_m":[0.023193102422918756,-0.023193102422918766,0.064],"rpy_rad":[0,0,5.497787143782138],"size_m":[0.004,0.026,0.12]},{"shape":"box","origin_m":[0,0,0.003],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["slot.set_installed","coulometry.start"],"bbox_m":[[-0.03500000014901161,-0.03500000014901161,0.0010000020265579224],[0.03500000014901161,0.03500000014901161,0.14900001883506775]],"raw_keys":["bbox_m","collision_primitives","evidence","inertia_kg_m2","mass_kg","object_names","origin_m","root_object"]},{"id":"generator","name_zh":"无隔膜发生电极(配置补充假设)","function_zh":"按100/200/400 mA人工电流设定累计电荷的发生电极槽;本次选手册默认无隔膜分支,清单未指定隔膜配置。","physical_meaning_zh":"按100/200/400 mA人工电流设定累计电荷的发生电极槽;本���选手册默认无隔膜分支,清单未指定隔膜配置。","subsystem":null,"parent":"body","origin_m":[0.012,0.065,0.243],"rpy_rad":[0,0,0],"objects":["metrohm899__generator__glass_shaft","metrohm899__generator__lower_cage","metrohm899__generator__cage_wire","metrohm899__generator__cage_wire.001","metrohm899__generator__cage_wire.002","metrohm899__generator__cage_wire.003","metrohm899__generator__cage_wire.004","metrohm899__generator__cage_wire.005","metrohm899__generator__seal","metrohm899__generator__head","metrohm899__generator__sidearm","metrohm899__generator__side_connector","metrohm899__generator__electrode_cable"],"collisions":[{"shape":"box","origin_m":[0,0,-0.053],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0,-0.098],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0,0.006],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0,0.036],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.015,0,0.039],"rpy_rad":[0,1.5707963267948966,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.029,0,0.039],"rpy_rad":[0,1.5707963267948966,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["slot.set_installed","coulometry.configure","coulometry.start","coulometry.stop"],"bbox_m":[[-0.013000000268220901,-0.013000000268220901,-0.18021821975708008],[0.050576381385326385,0.08305427432060242,0.058999985456466675]],"raw_keys":["bbox_m","collision_primitives","evidence","inertia_kg_m2","mass_kg","object_names","origin_m","root_object"]},{"id":"indicator","name_zh":"指示电极","function_zh":"指示电极装配槽;模型使用理想耗尽终点,未求解电位或电极动力学。","physical_meaning_zh":"指示电极装配槽;模型使用理想耗尽终点,未求解电位或电极动力学。","subsystem":null,"parent":"body","origin_m":[-0.02,0.036,0.246],"rpy_rad":[0,0,0],"objects":["metrohm899__indicator__shaft","metrohm899__indicator__stopper","metrohm899__indicator__head","metrohm899__indicator__platinum_pin","metrohm899__indicator__platinum_pin.001","metrohm899__indicator__electrode_cable"],"collisions":[{"shape":"box","origin_m":[0,0,-0.045],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0,0.002],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0,0.037],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["slot.set_installed","coulometry.start"],"bbox_m":[[-0.023478250950574875,-0.008999999612569809,-0.18011333048343658],[0.008999999612569809,0.09489127993583679,0.0913306325674057]],"raw_keys":["bbox_m","collision_primitives","evidence","inertia_kg_m2","mass_kg","object_names","origin_m","root_object"]},{"id":"drying_tube","name_zh":"干燥管","function_zh":"表达滴定池与环境之间的防潮附件;未计算吸湿容量与传质。","physical_meaning_zh":"表达滴定池与环境之间的防潮附件;未计算吸湿容量与传质。","subsystem":null,"parent":"generator","origin_m":[0.012,0.065,0.301],"rpy_rad":[0,0,0],"objects":["metrohm899__drying_tube__neck","metrohm899__drying_tube__tube","metrohm899__drying_tube__drying_fill","metrohm899__drying_tube__cap"],"collisions":[{"shape":"box","origin_m":[0,0,-0.017],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,0,0.031],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.008999999612569809,-0.008999999612569809,-0.03349998593330383],[0.008999999612569809,0.009000003337860107,0.034999996423721313]],"raw_keys":["bbox_m","collision_primitives","evidence","inertia_kg_m2","mass_kg","object_names","origin_m","root_object"]},{"id":"injection_port","name_zh":"加样口","function_zh":"表示兼容样品/试剂的加样位置;进样由外部操作或受信任宿主初始化。","physical_meaning_zh":"表示兼容样品/试剂的加样位置;进样由外部操作或受信任宿主初始化。","subsystem":null,"parent":"cell","origin_m":[0.018,0.016,0.231],"rpy_rad":[0,0,0],"objects":["metrohm899__injection_port__glass_neck","metrohm899__injection_port__septum_cap","metrohm899__injection_port__septum"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0.7853981633974483,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0,-0.009,0.011],"rpy_rad":[0.7853981633974483,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.010999999940395355,-0.019752824679017067,-0.014641910791397095],[0.010999999940395355,0.014641912654042244,0.02175283432006836]],"raw_keys":["bbox_m","collision_primitives","evidence","inertia_kg_m2","mass_kg","object_names","origin_m","root_object"]},{"id":"rear_ports","name_zh":"后部连接接口","function_zh":"表示电源、发生电极、指示电极及数据连接位置;无真实硬件驱动。","physical_meaning_zh":"表示电源、发生电极、指示电极及数据连接位置;无真实硬件驱动。","subsystem":null,"parent":"body","origin_m":[0,0.13475,0.065],"rpy_rad":[0,0,0],"objects":["metrohm899__rear_ports__panel","metrohm899__rear_ports__jack_Gen.","metrohm899__rear_ports__jack_Ind.","metrohm899__rear_ports__jack_Temp.","metrohm899__ports_label","metrohm899__rear_ports__usb","metrohm899__rear_ports__remote"],"collisions":[{"shape":"box","origin_m":[0,0.004,0],"rpy_rad":[0,0,0],"size_m":[0.115,0.003,0.041]},{"shape":"box","origin_m":[-0.022,0.003,0.002],"rpy_rad":[1.5707963267948966,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.0,0.003,0.002],"rpy_rad":[1.5707963267948966,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.022,0.003,0.002],"rpy_rad":[1.5707963267948966,0,0],"size_m":[0.01,0.01,0.01]},{"shape":"box","origin_m":[0.044,0.004,-0.007],"rpy_rad":[0,0,0],"size_m":[0.013,0.004,0.006]},{"shape":"box","origin_m":[-0.043,0.004,-0.007],"rpy_rad":[0,0,0],"size_m":[0.019,0.004,0.008]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":[[-0.057500001043081284,0.0010000020265579224,-0.020500000566244125],[0.057500001043081284,0.006015002727508545,0.020500004291534424]],"raw_keys":["bbox_m","collision_primitives","evidence","inertia_kg_m2","mass_kg","object_names","origin_m","root_object"]}],"component_source":"geometry_manifest.json + asset.contract.json + collision_proxies.json","capabilities":{"power.set":{"function_zh":"设置供电;断电停止运行并保留已发生的积分结果。","kind":"device_command","availability":"implemented","component_ids":["body","keypad","display"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["enabled"]},"slot.set_installed":{"function_zh":"在关机闲置时声明滴定池或电极的场景装配槽位;不是机器人装卸。","kind":"configuration","availability":"implemented","component_ids":["cell","generator","indicator"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":["slot","installed"]},"coulometry.configure":{"function_zh":"配置手动发生电流、漂移补偿、启动漂移、萃取时间、搅拌档位、样品质量及假设终点保持时间;至少一个字段。","kind":"configuration","availability":"implemented","component_ids":["keypad","generator","stirrer"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":["current_a","drift_compensation_kg_s","start_drift_threshold_kg_s","extraction_time_s","stirring_level","sample_mass_kg","endpoint_hold_s"]},"coulometry.start":{"function_zh":"由已装配、具备试剂且漂移满足阈值的状态启动合成库仑过程;重置当前测量积分。","kind":"device_command","availability":"implemented","component_ids":["keypad","cell","generator","indicator","display"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":[]},"coulometry.stop":{"function_zh":"停止并保留部分电荷、漂移补偿结果与曲线。","kind":"device_command","availability":"implemented","component_ids":["keypad","generator","display"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"verified"},"input":[]},"coulometry.reading":{"function_zh":"返回合成可观测结果;不推进宿主时间。","kind":"query","availability":"implemented","component_ids":["display"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":[]},"coulometry.curve":{"function_zh":"返回每次运行中宿主步进后记录的合成滴定曲线;最后一点可使用步内解析完成时刻,不插值补造采样。","kind":"query","availability":"implemented","component_ids":["display"],"implementation":{"process":"verified","scene":"not_applicable","robot":"absent","hardware":"absent","host":"verified"},"input":[]}},"state_slots":{"power.enabled":{"meaning_zh":"电源设定","unit":"1","access":"read_write","origin":"setpoint","component_ids":["body"],"write_via":"power.set"},"coulometry.running":{"meaning_zh":"合成测量是否进行中","unit":"1","access":"read_only","origin":"derived","component_ids":["display"],"write_via":null},"coulometry.status":{"meaning_zh":"合成过程状态;场景display.text回调来自此槽","unit":"1","access":"read_only","origin":"derived","component_ids":["display"],"write_via":null},"sample.present":{"meaning_zh":"受信任宿主已初始化合成样品","unit":"1","access":"read_only","origin":"scene","component_ids":["cell"],"write_via":null},"reagent.ready":{"meaning_zh":"受信任宿主声明试剂就绪","unit":"1","access":"read_only","origin":"scene","component_ids":["cell"],"write_via":null},"measurement.elapsed_s":{"meaning_zh":"本次测量实际累计时间,包含萃取与终点保持","unit":"s","access":"read_only","origin":"derived","component_ids":["display"],"write_via":null},"measurement.charge_c":{"meaning_zh":"发生电流随宿主时间累计的电荷","unit":"C","access":"read_only","origin":"derived","component_ids":["display"],"write_via":null},"measurement.water_mass_kg":{"meaning_zh":"synthetic:两电子库仑换算并扣除漂移的合成水质量","unit":"kg","access":"read_only","origin":"derived","component_ids":["display"],"write_via":null},"measurement.water_fraction":{"meaning_zh":"synthetic:水质量除以显式设置的样品质量;未知分母时null","unit":"1","access":"read_only","origin":"derived","component_ids":["display"],"write_via":null},"measurement.drift_kg_s":{"meaning_zh":"synthetic:宿主背景漂移的理想可观测代理;无传感器噪声","unit":"kg/s","access":"read_only","origin":"derived","component_ids":["display"],"write_via":null},"measurement.synthetic":{"meaning_zh":"始终true,标记全部结果为合成","unit":"1","access":"read_only","origin":"derived","component_ids":["display"],"write_via":null},"measurement.sample_time_s":{"meaning_zh":"上次合成读数的宿主采样时刻","unit":"s","access":"read_only","origin":"derived","component_ids":["display"],"write_via":null},"endpoint.hold_elapsed_s":{"meaning_zh":"理想耗尽后已保持的时间","unit":"s","access":"read_only","origin":"derived","component_ids":["display"],"write_via":null},"truth.water_remaining_kg":{"meaning_zh":"debug/evaluator限定:未反应水量","unit":"kg","access":"read_only","origin":"process_truth","component_ids":["cell"],"write_via":null},"truth.sample_water_kg":{"meaning_zh":"debug/evaluator限定:初始样品水量","unit":"kg","access":"read_only","origin":"process_truth","component_ids":["cell"],"write_via":null},"truth.background_drift_kg_s":{"meaning_zh":"debug/evaluator限定:宿主输入背景漂移真值","unit":"kg/s","access":"read_only","origin":"process_truth","component_ids":["cell"],"write_via":null},"settings.current_a":{"meaning_zh":"人工发生电流设定,100/200/400 mA;自动策略未实现","unit":"A","access":"read_write","origin":"setpoint","component_ids":["generator"],"write_via":"coulometry.configure"},"settings.drift_compensation_kg_s":{"meaning_zh":"漂移补偿设定,未知时null","unit":"kg/s","access":"read_write","origin":"setpoint","component_ids":["display"],"write_via":"coulometry.configure"},"settings.start_drift_threshold_kg_s":{"meaning_zh":"启动允许漂移阈值,表内1–999 µg/min换算SI","unit":"kg/s","access":"read_write","origin":"setpoint","component_ids":["display"],"write_via":"coulometry.configure"},"settings.extraction_time_s":{"meaning_zh":"萃取时间;0–999999 s","unit":"s","access":"read_write","origin":"setpoint","component_ids":["display"],"write_via":"coulometry.configure"},"settings.stirring_level":{"meaning_zh":"搅拌档位−15至+15;无数值转速转换","unit":"1","access":"read_write","origin":"setpoint","component_ids":["stirrer"],"write_via":"coulometry.configure"},"settings.sample_mass_kg":{"meaning_zh":"用户显式输入样品质量,未知时null","unit":"kg","access":"read_write","origin":"setpoint","component_ids":["display"],"write_via":"coulometry.configure"},"settings.endpoint_hold_s":{"meaning_zh":"理想耗尽后的保持时间,必须显式配置,不推断厂家默认","unit":"s","access":"read_write","origin":"setpoint","component_ids":["display"],"write_via":"coulometry.configure"},"slot.cell.installed":{"meaning_zh":"卡尔费休滴定池已安装;宿主逻辑状态和位姿/显隐映射","unit":"1","access":"read_write","origin":"scene","component_ids":["cell"],"write_via":"slot.set_installed"},"slot.generator.installed":{"meaning_zh":"无隔膜发生电极(配置补充假设)已安装;宿主逻辑状态和位姿/显隐映射","unit":"1","access":"read_write","origin":"scene","component_ids":["generator"],"write_via":"slot.set_installed"},"slot.indicator.installed":{"meaning_zh":"指示电极已安装;宿主逻辑状态和位姿/显隐映射","unit":"1","access":"read_write","origin":"scene","component_ids":["indicator"],"write_via":"slot.set_installed"}},"mechanisms":{"coulometric_water":{"meaning_zh":"engineering_assumption:两电子法库仑计量和漂移补偿。萃取阶段仅累积漂移,滴定阶段累计电荷,耗尽后用理想占空比抵消漂移并保持;不是厂商固件或真实试剂动力学。","implementation":"lumped","equations":["Q = integral(I_effective dt)","m_generated = Q*M_H2O/(2*F)","m_indicated=max(0,m_generated-drift_compensation_kg_s*elapsed_s)","water_fraction=m_indicated/sample_mass_kg (null when sample_mass_kg unknown)"],"parameters":{"current_choices_a":{"value":[0.1,0.2,0.4],"unit":"A","evidence":"documented","meaning_zh":"CHEM-102 参数与来源第107行;自动电流策略未实现"},"initial_current_a":{"value":0.1,"unit":"A","evidence":"assumption","meaning_zh":"合成初始设定,不宣称厂家默认"},"initial_extraction_time_s":{"value":0.0,"unit":"s","evidence":"assumption","meaning_zh":"合成初始设定;合法范围 0–999999 s"},"start_drift_default_kg_s":{"value":3.333333333333333e-10,"unit":"kg/s","evidence":"documented","meaning_zh":"CHEM-102 参数与来源第107行;20 µg/min"},"faraday_c_mol":{"value":96485.33212331001,"unit":"C/mol","evidence":"assumption","meaning_zh":"理想两电子库仑换算参数;不是厂家整机或部件测量"},"water_molar_mass_kg_mol":{"value":0.01801528,"unit":"kg/mol","evidence":"assumption","meaning_zh":"约定水摩尔质量用于合成化学计量"},"electrode_response_s":{"value":null,"unit":"s","evidence":"unknown","meaning_zh":"缺实测响应"},"current_efficiency":{"value":null,"unit":"1","evidence":"unknown","meaning_zh":"未知真实电流效率;模型明确使用理想100%假设"},"endpoint_hold_s":{"value":null,"unit":"s","evidence":"unknown","meaning_zh":"由仿真任务显式配置,不套用厂家终点默认"},"cell_capacity_m3":{"value":null,"unit":"m3","evidence":"unknown","meaning_zh":"不得从照片推断容量"},"modeled_current_efficiency":{"value":1,"unit":"1","evidence":"assumption","meaning_zh":"模型假设100%电流效率;真实电流效率仍为null。"},"documented_start_drift_range":{"value":[1.6666666666666667e-11,1.665e-08],"unit":"kg/s","evidence":"documented","meaning_zh":"清单启动漂移1–999 µg/min,统一换算SI。"},"documented_extraction_time_range":{"value":[0,999999],"unit":"s","evidence":"documented","meaning_zh":"清单萃取时间范围;未借此定义真实萃取速率。"},"documented_generation_rate_range":{"value":[2.5e-11,3.7349999999999994e-08],"unit":"kg/s","evidence":"documented","meaning_zh":"清单最大生成速率1.5–2241.0 µg/min的SI表示;只登记规格,不用该范围拟合未知自动电流算法。"},"documented_stirring_level_range":{"value":[-15,15],"unit":"1","evidence":"documented","meaning_zh":"清单搅拌档位范围;不是rad/s。"},"documented_default_stirring_level":{"value":8,"unit":"1","evidence":"documented","meaning_zh":"清单默认8档;运行初始设定使用同一档位。"},"documented_approx_speed_at_default_level":{"value":104.71975511965977,"unit":"rad/s","evidence":"documented","meaning_zh":"清单默认8档约1000 rpm的SI换算;不是所有档位通用转速映射,过程不使用该转速。"}}}},"limitations":["本次覆盖CHEM-102指定Metrohm 899配置及11个功能组件;full不代表所有厂家功能、硬件、机器人或真实动力学已实现。","滴定池、电极、干燥管、加样口与局部外形是手册图photo_estimate;完整安装高度没有厂家核实尺寸。","厂家195 mm指含支架高度;完整玻璃池与电极模型可高于该值。","2.8 kg是整机含电源质量;部件质量、真实惯量、摩擦、恢复系数、未记载材料参数及滴定池容量保持null。仅壳体PBT和底座1.4301材料分区另有手册证据。","聚合惯量用额定含支架包围盒0.1435×0.2815×0.195 m和含电源质量作engineering_assumption;不使用玻璃装配总高,不分配成未知部件惯量。","碰撞体仅使用盒、圆柱、球;未运行接触、稳定性、插拔力或刚体求解验证。","转速档位默认8约1000 rpm只是清单规格;未据此构造其余档位转速映射。","真实样本响应、噪声、校准曲线、准确度、故障概率、自动发生电流策略和电极电位终点均未实现。","固体/气体转移附件及外部电源未单独建模;外部真实服务需进一步集成。","All results synthetic; ideal stoichiometry, 100% modeled current efficiency and ideal depletion endpoint are engineering_assumption.","Manual 100/200/400 mA only; automatic current firmware, reagent chemistry, electrode potential endpoint, noise, accuracy, hardware and robots not implemented.","Stirring level is a setting only; no hydrodynamics or invented speed map. Cell capacity and component parameters stay null.","API truth filtering is not a Python/filesystem sandbox. Keep trusted host and sample fixtures in a separate process for untrusted agents.","Optional scene callback must be synchronous and atomic; callback tests do not prove evaluated Blender pose or contact physics.","Floating-point overflow is rejected before state/time mutation; excessively large requested steps may be conservatively rejected before endpoint clipping.","Failed scene callback outcomes are cached by logical request ID; retry does not replay the callback. A new request after reconciliation is explicit host/operator action.","Host step commits process/time together, but callbacks across scene instances are not transactional. A later callback failure can leave earlier scene instances changed; host must reconcile every affected scene instance.","Positive host increments and nonzero acquisition intervals that cannot be represented at the current floating-point time are rejected before callbacks or process mutation.","Slot installation/removal is a powered-off, idle scene configuration with cell-before-electrode dependencies. It does not simulate handling force, reagent spills, physical transfers or sample-container identity changes.","GLB按用户要求保留原始+Z向上坐标(export_yup=false),常规glTF加载器默认+Y向上;Blender导入后需对根施加X=-pi/2的逆坐标转换。geometry_validation已验证转换后的网格,消费端须遵守geometry_manifest坐标声明。","URDF固定于world;只有body含整机聚合惯量。子件质量未知未填,槽位effort=velocity=0是明确禁用电动驱动而非估计额定值;不得按当前URDF直接声称动态接触或子件动力学已有效。","无隔膜发生电极为依据手册默认分支作出的配置补充假设;清单没有规定有/无隔膜。吸附干燥管装配于发生电极上部,加样口属于滴定池。"],"sources":[],"checks":{"coverage":{"status":"bridged","implemented":["coulometry.configure","coulometry.curve","coulometry.reading","coulometry.start","coulometry.stop","power.set","slot.set_installed"],"unsupported":[],"note_zh":"桥接 basic40_runtime_measure.Metrohm899Host(推进方式 step_dt),26 个状态槽;与运行层镜像对比全同;受信设置需经 host.call;关节化 USD(8 个按键(碰到即触发)、3 个门/盖/阀等被动关节);接口点 1 个(放置面);布局:台面、单人可搬、正面 −y、前方留空 0.25 m;面板为菜单/文字屏(待办)"}},"previews":["previews/metrohm_899/preview.webp","previews/metrohm_899/preview_rear.webp"],"files":[{"name":"USAGE.md","path":"assets/basic40_batch02/t4_measure/metrohm_899/USAGE.md","bytes":2610},{"name":"asset.contract.json","path":"assets/basic40_batch02/t4_measure/metrohm_899/asset.contract.json","bytes":361913},{"name":"collision_proxies.json","path":"assets/basic40_batch02/t4_measure/metrohm_899/collision_proxies.json","bytes":15866},{"name":"geometry_manifest.json","path":"assets/basic40_batch02/t4_measure/metrohm_899/geometry_manifest.json","bytes":31136},{"name":"model.blend","path":"assets/basic40_batch02/t4_measure/metrohm_899/model.blend","bytes":161936},{"name":"model.glb","path":"assets/basic40_batch02/t4_measure/metrohm_899/model.glb","bytes":1096684},{"name":"model.urdf","path":"assets/basic40_batch02/t4_measure/metrohm_899/model.urdf","bytes":15463},{"name":"scene_adapter.py","path":"assets/basic40_batch02/t4_measure/metrohm_899/scene_adapter.py","bytes":2754}],"completeness":{"components":11,"with_collisions":11,"with_objects":11,"with_function":11,"with_mass":0,"joints_matching_component":3,"joints":11,"has_contract":true,"has_layout":true,"has_glb":true,"checks_present":["articulation_check","coverage","contract_validation","runtime_validation","scene_validation"]},"slug":"metrohm_899","chem_id":"CHEM-102","name_en":"Karl Fischer coulometer","maker":"Metrohm","model":"899 Coulometer","domain":"electrochem","domain_name":"Electrochemistry & Titration","path":"assets/basic40_batch02/t4_measure/metrohm_899","glb_up":"z","has_contract":true,"contract":"assets/basic40_batch02/t4_measure/metrohm_899/asset.contract.json","runtime":"scripts/basic40_runtime_measure.py"}
|
data/assets/instrument.metrohm_914.json
CHANGED
|
@@ -1 +1 @@
|
|
| 1 |
-
{"tid":"instrument.metrohm_914","asset_dir":"basic40_batch02/t4_measure/metrohm_914","name_zh":"CHEM-005 多参数电化学水质测定仪 — Metrohm 914 pH/DO/Conductometer","category":"基础计量与样品处理","description_zh":"依据指定清单 CHEM-005 创建 914 本体与 pH、电导、溶氧三种可换探头配置。三槽是仿真配置登记,数字接口由 pH 与 DO 互斥复用,电导有独立接口;不声称三个实物通道同时可接。full 仅表示本次配置功能组件已完整登记,不代表全部厂家模式、实机驱动或接触动力学均已实现。","coordinate_system":{"status":"defined","length_unit":"m","angle_unit":"rad","handedness":"right","up_axis":"+Z","frame":"metrohm_914__root:本体台面投影中心 z=0;x 宽 0.092 m、y 长 0.208 m、z 高 0.034 m;右手系。探头为外置附件,不计入本体标称尺寸。"},"mass_kg":0.4,"size_m":[0.2062,0.208,0.0551],"bbox_min":[-0.0871,-0.104,0.0],"bbox_max":[0.1191,0.104,0.0551],"manifest_dimensions_m":null,"glb":"assets/basic40_batch02/t4_measure/metrohm_914/model.glb","glb_orientation":"gltf_y_up_rotated","usd":null,"urdf":"assets/basic40_batch02/t4_measure/metrohm_914/model.urdf","links":{"meter_assembly":"/Geometry/meter_assembly","btn_keypad_key_pwr_link":"/Geometry/meter_assembly/btn_keypad_key_pwr_link","btn_keypad_key_cal_link":"/Geometry/meter_assembly/btn_keypad_key_cal_link","btn_keypad_key_back_link":"/Geometry/meter_assembly/btn_keypad_key_back_link"},"frames":{"pre_place":[0.016,0.0,0.2351],"place":[0.016,0.0,0.1051],"post_place":[0.016,0.0,0.2351],"joint_btn_keypad_key_pwr":[-0.024,-0.01606,0.0335],"joint_btn_keypad_key_cal":[0.0,-0.01606,0.0335],"joint_btn_keypad_key_back":[0.024,-0.01606,0.0335]},"joints":[{"name":"btn_keypad_key_pwr","type":"prismatic","parent":"keypad","child":"btn_keypad_key_pwr_link","axis":[-0.0,-0.0,1.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[-0.024,-0.01606,0.0335],"child_prim":"/Geometry/meter_assembly/btn_keypad_key_pwr_link","child_bbox_min":[-0.0335,-0.02156,0.0332],"child_bbox_max":[-0.0145,-0.01057,0.0339],"kind":"button"},{"name":"btn_keypad_key_cal","type":"prismatic","parent":"keypad","child":"btn_keypad_key_cal_link","axis":[-0.0,-0.0,1.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[0.0,-0.01606,0.0335],"child_prim":"/Geometry/meter_assembly/btn_keypad_key_cal_link","child_bbox_min":[-0.0095,-0.02156,0.0332],"child_bbox_max":[0.0095,-0.01057,0.0339],"kind":"button"},{"name":"btn_keypad_key_back","type":"prismatic","parent":"keypad","child":"btn_keypad_key_back_link","axis":[-0.0,-0.0,1.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[0.024,-0.01606,0.0335],"child_prim":"/Geometry/meter_assembly/btn_keypad_key_back_link","child_bbox_min":[0.0145,-0.02156,0.0332],"child_bbox_max":[0.0335,-0.01057,0.0339],"kind":"button"}],"controls":{"buttons":["btn_keypad_key_pwr","btn_keypad_key_cal","btn_keypad_key_back"],"knobs":[]},"slots":[],"hidden_parts":[],"readouts":[],"layout":{"front":[0.0,-1.0,0.0],"front_source":"convention","mount":"bench","weight_class":"robot_portable","mass_kg":0.4,"footprint_m":[0.2062,0.208],"height_m":0.0551,"clearance_m":{"front":0.25,"back":0.1,"left":0.05,"right":0.05,"top":0.1},"robot_standoff_m":0.35,"work_height_m":0.0551,"primary_slot":null,"access":[],"slot_count":0},"components":[{"id":"meter_assembly","name_zh":"914整机","function_zh":"含电池的手持测量本体,外置探头质量不计入400g","physical_meaning_zh":"含电池的手持测量本体,外置探头质量不计入400g","subsystem":null,"parent":null,"origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["metrohm_914__root"],"collisions":[],"joint":null,"mass_kg":0.4,"mass_evidence":"documented","material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":"局部形状、颜色、附件尺寸及摆放为外观参考/engineering_assumption;不是制造商CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","probe.set_installed","electrochemistry.select_probe","electrochemistry.configure_temperature","electrochemistry.configure_endpoint","acquisition.set_interval","electrochemistry.calibrate","acquisition.start","acquisition.stop","electrochemistry.reading","acquisition.records"],"bbox_m":null,"raw_keys":["collisions","function_zh","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh"]},{"id":"housing","name_zh":"壳体","function_zh":"承载和保护显示、测量电子装置及内部电池","physical_meaning_zh":"承载和保护显示、测量电子装置及内部电池","subsystem":null,"parent":"meter_assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["metrohm_914__housing_lower","metrohm_914__housing_upper"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":"局部形状、颜色、附件尺寸及摆放为外观参考/engineering_assumption;不是制造商CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","function_zh","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh"]},{"id":"interface_cover","name_zh":"面板及接口护边","function_zh":"外壳接缝、界面覆膜与接口防护的可视几何","physical_meaning_zh":"外壳接缝、界面覆膜与接口防护的可视几何","subsystem":null,"parent":"meter_assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["metrohm_914__housing_seam","metrohm_914__teal_face","metrohm_914__model_name","metrohm_914__brand_name","metrohm_914__bottom_identity"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":"局部形状、颜色、附件尺寸及摆放为外观参考/engineering_assumption;不是制造商CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","function_zh","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh"]},{"id":"display","name_zh":"显示屏","function_zh":"显示synthetic读数、所选探头及测量状态;校准状态由API读取","physical_meaning_zh":"显示synthetic读数、所选探头及测量状态;校准状态由API读取","subsystem":null,"parent":"meter_assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["metrohm_914__lcd_bezel","metrohm_914__lcd_surface","metrohm_914__display_text","metrohm_914__screen_footer"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":"局部形状、颜色、附件尺寸及摆放为外观参考/engineering_assumption;不是制造商CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","probe.set_installed","electrochemistry.select_probe","electrochemistry.configure_temperature","electrochemistry.configure_endpoint","electrochemistry.calibrate","electrochemistry.reading","acquisition.records"],"bbox_m":null,"raw_keys":["collisions","function_zh","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh"]},{"id":"keypad","name_zh":"操作按键","function_zh":"电源、校准、返回和导航操作表面","physical_meaning_zh":"电源、校准、返回和导航操作表面","subsystem":null,"parent":"meter_assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["metrohm_914__key_pwr","metrohm_914__key_label_PWR","metrohm_914__key_cal","metrohm_914__key_label_CAL","metrohm_914__key_back","metrohm_914__key_label_BACK","metrohm_914__navigation_ok","metrohm_914__ok_label","metrohm_914__nav_up","metrohm_914__nav_label_up","metrohm_914__nav_down","metrohm_914__nav_label_down","metrohm_914__nav_left","metrohm_914__nav_label_left","metrohm_914__nav_right","metrohm_914__nav_label_right"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":"局部形状、颜色、附件尺寸及摆放为外观参考/engineering_assumption;不是制造商CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","probe.set_installed","electrochemistry.select_probe","electrochemistry.configure_temperature","electrochemistry.configure_endpoint","acquisition.set_interval","electrochemistry.calibrate","acquisition.start","acquisition.stop"],"bbox_m":null,"raw_keys":["collisions","function_zh","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh"]},{"id":"digital_socket","name_zh":"数字探头接口","function_zh":"pH与溶氧探头互斥共用的数字连接位置","physical_meaning_zh":"pH与溶氧探头互斥共用的数字连接位置","subsystem":null,"parent":"meter_assembly","origin_m":[-0.023,0.101,0.022],"rpy_rad":[0,0,0],"objects":["metrohm_914__digital_socket","metrohm_914__digital_socket_well","metrohm_914__digital_socket_pin_-0.0015-0.0015","metrohm_914__digital_socket_pin_0.0015-0.0015","metrohm_914__digital_socket_pin_-0.00150.0015","metrohm_914__digital_socket_pin_0.00150.0015"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":"局部形状、颜色、附件尺寸及摆放为外观参考/engineering_assumption;不是制造商CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","function_zh","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh"]},{"id":"conductance_socket","name_zh":"电导探头接���","function_zh":"四导体电导测量配置的独立连接位置","physical_meaning_zh":"四导体电导测量配置的独立连接位置","subsystem":null,"parent":"meter_assembly","origin_m":[0.023,0.101,0.022],"rpy_rad":[0,0,0],"objects":["metrohm_914__conductance_socket","metrohm_914__conductance_socket_well","metrohm_914__conductance_socket_pin_-0.0015-0.0015","metrohm_914__conductance_socket_pin_0.0015-0.0015","metrohm_914__conductance_socket_pin_-0.00150.0015","metrohm_914__conductance_socket_pin_0.00150.0015"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":"局部形状、颜色、附件尺寸及摆放为外观参考/engineering_assumption;不是制造商CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","function_zh","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh"]},{"id":"usb_port","name_zh":"USB接口","function_zh":"供电及数据接口的几何位置;无厂家协议驱动","physical_meaning_zh":"供电及数据接口的几何位置;无厂家协议驱动","subsystem":null,"parent":"meter_assembly","origin_m":[0,-0.103,0.012],"rpy_rad":[0,0,0],"objects":["metrohm_914__usb_port","metrohm_914__usb_contact"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":"局部形状、颜色、附件尺寸及摆放为外观参考/engineering_assumption;不是制造商CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","function_zh","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh"]},{"id":"probe_ph","name_zh":"pH电极槽","function_zh":"可更换探头的示意资产;外置装配槽与实际连接插座位置分开","physical_meaning_zh":"可更换探头的示意资产;外置装配槽与实际连接插座位置分开","subsystem":null,"parent":"meter_assembly","origin_m":[-0.08,0,0.008],"rpy_rad":[0,0,0],"objects":["metrohm_914__probe_ph_joint","metrohm_914__probe_ph_grip","metrohm_914__probe_ph_body","metrohm_914__probe_ph_collar","metrohm_914__probe_ph_glass_bulb","metrohm_914__probe_ph_junction","metrohm_914__probe_ph_cable_stub","metrohm_914__probe_ph_tag"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":{"type":"prismatic","axis":[0,0,1],"limits":[0,0.04],"state_id":"probe.ph.installed","accessor":null},"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":"局部形状、颜色、附件尺寸及摆放为外观参考/engineering_assumption;不是制造商CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","probe.set_installed","electrochemistry.select_probe","electrochemistry.configure_temperature","electrochemistry.configure_endpoint","electrochemistry.calibrate","electrochemistry.reading"],"bbox_m":null,"raw_keys":["collisions","function_zh","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh"]},{"id":"probe_conductance","name_zh":"电导探头槽","function_zh":"可更换探头的示意资产;外置装配槽与实际连接插座位置分开","physical_meaning_zh":"可更换探头的示意资产;外置装配槽与实际连接插座位置分开","subsystem":null,"parent":"meter_assembly","origin_m":[0.082,0,0.008],"rpy_rad":[0,0,0],"objects":["metrohm_914__probe_conductance_joint","metrohm_914__probe_conductance_grip","metrohm_914__probe_conductance_body","metrohm_914__probe_conductance_collar","metrohm_914__probe_conductance_electrode_ring_0","metrohm_914__probe_conductance_electrode_ring_1","metrohm_914__probe_conductance_electrode_ring_2","metrohm_914__probe_conductance_electrode_ring_3","metrohm_914__probe_conductance_cable_stub","metrohm_914__probe_conductance_tag"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":{"type":"prismatic","axis":[0,0,1],"limits":[0,0.04],"state_id":"probe.conductance.installed","accessor":null},"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":"局部形状、颜色、附件尺寸及摆放为外观参考/engineering_assumption;不是制造商CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","probe.set_installed","electrochemistry.select_probe","electrochemistry.configure_temperature","electrochemistry.configure_endpoint","electrochemistry.calibrate","electrochemistry.reading"],"bbox_m":null,"raw_keys":["collisions","function_zh","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh"]},{"id":"probe_do","name_zh":"溶氧探头槽","function_zh":"可更换探头的示意资产;外置装配槽与实际连接插座位置分开","physical_meaning_zh":"可更换探头的示意资产;外置装配槽与实际连接插座位置分开","subsystem":null,"parent":"meter_assembly","origin_m":[0.112,0,0.008],"rpy_rad":[0,0,0],"objects":["metrohm_914__probe_do_joint","metrohm_914__probe_do_grip","metrohm_914__probe_do_body","metrohm_914__probe_do_collar","metrohm_914__probe_do_optical_cap","metrohm_914__probe_do_optical_window","metrohm_914__probe_do_cable_stub","metrohm_914__probe_do_tag"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":{"type":"prismatic","axis":[0,0,1],"limits":[0,0.04],"state_id":"probe.do.installed","accessor":null},"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":"局部形状、颜色、附件尺寸及摆放为外观参考/engineering_assumption;不是制造商CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","probe.set_installed","electrochemistry.select_probe","electrochemistry.configure_temperature","electrochemistry.configure_endpoint","electrochemistry.calibrate","electrochemistry.reading"],"bbox_m":null,"raw_keys":["collisions","function_zh","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh"]}],"component_source":"geometry_manifest.json + asset.contract.json + collision_proxies.json","capabilities":{"power.set":{"function_zh":"设置供电;断电停止记录并清除当前读数与终点历史。","kind":"device_command","availability":"implemented","component_ids":["display","keypad","meter_assembly","probe_conductance","probe_do","probe_ph"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"implemented"},"input":["enabled"]},"probe.set_installed":{"function_zh":"断电时更换逻辑探头槽;pH与DO共用digital接口且互斥,电导使用独立接口;更换清除该槽校准。","kind":"configuration","availability":"implemented","component_ids":["display","keypad","meter_assembly","probe_conductance","probe_do","probe_ph"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"implemented"},"input":["slot","installed"]},"electrochemistry.select_probe":{"function_zh":"选择已安装的单通道读数配置,切换后重新采样与稳定。","kind":"device_command","availability":"implemented","component_ids":["display","keypad","meter_assembly","probe_conductance","probe_do","probe_ph"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"implemented"},"input":["slot"]},"electrochemistry.configure_temperature":{"function_zh":"自动模式使用宿主样品温度;手动模式必须明确给定正开尔文温度;Nernst及可选电导线性温补均为工程假设。","kind":"device_command","availability":"implemented","component_ids":["display","keypad","meter_assembly","probe_conductance","probe_do","probe_ph"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"implemented"},"input":["mode","manual_temperature_k"]},"electrochemistry.configure_endpoint":{"function_zh":"显式设定稳定窗口与全量程比例阈值;同窗口最大最小值差不超过阈值时为稳定;上限仅为运行层资源边界。","kind":"device_command","availability":"implemented","component_ids":["display","keypad","meter_assembly","probe_conductance","probe_do","probe_ph"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"implemented"},"input":["hold_s","tolerance_fraction"]},"acquisition.set_interval":{"function_zh":"记录间隔为1s的整数倍;上限86400s是运行层资源边界,非厂家规格。","kind":"device_command","availability":"implemented","component_ids":["keypad","meter_assembly"],"implementation":{"process":"verified","scene":"absent","robot":"absent","hardware":"absent","host":"implemented"},"input":["interval_s"]},"electrochemistry.calibrate":{"function_zh":"有界单点合成校准:标准值按slot单位解释(ph=1、conductance=S、do=kg/m3);建立加性偏置修正,不声称厂家校准算法、精度或溯源。","kind":"device_command","availability":"implemented","component_ids":["display","keypad","meter_assembly","probe_conductance","probe_do","probe_ph"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"implemented"},"input":["slot","standard_value"]},"acquisition.start":{"function_zh":"开始记录后续实际宿主样本;不补造中间记录或推进时间。","kind":"device_command","availability":"implemented","component_ids":["keypad","meter_assembly"],"implementation":{"process":"verified","scene":"absent","robot":"absent","hardware":"absent","host":"implemented"},"input":[]},"acquisition.stop":{"function_zh":"停止后保留已记录数据。","kind":"device_command","availability":"implemented","component_ids":["keypad","meter_assembly"],"implementation":{"process":"verified","scene":"absent","robot":"absent","hardware":"absent","host":"implemented"},"input":[]},"electrochemistry.reading":{"function_zh":"返回所选配置的同版本合成读数;不暴露宿主真值,不推进时间。","kind":"query","availability":"implemented","component_ids":["display","meter_assembly","probe_conductance","probe_do","probe_ph"],"implementation":{"process":"verified","scene":"absent","robot":"absent","hardware":"absent","host":"implemented"},"input":[]},"acquisition.records":{"function_zh":"返回该实例已记录的可观察合成结果(最多1024条,满时停止),不含真值或宿主配置。","kind":"query","availability":"implemented","component_ids":["display","meter_assembly"],"implementation":{"process":"verified","scene":"absent","robot":"absent","hardware":"absent","host":"implemented"},"input":[]}},"state_slots":{"power.enabled":{"meaning_zh":"运行层状态 power.enabled;观测均属 synthetic。","unit":"1","access":"read_write","origin":"setpoint","component_ids":["keypad"],"write_via":"power.set"},"probe.selected":{"meaning_zh":"运行层状态 probe.selected;观测均属 synthetic。","unit":"1","access":"read_write","origin":"setpoint","component_ids":["meter_assembly"],"write_via":"electrochemistry.select_probe"},"temperature.mode":{"meaning_zh":"运行层状态 temperature.mode;观测均属 synthetic。","unit":"1","access":"read_only","origin":"setpoint","component_ids":["meter_assembly"],"write_via":null},"temperature.manual_k":{"meaning_zh":"运行层状态 temperature.manual_k;观测均属 synthetic。","unit":"K","access":"read_only","origin":"setpoint","component_ids":["meter_assembly"],"write_via":null},"temperature.compensation_k":{"meaning_zh":"运行层状态 temperature.compensation_k;观测均属 synthetic。","unit":"K","access":"read_only","origin":"derived","component_ids":["meter_assembly"],"write_via":null},"endpoint.hold_s":{"meaning_zh":"运行层状态 endpoint.hold_s;观测均属 synthetic。","unit":"s","access":"read_only","origin":"setpoint","component_ids":["meter_assembly"],"write_via":null},"endpoint.tolerance_fraction":{"meaning_zh":"运行层状态 endpoint.tolerance_fraction;观测均属 synthetic。","unit":"1","access":"read_only","origin":"setpoint","component_ids":["meter_assembly"],"write_via":null},"endpoint.stable":{"meaning_zh":"运行层状态 endpoint.stable;观测均属 synthetic。","unit":"1","access":"read_only","origin":"derived","component_ids":["meter_assembly"],"write_via":null},"endpoint.elapsed_s":{"meaning_zh":"运行层状态 endpoint.elapsed_s;观测均属 synthetic。","unit":"s","access":"read_only","origin":"derived","component_ids":["meter_assembly"],"write_via":null},"acquisition.interval_s":{"meaning_zh":"运行层状态 acquisition.interval_s;观测均属 synthetic。","unit":"s","access":"read_write","origin":"setpoint","component_ids":["meter_assembly"],"write_via":"acquisition.set_interval"},"acquisition.running":{"meaning_zh":"运行层状态 acquisition.running;观测均属 synthetic。","unit":"1","access":"read_only","origin":"derived","component_ids":["meter_assembly"],"write_via":null},"acquisition.record_count":{"meaning_zh":"运行层状态 acquisition.record_count;观测均属 synthetic。","unit":"1","access":"read_only","origin":"derived","component_ids":["meter_assembly"],"write_via":null},"measurement.status":{"meaning_zh":"运行层状态 measurement.status;观测均属 synthetic。","unit":"1","access":"read_only","origin":"derived","component_ids":["meter_assembly"],"write_via":null},"measurement.ph":{"meaning_zh":"运行层状态 measurement.ph;观测均属 synthetic。","unit":"1","access":"read_only","origin":"derived","component_ids":["meter_assembly","probe_ph"],"write_via":null},"measurement.potential_v":{"meaning_zh":"运行层状态 measurement.potential_v;观测均属 synthetic。","unit":"V","access":"read_only","origin":"derived","component_ids":["meter_assembly","probe_ph"],"write_via":null},"measurement.conductance_s":{"meaning_zh":"运行层状态 measurement.conductance_s;观测均属 synthetic。","unit":"S","access":"read_only","origin":"derived","component_ids":["meter_assembly","probe_conductance"],"write_via":null},"measurement.do_kg_m3":{"meaning_zh":"运行层状态 measurement.do_kg_m3;观测均属 synthetic。","unit":"kg/m3","access":"read_only","origin":"derived","component_ids":["meter_assembly","probe_do"],"write_via":null},"measurement.synthetic":{"meaning_zh":"运行层状态 measurement.synthetic;观测均属 synthetic。","unit":"1","access":"read_only","origin":"derived","component_ids":["meter_assembly"],"write_via":null},"measurement.sample_time_s":{"meaning_zh":"运行层状态 measurement.sample_time_s;观测均属 synthetic。","unit":"s","access":"read_only","origin":"derived","component_ids":["meter_assembly"],"write_via":null},"display.text":{"meaning_zh":"运行层状态 display.text;观测均属 synthetic。","unit":"1","access":"read_only","origin":"derived","component_ids":["display"],"write_via":null},"probe.ph.installed":{"meaning_zh":"运行层状态 probe.ph.installed;观测均属 synthetic。","unit":"1","access":"read_write","origin":"scene","component_ids":["probe_ph"],"write_via":"probe.set_installed"},"probe.ph.calibrated":{"meaning_zh":"运行层状态 probe.ph.calibrated;观测均属 synthetic。","unit":"1","access":"read_only","origin":"derived","component_ids":["probe_ph"],"write_via":null},"probe.ph.calibration_time_s":{"meaning_zh":"运行层状态 probe.ph.calibration_time_s;观测均属 synthetic。","unit":"s","access":"read_only","origin":"derived","component_ids":["probe_ph"],"write_via":null},"calibration.ph.offset":{"meaning_zh":"运行层状态 calibration.ph.offset;观测均属 synthetic。","unit":"1","access":"read_only","origin":"process_truth","component_ids":["probe_ph"],"write_via":null},"probe.conductance.installed":{"meaning_zh":"运行层状态 probe.conductance.installed;观测均属 synthetic。","unit":"1","access":"read_write","origin":"scene","component_ids":["probe_conductance"],"write_via":"probe.set_installed"},"probe.conductance.calibrated":{"meaning_zh":"运行层状态 probe.conductance.calibrated;观测均属 synthetic。","unit":"1","access":"read_only","origin":"derived","component_ids":["probe_conductance"],"write_via":null},"probe.conductance.calibration_time_s":{"meaning_zh":"运行层状态 probe.conductance.calibration_time_s;观测均属 synthetic。","unit":"s","access":"read_only","origin":"derived","component_ids":["probe_conductance"],"write_via":null},"calibration.conductance.offset":{"meaning_zh":"运行层状态 calibration.conductance.offset;观测均属 synthetic。","unit":"S","access":"read_only","origin":"process_truth","component_ids":["probe_conductance"],"write_via":null},"probe.do.installed":{"meaning_zh":"运行层状态 probe.do.installed;观测均属 synthetic。","unit":"1","access":"read_write","origin":"scene","component_ids":["probe_do"],"write_via":"probe.set_installed"},"probe.do.calibrated":{"meaning_zh":"运行层状态 probe.do.calibrated;观测均属 synthetic。","unit":"1","access":"read_only","origin":"derived","component_ids":["probe_do"],"write_via":null},"probe.do.calibration_time_s":{"meaning_zh":"运行层状态 probe.do.calibration_time_s;观测均属 synthetic。","unit":"s","access":"read_only","origin":"derived","component_ids":["probe_do"],"write_via":null},"calibration.do.offset":{"meaning_zh":"运行层状态 calibration.do.offset;观测均属 synthetic。","unit":"kg/m3","access":"read_only","origin":"process_truth","component_ids":["probe_do"],"write_via":null},"truth.ph":{"meaning_zh":"运行层状态 truth.ph;观测均属 synthetic。","unit":"1","access":"read_only","origin":"process_truth","component_ids":["meter_assembly"],"write_via":null},"truth.conductance_s":{"meaning_zh":"运行层状态 truth.conductance_s;观测均属 synthetic。","unit":"S","access":"read_only","origin":"process_truth","component_ids":["meter_assembly"],"write_via":null},"truth.do_kg_m3":{"meaning_zh":"运行层状态 truth.do_kg_m3;观测均属 synthetic。","unit":"kg/m3","access":"read_only","origin":"process_truth","component_ids":["meter_assembly"],"write_via":null},"truth.temperature_k":{"meaning_zh":"运行层状态 truth.temperature_k;观测均属 synthetic。","unit":"K","access":"read_only","origin":"process_truth","component_ids":["meter_assembly"],"write_via":null},"truth.reference_ph":{"meaning_zh":"运行层状态 truth.reference_ph;观测均属 synthetic。","unit":"1","access":"read_only","origin":"process_truth","component_ids":["meter_assembly"],"write_via":null},"truth.reference_potential_v":{"meaning_zh":"运行层状态 truth.reference_potential_v;观测均属 synthetic。","unit":"V","access":"read_only","origin":"process_truth","component_ids":["meter_assembly"],"write_via":null},"truth.conductance_temp_coefficient_k_inv":{"meaning_zh":"运行层状态 truth.conductance_temp_coefficient_k_inv;观测均属 synthetic。","unit":"1/K","access":"read_only","origin":"process_truth","component_ids":["meter_assembly"],"write_via":null},"truth.conductance_reference_temperature_k":{"meaning_zh":"运行层状态 truth.conductance_reference_temperature_k;观测均属 synthetic。","unit":"K","access":"read_only","origin":"process_truth","component_ids":["meter_assembly"],"write_via":null},"truth.standard_ph":{"meaning_zh":"运行层状态 truth.standard_ph;观测均属 synthetic。","unit":"1","access":"read_only","origin":"process_truth","component_ids":["meter_assembly"],"write_via":null},"truth.standard_conductance_s":{"meaning_zh":"运行层状态 truth.standard_conductance_s;观测均属 synthetic。","unit":"S","access":"read_only","origin":"process_truth","component_ids":["meter_assembly"],"write_via":null},"truth.standard_do_kg_m3":{"meaning_zh":"��行层状态 truth.standard_do_kg_m3;观测均属 synthetic。","unit":"kg/m3","access":"read_only","origin":"process_truth","component_ids":["meter_assembly"],"write_via":null},"truth.standard_slot":{"meaning_zh":"运行层状态 truth.standard_slot;观测均属 synthetic。","unit":"1","access":"read_only","origin":"process_truth","component_ids":["meter_assembly"],"write_via":null}},"mechanisms":{"electrochemistry":{"meaning_zh":"engineering_assumption:按可换探头提供 synthetic pH/Nernst 电位、电导与溶氧读数、标准液校准、温补和终点状态。未知电极参数必须由受信任宿主明确提供。","implementation":"lumped","equations":["pH = -log10(a_H+);Nernst 简化 E = E_ref - (ln(10) R T / F) (pH - pH_ref),E_ref 与 pH_ref 均无默认实机数值。","单位关系说明(本版未实现电导率输出):电导 G 的公共单位为 S;电导率 kappa = K_cell G (S/m),其中 K_cell 单位 m^-1;当前池常数为 null,不把 G 当作 kappa。","50 mg/L = 0.05 kg/m^3;mg/L 至 kg/m^3 乘 0.001。"],"parameters":{"ph_range":{"value":[-13,20],"unit":"1","evidence":"documented","meaning_zh":"CHEM-005 参数与来源 row10"},"ph_resolution":{"value":0.001,"unit":"1","evidence":"documented","meaning_zh":"仅用于显示量化,不是噪声或准确度"},"ph_instrument_accuracy":{"value":0.003,"unit":"1","evidence":"documented","meaning_zh":"仪表±0.003、不含探头误差;未用作仿真精度"},"conductance_range":{"value":[1e-07,0.5],"unit":"S","evidence":"documented","meaning_zh":"0.1µS..500mS,是电导而非电导率"},"do_range":{"value":[0,0.05],"unit":"kg/m3","evidence":"documented","meaning_zh":"0..50mg/L按SI换算"},"record_base_interval_s":{"value":1,"unit":"s","evidence":"documented","meaning_zh":"CHEM-005 数据间隔1s"},"nernst_model":{"value":"E=E_ref-ln(10)*R*T/F*(pH-pH_ref); pH_display=pH_ref+(E_ref-E)/(ln(10)*R*T_comp/F)","unit":"1","evidence":"assumption","meaning_zh":"理想Nernst响应,R=8.31446261815324 J/(mol K),F=96485.33212331001 C/mol;参考点和温度必须宿主显式提供"},"endpoint_model":{"value":"max(window)-min(window)<=tolerance_fraction*(channel_max-channel_min)","unit":"1","evidence":"assumption","meaning_zh":"窗口hold与容差初始null;以宿主给定样本零阶保持,每个实际样本才更新,不推断厂家终点算法"},"calibration_model":{"value":"corrected=raw+(standard-raw_at_calibration)","unit":"1","evidence":"assumption","meaning_zh":"单点合成偏置,仅当前安装探头;更换使校准失效"},"conductance_temperature_model":{"value":"G_ref=G/[1+alpha*(T_comp-T_ref)]","unit":"1","evidence":"assumption","meaning_zh":"仅当宿主明确给出alpha和T_ref才启用;否则报告原始电导且不声称完成电导温补"},"cell_constant_m_inv":{"value":null,"unit":"1/m","evidence":"unknown","meaning_zh":"表未给出;不默认生成数值或用整机参数代替"},"contamination_coefficient":{"value":null,"unit":"1","evidence":"unknown","meaning_zh":"表未给出;不默认生成数值或用整机参数代替"},"drift_rate":{"value":null,"unit":"1/s","evidence":"unknown","meaning_zh":"表未给出;不默认生成数值或用整机参数代替"},"probe_mass_kg":{"value":null,"unit":"kg","evidence":"unknown","meaning_zh":"表未给出;不默认生成数值或用整机参数代替"},"do_temperature_coefficient":{"value":null,"unit":"1/K","evidence":"unknown","meaning_zh":"表未给出;不默认生成数值或用整机参数代替"},"reference_potential_v":{"value":null,"unit":"V","evidence":"unknown","meaning_zh":"表未给出;不默认生成数值或用整机参数代替"},"reference_ph":{"value":null,"unit":"1","evidence":"unknown","meaning_zh":"表未给出;不默认生成数值或用整机参数代替"},"endpoint_hold_s":{"value":null,"unit":"s","evidence":"unknown","meaning_zh":"表未给出;不默认生成数值或用整机参数代替"},"endpoint_tolerance_fraction":{"value":null,"unit":"1","evidence":"unknown","meaning_zh":"表未给出;不默认生成数值或用整机参数代替"},"conductance_temperature_coefficient":{"value":null,"unit":"1/K","evidence":"unknown","meaning_zh":"表未给出;不默认生成数值或用整机参数代替"}}}},"limitations":["All measurement outputs are synthetic and estimated; accuracy ±0.003 is an instrument specification, not simulated accuracy.","pH and DO share one digital interface and cannot both be installed; conductance is an independent analog interface. Runtime selects one channel at a time; parallel acquisition is not implemented.","No default cell constant, contamination/drift/noise or probe mass is invented. Conductance is S, not S/m; DO is kg/m3.","Nernst, optional linear conductance compensation, single-point calibration and stability rules are engineering_assumption; DO temperature/pressure/salinity compensation is absent.","Readings need explicit host samples; automatic temperature needs explicit host temperature. Missing values stay null. No intermediate samples are fabricated.","Scene adapter receives only display/power/probe installation state; no robot, contact solver or hardware driver. A failing callback may partly modify the scene but leaves a command's process candidate uncommitted.","Host-supplied principals enforce API visibility only. Python/process/filesystem sandbox isolation is not implemented.","Request deduplication is in-memory and does not survive restart.","本体尺寸和质量有文献,局部外形、接口位置、探头几何与示教行程是 engineering_assumption;不宣称制造商 CAD 精度。","仅根 meter_assembly 使用整机 0.4 kg 与均匀包围盒惯量近似;探头等所有零件质量、实际质心和惯量均未知,没有分摊。","URDF 碰撞限盒、柱、球基元,固定关节保存初始分解摆放 q=0.04 m 快照;交互装配关节由 Blender 场景提供。未知探头/附件惯性数据不能由 URDF 消费者视为已知;本次未证明机器人抓取、插拔、接触力、摩擦或自由体稳定。","pH ±0.003 是整机且不含探头误差;不赋给 probe_ph,不保证 synthetic 模型达到该准确度。","真值隔离只对应实现并测试的会话 API 边界;共享文件系统、进程沙箱与外部部署安全隔离未验证。","硬件、机器人及物理接触求解验证均为 not_run;未有证据的场景能力不得标为 verified。"],"sources":[],"checks":{"coverage":{"status":"bridged","implemented":["acquisition.records","acquisition.set_interval","acquisition.start","acquisition.stop","electrochemistry.calibrate","electrochemistry.configure_endpoint","electrochemistry.configure_temperature","electrochemistry.reading","electrochemistry.select_probe","power.set","probe.set_installed"],"unsupported":[],"note_zh":"桥接 basic40_runtime_measure.Metrohm914Runtime(推进方式 host_step_abs),44 个状态槽;与运行层镜像对比全同;受信设置需经 host.call;关节化 USD(3 个按键(碰到即触发));接口点 0 个(无);布局:台面、单人可搬、正面 −y、前方留空 0.25 m;面板为菜单/文字屏(待办)"}},"previews":["previews/metrohm_914/preview.webp","previews/metrohm_914/preview_detail.webp","previews/metrohm_914/preview_front.webp","previews/metrohm_914/preview_runtime.webp"],"files":[{"name":"asset.contract.json","path":"assets/basic40_batch02/t4_measure/metrohm_914/asset.contract.json","bytes":234884},{"name":"collision_proxies.json","path":"assets/basic40_batch02/t4_measure/metrohm_914/collision_proxies.json","bytes":1279},{"name":"geometry_manifest.json","path":"assets/basic40_batch02/t4_measure/metrohm_914/geometry_manifest.json","bytes":14059},{"name":"model.blend","path":"assets/basic40_batch02/t4_measure/metrohm_914/model.blend","bytes":147742},{"name":"model.glb","path":"assets/basic40_batch02/t4_measure/metrohm_914/model.glb","bytes":1223164},{"name":"model.urdf","path":"assets/basic40_batch02/t4_measure/metrohm_914/model.urdf","bytes":5017}],"completeness":{"components":11,"with_collisions":4,"with_objects":11,"with_function":11,"with_mass":1,"joints_matching_component":0,"joints":3,"has_contract":true,"has_layout":true,"has_glb":true,"checks_present":["articulation_check","coverage","contract_validation","runtime_validation","scene_validation"]},"slug":"metrohm_914","chem_id":"CHEM-005","name_en":"pH / DO / conductivity meter","maker":"Metrohm","model":"914 pH/DO/Conductometer","domain":"metrology","domain_name":"Basic Metrology & Sample Handling","path":"assets/basic40_batch02/t4_measure/metrohm_914","glb_up":"z","has_contract":true,"contract":"assets/basic40_batch02/t4_measure/metrohm_914/asset.contract.json","runtime":"scripts/basic40_runtime_measure.py"}
|
|
|
|
| 1 |
+
{"tid":"instrument.metrohm_914","asset_dir":"basic40_batch02/t4_measure/metrohm_914","name_zh":"CHEM-005 多参数电化学水质测定仪 — Metrohm 914 pH/DO/Conductometer","category":"基础计量与样品处理","description_zh":"依据指定清单 CHEM-005 创建 914 本体与 pH、电导、溶氧三种可换探头配置。三槽是仿真配置登记,数字接口由 pH 与 DO 互斥复用,电导有独立接口;不声称三个实物通道同时可接。full 仅表示本次配置功能组件已完整登记,不代表全部厂家模式、实机驱动或接触动力学均已实现。","coordinate_system":{"status":"defined","length_unit":"m","angle_unit":"rad","handedness":"right","up_axis":"+Z","frame":"metrohm_914__root:本体台面投影中心 z=0;x 宽 0.092 m、y 长 0.208 m、z 高 0.034 m;右手系。探头为外置附件,不计入本体标称尺寸。"},"mass_kg":0.4,"size_m":[0.2062,0.208,0.0551],"bbox_min":[-0.0871,-0.104,0.0],"bbox_max":[0.1191,0.104,0.0551],"manifest_dimensions_m":null,"glb":"assets/basic40_batch02/t4_measure/metrohm_914/model.glb","glb_orientation":"gltf_y_up_rotated","usd":null,"urdf":"assets/basic40_batch02/t4_measure/metrohm_914/model.urdf","links":{"meter_assembly":"/Geometry/meter_assembly","btn_keypad_key_pwr_link":"/Geometry/meter_assembly/btn_keypad_key_pwr_link","btn_keypad_key_cal_link":"/Geometry/meter_assembly/btn_keypad_key_cal_link","btn_keypad_key_back_link":"/Geometry/meter_assembly/btn_keypad_key_back_link"},"frames":{"pre_place":[0.016,0.0,0.2351],"place":[0.016,0.0,0.1051],"post_place":[0.016,0.0,0.2351],"joint_btn_keypad_key_pwr":[-0.024,-0.01606,0.0335],"joint_btn_keypad_key_cal":[0.0,-0.01606,0.0335],"joint_btn_keypad_key_back":[0.024,-0.01606,0.0335]},"joints":[{"name":"btn_keypad_key_pwr","type":"prismatic","parent":"keypad","child":"btn_keypad_key_pwr_link","axis":[-0.0,-0.0,1.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[-0.024,-0.01606,0.0335],"child_prim":"/Geometry/meter_assembly/btn_keypad_key_pwr_link","child_bbox_min":[-0.0335,-0.02156,0.0332],"child_bbox_max":[-0.0145,-0.01057,0.0339],"kind":"button"},{"name":"btn_keypad_key_cal","type":"prismatic","parent":"keypad","child":"btn_keypad_key_cal_link","axis":[-0.0,-0.0,1.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[0.0,-0.01606,0.0335],"child_prim":"/Geometry/meter_assembly/btn_keypad_key_cal_link","child_bbox_min":[-0.0095,-0.02156,0.0332],"child_bbox_max":[0.0095,-0.01057,0.0339],"kind":"button"},{"name":"btn_keypad_key_back","type":"prismatic","parent":"keypad","child":"btn_keypad_key_back_link","axis":[-0.0,-0.0,1.0],"lower":0.0,"upper":0.0015,"effort":10.0,"mimic":null,"origin_m":[0.024,-0.01606,0.0335],"child_prim":"/Geometry/meter_assembly/btn_keypad_key_back_link","child_bbox_min":[0.0145,-0.02156,0.0332],"child_bbox_max":[0.0335,-0.01057,0.0339],"kind":"button"}],"controls":{"buttons":["btn_keypad_key_pwr","btn_keypad_key_cal","btn_keypad_key_back"],"knobs":[]},"slots":[],"hidden_parts":[],"readouts":[],"layout":{"front":[0.0,-1.0,0.0],"front_source":"convention","mount":"bench","weight_class":"robot_portable","mass_kg":0.4,"footprint_m":[0.2062,0.208],"height_m":0.0551,"clearance_m":{"front":0.25,"back":0.1,"left":0.05,"right":0.05,"top":0.1},"robot_standoff_m":0.35,"work_height_m":0.0551,"primary_slot":null,"access":[],"slot_count":0},"components":[{"id":"meter_assembly","name_zh":"914整机","function_zh":"含电池的手持测量本体,外置探头质量不计入400g","physical_meaning_zh":"含电池的手持测量本体,外置探头质量不计入400g","subsystem":null,"parent":null,"origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["metrohm_914__root"],"collisions":[],"joint":null,"mass_kg":0.4,"mass_evidence":"documented","material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":"局部形状、颜色、附件尺寸及摆放为外观参考/engineering_assumption;不是制造商CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","probe.set_installed","electrochemistry.select_probe","electrochemistry.configure_temperature","electrochemistry.configure_endpoint","acquisition.set_interval","electrochemistry.calibrate","acquisition.start","acquisition.stop","electrochemistry.reading","acquisition.records"],"bbox_m":null,"raw_keys":["collisions","function_zh","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh"]},{"id":"housing","name_zh":"壳体","function_zh":"承载和保护显示、测量电子装置及内部电池","physical_meaning_zh":"承载和保护显示、测量电子装置及内部电池","subsystem":null,"parent":"meter_assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["metrohm_914__housing_lower","metrohm_914__housing_upper"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":"局部形状、颜色、附件尺寸及摆放为外观参考/engineering_assumption;不是制造商CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","function_zh","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh"]},{"id":"interface_cover","name_zh":"面板及接口护边","function_zh":"外壳接缝、界面覆膜与接口防护的可视几何","physical_meaning_zh":"外壳接缝、界面覆膜与接口防护的可视几何","subsystem":null,"parent":"meter_assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["metrohm_914__housing_seam","metrohm_914__teal_face","metrohm_914__model_name","metrohm_914__brand_name","metrohm_914__bottom_identity"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":"局部形状、颜色、附件尺寸及摆放为外观参考/engineering_assumption;不是制造商CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","function_zh","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh"]},{"id":"display","name_zh":"显示屏","function_zh":"显示synthetic读数、所选探头及测量状态;校准状态由API读取","physical_meaning_zh":"显示synthetic读数、所选探头及测量状态;校准状态由API读取","subsystem":null,"parent":"meter_assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["metrohm_914__lcd_bezel","metrohm_914__lcd_surface","metrohm_914__display_text","metrohm_914__screen_footer"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":"局部形状、颜色、附件尺寸及摆放为外观参考/engineering_assumption;不是制造商CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","probe.set_installed","electrochemistry.select_probe","electrochemistry.configure_temperature","electrochemistry.configure_endpoint","electrochemistry.calibrate","electrochemistry.reading","acquisition.records"],"bbox_m":null,"raw_keys":["collisions","function_zh","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh"]},{"id":"keypad","name_zh":"操作按键","function_zh":"电源、校准、返回和导航操作表面","physical_meaning_zh":"电源、校准、返回和导航操作表面","subsystem":null,"parent":"meter_assembly","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["metrohm_914__key_pwr","metrohm_914__key_label_PWR","metrohm_914__key_cal","metrohm_914__key_label_CAL","metrohm_914__key_back","metrohm_914__key_label_BACK","metrohm_914__navigation_ok","metrohm_914__ok_label","metrohm_914__nav_up","metrohm_914__nav_label_up","metrohm_914__nav_down","metrohm_914__nav_label_down","metrohm_914__nav_left","metrohm_914__nav_label_left","metrohm_914__nav_right","metrohm_914__nav_label_right"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":"局部形状、颜色、附件尺寸及摆放为外观参考/engineering_assumption;不是制造商CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","probe.set_installed","electrochemistry.select_probe","electrochemistry.configure_temperature","electrochemistry.configure_endpoint","acquisition.set_interval","electrochemistry.calibrate","acquisition.start","acquisition.stop"],"bbox_m":null,"raw_keys":["collisions","function_zh","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh"]},{"id":"digital_socket","name_zh":"数字探头接口","function_zh":"pH与溶氧探头互斥共用的数字连接位置","physical_meaning_zh":"pH与溶氧探头互斥共用的数字连接位置","subsystem":null,"parent":"meter_assembly","origin_m":[-0.023,0.101,0.022],"rpy_rad":[0,0,0],"objects":["metrohm_914__digital_socket","metrohm_914__digital_socket_well","metrohm_914__digital_socket_pin_-0.0015-0.0015","metrohm_914__digital_socket_pin_0.0015-0.0015","metrohm_914__digital_socket_pin_-0.00150.0015","metrohm_914__digital_socket_pin_0.00150.0015"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":"局部形状、颜色、附件尺寸及摆放为外观参考/engineering_assumption;不是制造商CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","function_zh","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh"]},{"id":"conductance_socket","name_zh":"电导探头接口","function_zh":"四导体电导测量配置的独立连接位置","physical_meaning_zh":"四导体电导测量配置的独立连接位置","subsystem":null,"parent":"meter_assembly","origin_m":[0.023,0.101,0.022],"rpy_rad":[0,0,0],"objects":["metrohm_914__conductance_socket","metrohm_914__conductance_socket_well","metrohm_914__conductance_socket_pin_-0.0015-0.0015","metrohm_914__conductance_socket_pin_0.0015-0.0015","metrohm_914__conductance_socket_pin_-0.00150.0015","metrohm_914__conductance_socket_pin_0.00150.0015"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":"局部形状、颜色、附件尺寸及摆放为外观参考/engineering_assumption;不是制造商CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","function_zh","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh"]},{"id":"usb_port","name_zh":"USB接口","function_zh":"供电及数据接口的几何位置;无厂家协议驱动","physical_meaning_zh":"供电及数据接口的几何位置;无厂家协议驱动","subsystem":null,"parent":"meter_assembly","origin_m":[0,-0.103,0.012],"rpy_rad":[0,0,0],"objects":["metrohm_914__usb_port","metrohm_914__usb_contact"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":"局部形状、颜色、附件尺寸及摆放为外观参考/engineering_assumption;不是制造商CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","function_zh","geometry_note_zh","id","name_zh","objects","origin_m","parent","physical_meaning_zh"]},{"id":"probe_ph","name_zh":"pH电极槽","function_zh":"可更换探头的示意资产;外置装配槽与实际连接插座位置分开","physical_meaning_zh":"可更换探头的示意资产;外置装配槽与实际连接插座位置分开","subsystem":null,"parent":"meter_assembly","origin_m":[-0.08,0,0.008],"rpy_rad":[0,0,0],"objects":["metrohm_914__probe_ph_joint","metrohm_914__probe_ph_grip","metrohm_914__probe_ph_body","metrohm_914__probe_ph_collar","metrohm_914__probe_ph_glass_bulb","metrohm_914__probe_ph_junction","metrohm_914__probe_ph_cable_stub","metrohm_914__probe_ph_tag"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":{"type":"prismatic","axis":[0,0,1],"limits":[0,0.04],"state_id":"probe.ph.installed","accessor":null},"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":"局部形状、颜色、附件尺寸及摆放为外观参考/engineering_assumption;不是制造商CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","probe.set_installed","electrochemistry.select_probe","electrochemistry.configure_temperature","electrochemistry.configure_endpoint","electrochemistry.calibrate","electrochemistry.reading"],"bbox_m":null,"raw_keys":["collisions","function_zh","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh"]},{"id":"probe_conductance","name_zh":"电导探头槽","function_zh":"可更换探头的示意资产;外置装配槽与实际连接插座位置分开","physical_meaning_zh":"可更换探头的示意资产;外置装配槽与实际连接插座位置分开","subsystem":null,"parent":"meter_assembly","origin_m":[0.082,0,0.008],"rpy_rad":[0,0,0],"objects":["metrohm_914__probe_conductance_joint","metrohm_914__probe_conductance_grip","metrohm_914__probe_conductance_body","metrohm_914__probe_conductance_collar","metrohm_914__probe_conductance_electrode_ring_0","metrohm_914__probe_conductance_electrode_ring_1","metrohm_914__probe_conductance_electrode_ring_2","metrohm_914__probe_conductance_electrode_ring_3","metrohm_914__probe_conductance_cable_stub","metrohm_914__probe_conductance_tag"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":{"type":"prismatic","axis":[0,0,1],"limits":[0,0.04],"state_id":"probe.conductance.installed","accessor":null},"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":"局部形状、颜色、附件尺寸及摆放为外观参考/engineering_assumption;不是制造商CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","probe.set_installed","electrochemistry.select_probe","electrochemistry.configure_temperature","electrochemistry.configure_endpoint","electrochemistry.calibrate","electrochemistry.reading"],"bbox_m":null,"raw_keys":["collisions","function_zh","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh"]},{"id":"probe_do","name_zh":"溶氧探头槽","function_zh":"可更换探头的示意资产;外置装配槽与实际连接插座位置分开","physical_meaning_zh":"可更换探头的示意资产;外置装配槽与实际连接插座位置分开","subsystem":null,"parent":"meter_assembly","origin_m":[0.112,0,0.008],"rpy_rad":[0,0,0],"objects":["metrohm_914__probe_do_joint","metrohm_914__probe_do_grip","metrohm_914__probe_do_body","metrohm_914__probe_do_collar","metrohm_914__probe_do_optical_cap","metrohm_914__probe_do_optical_window","metrohm_914__probe_do_cable_stub","metrohm_914__probe_do_tag"],"collisions":[{"shape":"box","origin_m":[0,0,0],"rpy_rad":[0,0,0],"size_m":[0.01,0.01,0.01]}],"joint":{"type":"prismatic","axis":[0,0,1],"limits":[0,0.04],"state_id":"probe.do.installed","accessor":null},"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":null,"geometry_note_zh":"局部形状、颜色、附件尺寸及摆放为外观参考/engineering_assumption;不是制造商CAD。","interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","probe.set_installed","electrochemistry.select_probe","electrochemistry.configure_temperature","electrochemistry.configure_endpoint","electrochemistry.calibrate","electrochemistry.reading"],"bbox_m":null,"raw_keys":["collisions","function_zh","geometry_note_zh","id","joint","name_zh","objects","origin_m","parent","physical_meaning_zh"]}],"component_source":"geometry_manifest.json + asset.contract.json + collision_proxies.json","capabilities":{"power.set":{"function_zh":"设置供电;断电停止记录并清除当前读数与终点历史。","kind":"device_command","availability":"implemented","component_ids":["display","keypad","meter_assembly","probe_conductance","probe_do","probe_ph"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"implemented"},"input":["enabled"]},"probe.set_installed":{"function_zh":"断电时更换逻辑探头槽;pH与DO共用digital接口且互斥,电导使用独立接口;更换清除该槽校准。","kind":"configuration","availability":"implemented","component_ids":["display","keypad","meter_assembly","probe_conductance","probe_do","probe_ph"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"implemented"},"input":["slot","installed"]},"electrochemistry.select_probe":{"function_zh":"选择已安装的单通道读数配置,切换后重新采样与稳定。","kind":"device_command","availability":"implemented","component_ids":["display","keypad","meter_assembly","probe_conductance","probe_do","probe_ph"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"implemented"},"input":["slot"]},"electrochemistry.configure_temperature":{"function_zh":"自动模式使用宿主样品温度;手动模式必须明确给定正开尔文温度;Nernst及可选电导线性温补均为工程假设。","kind":"device_command","availability":"implemented","component_ids":["display","keypad","meter_assembly","probe_conductance","probe_do","probe_ph"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"implemented"},"input":["mode","manual_temperature_k"]},"electrochemistry.configure_endpoint":{"function_zh":"显式设定稳定窗口与全量程比例阈值;同窗口最大最小值差不超过阈值时为稳定;上限仅为运行层资源边界。","kind":"device_command","availability":"implemented","component_ids":["display","keypad","meter_assembly","probe_conductance","probe_do","probe_ph"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"implemented"},"input":["hold_s","tolerance_fraction"]},"acquisition.set_interval":{"function_zh":"记录间隔为1s的整数倍;上限86400s是运行层资源边界,非厂家规格。","kind":"device_command","availability":"implemented","component_ids":["keypad","meter_assembly"],"implementation":{"process":"verified","scene":"absent","robot":"absent","hardware":"absent","host":"implemented"},"input":["interval_s"]},"electrochemistry.calibrate":{"function_zh":"有界单点合成校准:标准值按slot单位解释(ph=1、conductance=S、do=kg/m3);建立加性偏置修正,不声称厂家校准算法、精度或溯源。","kind":"device_command","availability":"implemented","component_ids":["display","keypad","meter_assembly","probe_conductance","probe_do","probe_ph"],"implementation":{"process":"verified","scene":"verified","robot":"absent","hardware":"absent","host":"implemented"},"input":["slot","standard_value"]},"acquisition.start":{"function_zh":"开始记录后续实际宿主样本;不补造中间记录或推进时间。","kind":"device_command","availability":"implemented","component_ids":["keypad","meter_assembly"],"implementation":{"process":"verified","scene":"absent","robot":"absent","hardware":"absent","host":"implemented"},"input":[]},"acquisition.stop":{"function_zh":"停止后保留已记录数据。","kind":"device_command","availability":"implemented","component_ids":["keypad","meter_assembly"],"implementation":{"process":"verified","scene":"absent","robot":"absent","hardware":"absent","host":"implemented"},"input":[]},"electrochemistry.reading":{"function_zh":"返回所选配置的同版本合成读数;不暴露宿主真值,不推进时间。","kind":"query","availability":"implemented","component_ids":["display","meter_assembly","probe_conductance","probe_do","probe_ph"],"implementation":{"process":"verified","scene":"absent","robot":"absent","hardware":"absent","host":"implemented"},"input":[]},"acquisition.records":{"function_zh":"返回该实例已记录的可观察合成结果(最多1024条,满时停止),不含真值或宿主配置。","kind":"query","availability":"implemented","component_ids":["display","meter_assembly"],"implementation":{"process":"verified","scene":"absent","robot":"absent","hardware":"absent","host":"implemented"},"input":[]}},"state_slots":{"power.enabled":{"meaning_zh":"运行层状态 power.enabled;观测均属 synthetic。","unit":"1","access":"read_write","origin":"setpoint","component_ids":["keypad"],"write_via":"power.set"},"probe.selected":{"meaning_zh":"运行层状态 probe.selected;观测均属 synthetic。","unit":"1","access":"read_write","origin":"setpoint","component_ids":["meter_assembly"],"write_via":"electrochemistry.select_probe"},"temperature.mode":{"meaning_zh":"运行层状态 temperature.mode;观测均属 synthetic。","unit":"1","access":"read_only","origin":"setpoint","component_ids":["meter_assembly"],"write_via":null},"temperature.manual_k":{"meaning_zh":"运行层状态 temperature.manual_k;观测均属 synthetic。","unit":"K","access":"read_only","origin":"setpoint","component_ids":["meter_assembly"],"write_via":null},"temperature.compensation_k":{"meaning_zh":"运行层状态 temperature.compensation_k;观测均属 synthetic。","unit":"K","access":"read_only","origin":"derived","component_ids":["meter_assembly"],"write_via":null},"endpoint.hold_s":{"meaning_zh":"运行层状态 endpoint.hold_s;观测均属 synthetic。","unit":"s","access":"read_only","origin":"setpoint","component_ids":["meter_assembly"],"write_via":null},"endpoint.tolerance_fraction":{"meaning_zh":"运行层状态 endpoint.tolerance_fraction;观测均属 synthetic。","unit":"1","access":"read_only","origin":"setpoint","component_ids":["meter_assembly"],"write_via":null},"endpoint.stable":{"meaning_zh":"运行层状态 endpoint.stable;观测均属 synthetic。","unit":"1","access":"read_only","origin":"derived","component_ids":["meter_assembly"],"write_via":null},"endpoint.elapsed_s":{"meaning_zh":"运行层状态 endpoint.elapsed_s;观测均属 synthetic。","unit":"s","access":"read_only","origin":"derived","component_ids":["meter_assembly"],"write_via":null},"acquisition.interval_s":{"meaning_zh":"运行层状态 acquisition.interval_s;观测均属 synthetic。","unit":"s","access":"read_write","origin":"setpoint","component_ids":["meter_assembly"],"write_via":"acquisition.set_interval"},"acquisition.running":{"meaning_zh":"运行层状态 acquisition.running;观测均属 synthetic。","unit":"1","access":"read_only","origin":"derived","component_ids":["meter_assembly"],"write_via":null},"acquisition.record_count":{"meaning_zh":"运行层状态 acquisition.record_count;观测均属 synthetic。","unit":"1","access":"read_only","origin":"derived","component_ids":["meter_assembly"],"write_via":null},"measurement.status":{"meaning_zh":"运行层状态 measurement.status;观测均属 synthetic。","unit":"1","access":"read_only","origin":"derived","component_ids":["meter_assembly"],"write_via":null},"measurement.ph":{"meaning_zh":"运行层状态 measurement.ph;观测均属 synthetic。","unit":"1","access":"read_only","origin":"derived","component_ids":["meter_assembly","probe_ph"],"write_via":null},"measurement.potential_v":{"meaning_zh":"运行层状态 measurement.potential_v;观测均属 synthetic。","unit":"V","access":"read_only","origin":"derived","component_ids":["meter_assembly","probe_ph"],"write_via":null},"measurement.conductance_s":{"meaning_zh":"运行层状态 measurement.conductance_s;观测均属 synthetic。","unit":"S","access":"read_only","origin":"derived","component_ids":["meter_assembly","probe_conductance"],"write_via":null},"measurement.do_kg_m3":{"meaning_zh":"运行层状态 measurement.do_kg_m3;观测均属 synthetic。","unit":"kg/m3","access":"read_only","origin":"derived","component_ids":["meter_assembly","probe_do"],"write_via":null},"measurement.synthetic":{"meaning_zh":"运行层状态 measurement.synthetic;观测均属 synthetic。","unit":"1","access":"read_only","origin":"derived","component_ids":["meter_assembly"],"write_via":null},"measurement.sample_time_s":{"meaning_zh":"运行层状态 measurement.sample_time_s;观测均属 synthetic。","unit":"s","access":"read_only","origin":"derived","component_ids":["meter_assembly"],"write_via":null},"display.text":{"meaning_zh":"运行层状态 display.text;观测均属 synthetic。","unit":"1","access":"read_only","origin":"derived","component_ids":["display"],"write_via":null},"probe.ph.installed":{"meaning_zh":"运行层状态 probe.ph.installed;观测均属 synthetic。","unit":"1","access":"read_write","origin":"scene","component_ids":["probe_ph"],"write_via":"probe.set_installed"},"probe.ph.calibrated":{"meaning_zh":"运行层状态 probe.ph.calibrated;观测均属 synthetic。","unit":"1","access":"read_only","origin":"derived","component_ids":["probe_ph"],"write_via":null},"probe.ph.calibration_time_s":{"meaning_zh":"运行层状态 probe.ph.calibration_time_s;观测均属 synthetic。","unit":"s","access":"read_only","origin":"derived","component_ids":["probe_ph"],"write_via":null},"calibration.ph.offset":{"meaning_zh":"运行层状态 calibration.ph.offset;观测均属 synthetic。","unit":"1","access":"read_only","origin":"process_truth","component_ids":["probe_ph"],"write_via":null},"probe.conductance.installed":{"meaning_zh":"运行层状态 probe.conductance.installed;观测均属 synthetic。","unit":"1","access":"read_write","origin":"scene","component_ids":["probe_conductance"],"write_via":"probe.set_installed"},"probe.conductance.calibrated":{"meaning_zh":"运行层状态 probe.conductance.calibrated;观测均属 synthetic。","unit":"1","access":"read_only","origin":"derived","component_ids":["probe_conductance"],"write_via":null},"probe.conductance.calibration_time_s":{"meaning_zh":"运行层状态 probe.conductance.calibration_time_s;观测均属 synthetic。","unit":"s","access":"read_only","origin":"derived","component_ids":["probe_conductance"],"write_via":null},"calibration.conductance.offset":{"meaning_zh":"运行层状态 calibration.conductance.offset;观测均属 synthetic。","unit":"S","access":"read_only","origin":"process_truth","component_ids":["probe_conductance"],"write_via":null},"probe.do.installed":{"meaning_zh":"运行层状态 probe.do.installed;观测均属 synthetic。","unit":"1","access":"read_write","origin":"scene","component_ids":["probe_do"],"write_via":"probe.set_installed"},"probe.do.calibrated":{"meaning_zh":"运行层状态 probe.do.calibrated;观测均属 synthetic。","unit":"1","access":"read_only","origin":"derived","component_ids":["probe_do"],"write_via":null},"probe.do.calibration_time_s":{"meaning_zh":"运行层状态 probe.do.calibration_time_s;观测均属 synthetic。","unit":"s","access":"read_only","origin":"derived","component_ids":["probe_do"],"write_via":null},"calibration.do.offset":{"meaning_zh":"运行层状态 calibration.do.offset;观测均属 synthetic。","unit":"kg/m3","access":"read_only","origin":"process_truth","component_ids":["probe_do"],"write_via":null},"truth.ph":{"meaning_zh":"运行层状态 truth.ph;观测均属 synthetic。","unit":"1","access":"read_only","origin":"process_truth","component_ids":["meter_assembly"],"write_via":null},"truth.conductance_s":{"meaning_zh":"运行层状态 truth.conductance_s;观测均属 synthetic。","unit":"S","access":"read_only","origin":"process_truth","component_ids":["meter_assembly"],"write_via":null},"truth.do_kg_m3":{"meaning_zh":"运行层状态 truth.do_kg_m3;观测均属 synthetic。","unit":"kg/m3","access":"read_only","origin":"process_truth","component_ids":["meter_assembly"],"write_via":null},"truth.temperature_k":{"meaning_zh":"运行层状态 truth.temperature_k;观测均属 synthetic。","unit":"K","access":"read_only","origin":"process_truth","component_ids":["meter_assembly"],"write_via":null},"truth.reference_ph":{"meaning_zh":"运行层状态 truth.reference_ph;观测均属 synthetic。","unit":"1","access":"read_only","origin":"process_truth","component_ids":["meter_assembly"],"write_via":null},"truth.reference_potential_v":{"meaning_zh":"运行层状态 truth.reference_potential_v;观测均属 synthetic。","unit":"V","access":"read_only","origin":"process_truth","component_ids":["meter_assembly"],"write_via":null},"truth.conductance_temp_coefficient_k_inv":{"meaning_zh":"运行层状态 truth.conductance_temp_coefficient_k_inv;观测均属 synthetic。","unit":"1/K","access":"read_only","origin":"process_truth","component_ids":["meter_assembly"],"write_via":null},"truth.conductance_reference_temperature_k":{"meaning_zh":"运行层状态 truth.conductance_reference_temperature_k;观测均属 synthetic。","unit":"K","access":"read_only","origin":"process_truth","component_ids":["meter_assembly"],"write_via":null},"truth.standard_ph":{"meaning_zh":"运行层状态 truth.standard_ph;观测均属 synthetic。","unit":"1","access":"read_only","origin":"process_truth","component_ids":["meter_assembly"],"write_via":null},"truth.standard_conductance_s":{"meaning_zh":"运行层状态 truth.standard_conductance_s;观测均属 synthetic。","unit":"S","access":"read_only","origin":"process_truth","component_ids":["meter_assembly"],"write_via":null},"truth.standard_do_kg_m3":{"meaning_zh":"运行层状态 truth.standard_do_kg_m3;观测均属 synthetic。","unit":"kg/m3","access":"read_only","origin":"process_truth","component_ids":["meter_assembly"],"write_via":null},"truth.standard_slot":{"meaning_zh":"运行层状态 truth.standard_slot;观测均属 synthetic。","unit":"1","access":"read_only","origin":"process_truth","component_ids":["meter_assembly"],"write_via":null}},"mechanisms":{"electrochemistry":{"meaning_zh":"engineering_assumption:按可换探头提供 synthetic pH/Nernst 电位、电导与溶氧读数、标准液校准、温补和终点状态。未知电极参数必须由受信任宿主明确提供。","implementation":"lumped","equations":["pH = -log10(a_H+);Nernst 简化 E = E_ref - (ln(10) R T / F) (pH - pH_ref),E_ref 与 pH_ref 均无默认实机数值。","单位关系说明(本版未实现电导率输出):电导 G 的公共单位为 S;电导率 kappa = K_cell G (S/m),其中 K_cell 单位 m^-1;当前池常数为 null,不把 G 当作 kappa。","50 mg/L = 0.05 kg/m^3;mg/L 至 kg/m^3 乘 0.001。"],"parameters":{"ph_range":{"value":[-13,20],"unit":"1","evidence":"documented","meaning_zh":"CHEM-005 参数与来源 row10"},"ph_resolution":{"value":0.001,"unit":"1","evidence":"documented","meaning_zh":"仅用于显示量化,不是噪声或准确度"},"ph_instrument_accuracy":{"value":0.003,"unit":"1","evidence":"documented","meaning_zh":"仪表±0.003、不含探头误差;未用作仿真精度"},"conductance_range":{"value":[1e-07,0.5],"unit":"S","evidence":"documented","meaning_zh":"0.1µS..500mS,是电导而非电导率"},"do_range":{"value":[0,0.05],"unit":"kg/m3","evidence":"documented","meaning_zh":"0..50mg/L按SI换算"},"record_base_interval_s":{"value":1,"unit":"s","evidence":"documented","meaning_zh":"CHEM-005 数据间隔1s"},"nernst_model":{"value":"E=E_ref-ln(10)*R*T/F*(pH-pH_ref); pH_display=pH_ref+(E_ref-E)/(ln(10)*R*T_comp/F)","unit":"1","evidence":"assumption","meaning_zh":"理想Nernst响应,R=8.31446261815324 J/(mol K),F=96485.33212331001 C/mol;参考点和温度必须宿主显式提供"},"endpoint_model":{"value":"max(window)-min(window)<=tolerance_fraction*(channel_max-channel_min)","unit":"1","evidence":"assumption","meaning_zh":"窗口hold与容差初始null;以宿主给定样本零阶保持,每个实际样本才更新,不推断厂家终点算法"},"calibration_model":{"value":"corrected=raw+(standard-raw_at_calibration)","unit":"1","evidence":"assumption","meaning_zh":"单点合成偏置,仅当前安装探头;更换使校准失效"},"conductance_temperature_model":{"value":"G_ref=G/[1+alpha*(T_comp-T_ref)]","unit":"1","evidence":"assumption","meaning_zh":"仅当宿主明确给出alpha和T_ref才启用;否则报告原始电导且不声称完成电导温补"},"cell_constant_m_inv":{"value":null,"unit":"1/m","evidence":"unknown","meaning_zh":"表未给出;不默认生成数值或用整机参数代替"},"contamination_coefficient":{"value":null,"unit":"1","evidence":"unknown","meaning_zh":"表未给出;不默认生成数值或用整机参数代替"},"drift_rate":{"value":null,"unit":"1/s","evidence":"unknown","meaning_zh":"表未给出;不默认生成数值或用整机参数代替"},"probe_mass_kg":{"value":null,"unit":"kg","evidence":"unknown","meaning_zh":"表未给出;不默认生成数值或用整机参数代替"},"do_temperature_coefficient":{"value":null,"unit":"1/K","evidence":"unknown","meaning_zh":"表未给出;不默认生成数值或用整机参数代替"},"reference_potential_v":{"value":null,"unit":"V","evidence":"unknown","meaning_zh":"表未给出;不默认生成数值或用整机参数代替"},"reference_ph":{"value":null,"unit":"1","evidence":"unknown","meaning_zh":"表未给出;不默认生成数值或用整机参数代替"},"endpoint_hold_s":{"value":null,"unit":"s","evidence":"unknown","meaning_zh":"表未给出;不默认生成数值或用整机参数代替"},"endpoint_tolerance_fraction":{"value":null,"unit":"1","evidence":"unknown","meaning_zh":"表未给出;不默认生成数值或用整机参数代替"},"conductance_temperature_coefficient":{"value":null,"unit":"1/K","evidence":"unknown","meaning_zh":"表未给出;不默认生成数值或用整机参数代替"}}}},"limitations":["All measurement outputs are synthetic and estimated; accuracy ±0.003 is an instrument specification, not simulated accuracy.","pH and DO share one digital interface and cannot both be installed; conductance is an independent analog interface. Runtime selects one channel at a time; parallel acquisition is not implemented.","No default cell constant, contamination/drift/noise or probe mass is invented. Conductance is S, not S/m; DO is kg/m3.","Nernst, optional linear conductance compensation, single-point calibration and stability rules are engineering_assumption; DO temperature/pressure/salinity compensation is absent.","Readings need explicit host samples; automatic temperature needs explicit host temperature. Missing values stay null. No intermediate samples are fabricated.","Scene adapter receives only display/power/probe installation state; no robot, contact solver or hardware driver. A failing callback may partly modify the scene but leaves a command's process candidate uncommitted.","Host-supplied principals enforce API visibility only. Python/process/filesystem sandbox isolation is not implemented.","Request deduplication is in-memory and does not survive restart.","本体尺寸和质量有文献,局部外形、接口位置、探头几何与示教行程是 engineering_assumption;不宣称制造商 CAD 精度。","仅根 meter_assembly 使用整机 0.4 kg 与均匀包围盒惯量近似;探头等所有零件质量、实际质心和惯量均未知,没有分摊。","URDF 碰撞限盒、柱、球基元,固定关节保存初始分解摆放 q=0.04 m 快照;交互装配关节由 Blender 场景提供。未知探头/附件惯性数据不能由 URDF 消费者视为已知;本次未证明机器人抓取、插拔、接触力、摩擦或自由体稳定。","pH ±0.003 是整机且不含探头误差;不赋给 probe_ph,不保证 synthetic 模型达到该准确度。","真值隔离只对应实现并测试的会话 API 边界;共享文件系统、进程沙箱与外部部署安全隔离未验证。","硬件、机器人及物理接触求解验证均为 not_run;未有证据的场景能力不得标为 verified。"],"sources":[],"checks":{"coverage":{"status":"bridged","implemented":["acquisition.records","acquisition.set_interval","acquisition.start","acquisition.stop","electrochemistry.calibrate","electrochemistry.configure_endpoint","electrochemistry.configure_temperature","electrochemistry.reading","electrochemistry.select_probe","power.set","probe.set_installed"],"unsupported":[],"note_zh":"桥接 basic40_runtime_measure.Metrohm914Runtime(推进方式 host_step_abs),44 个状态槽;与运行层镜像对比全同;受信设置需经 host.call;关节化 USD(3 个按键(碰到即触发));接口点 0 个(无);布局:台面、单人可搬、正面 −y、前方留空 0.25 m;面板为菜单/文字屏(待办)"}},"previews":["previews/metrohm_914/preview.webp","previews/metrohm_914/preview_detail.webp","previews/metrohm_914/preview_front.webp","previews/metrohm_914/preview_runtime.webp"],"files":[{"name":"asset.contract.json","path":"assets/basic40_batch02/t4_measure/metrohm_914/asset.contract.json","bytes":267587},{"name":"collision_proxies.json","path":"assets/basic40_batch02/t4_measure/metrohm_914/collision_proxies.json","bytes":1279},{"name":"geometry_manifest.json","path":"assets/basic40_batch02/t4_measure/metrohm_914/geometry_manifest.json","bytes":14059},{"name":"model.blend","path":"assets/basic40_batch02/t4_measure/metrohm_914/model.blend","bytes":147742},{"name":"model.glb","path":"assets/basic40_batch02/t4_measure/metrohm_914/model.glb","bytes":1223164},{"name":"model.urdf","path":"assets/basic40_batch02/t4_measure/metrohm_914/model.urdf","bytes":5017}],"completeness":{"components":11,"with_collisions":4,"with_objects":11,"with_function":11,"with_mass":1,"joints_matching_component":0,"joints":3,"has_contract":true,"has_layout":true,"has_glb":true,"checks_present":["articulation_check","coverage","contract_validation","runtime_validation","scene_validation"]},"slug":"metrohm_914","chem_id":"CHEM-005","name_en":"pH / DO / conductivity meter","maker":"Metrohm","model":"914 pH/DO/Conductometer","domain":"metrology","domain_name":"Basic Metrology & Sample Handling","path":"assets/basic40_batch02/t4_measure/metrohm_914","glb_up":"z","has_contract":true,"contract":"assets/basic40_batch02/t4_measure/metrohm_914/asset.contract.json","runtime":"scripts/basic40_runtime_measure.py"}
|
data/assets/instrument.metrohm_omnis.json
CHANGED
|
@@ -1 +1 @@
|
|
| 1 |
-
{"tid":"instrument.metrohm_omnis","asset_dir":"basic40_batch02/t4_measure/metrohm_omnis","name_zh":"Metrohm OMNIS Professional Titrator 2.1001.0320 自动电位滴定仪","category":"电化学与定量分析","description_zh":"CHEM-101,三表第106行的指定型号。覆盖本批已登记功能组件、合成滴定与场景代理;full指本批组件登记完整,不表示厂家完整动力学或真实仪器已验证。","coordinate_system":{"status":"defined","length_unit":"m","angle_unit":"rad","handedness":"right","up_axis":"+Z","frame":"asset_root:台面投影中心;X向右、Y向后、Z向上。标称范围X±0.071 m、Y±0.200 m、Z=0..0.358 m。"},"mass_kg":5.1,"size_m":[0.142,0.3996,0.358],"bbox_min":[-0.071,-0.1996,0.0],"bbox_max":[0.071,0.2,0.358],"manifest_dimensions_m":[0.142,0.4,0.358],"glb":"assets/basic40_batch02/t4_measure/metrohm_omnis/model.glb","glb_orientation":"gltf_y_up_rotated","usd":null,"urdf":"assets/basic40_batch02/t4_measure/metrohm_omnis/model.urdf","links":{"root":"/Geometry/root","stir_bar":"/Geometry/root/stir_bar","piston_proxy":"/Geometry/root/piston_proxy"},"frames":{"pre_place":[0.0,-0.114,0.2305],"place":[0.0,-0.114,0.1005],"post_place":[0.0,-0.114,0.2305],"joint_stir_bar_joint":[0.0,-0.115,0.055],"joint_piston_proxy_joint":[0.0,-0.021,0.197]},"joints":[{"name":"stir_bar_joint","type":"continuous","parent":"root","child":"stir_bar","axis":[0.0,0.0,1.0],"lower":null,"upper":null,"effort":0.0,"mimic":null,"origin_m":[0.0,-0.115,0.055],"child_prim":"/Geometry/root/stir_bar","child_bbox_min":[-0.0175,-0.1195,0.052],"child_bbox_max":[0.0175,-0.1105,0.059],"kind":"other"},{"name":"piston_proxy_joint","type":"prismatic","parent":"root","child":"piston_proxy","axis":[0.0,0.0,1.0],"lower":0.0,"upper":0.08,"effort":0.0,"mimic":null,"origin_m":[0.0,-0.021,0.197],"child_prim":"/Geometry/root/piston_proxy","child_bbox_min":[-0.018,-0.039,0.1945],"child_bbox_max":[0.018,-0.003,0.249],"kind":"other"}],"controls":{"buttons":[],"knobs":[]},"slots":[{"name":"stirrer_platform","link":"root","part":"stirrer_platform","pos":[0.0,-0.114,0.0516],"rot":[0.0,0.0,0.0,1.0],"pos_link":[0.0,-0.114,0.0516],"rot_link":[0.0,0.0,0.0,1.0],"radius_m":0.06,"kind":"surface","fits":["beaker"],"anchor":"base","insert_axis":[0.0,0.0,1.0],"capture_m":0.03,"access":[],"modelled_occupant":false}],"hidden_parts":[],"readouts":[{"name":"run","part":"status_indicator","prim":"/Geometry/root/readout_run","link":"root","digits":0,"decimals":0,"unit":"","center":[-0.0445,-0.001,0.102],"up":[0.0,0.0,1.0],"source":{"lamp":{"bridge":"titration.running"}},"blank_channel":null,"on":[0.15,1.0,0.25],"off":[0.03,0.03,0.03],"size_m":[0.003,0.034],"normal":[-1.0,-0.0,-0.0]}],"layout":{"front":[0.0,-1.0,0.0],"front_source":"convention","mount":"bench","weight_class":"one_person","mass_kg":5.1,"footprint_m":[0.142,0.3996],"height_m":0.358,"clearance_m":{"front":0.25,"back":0.15,"left":0.05,"right":0.05,"top":0.1},"robot_standoff_m":0.35,"work_height_m":0.0516,"primary_slot":"stirrer_platform","access":[],"slot_count":1},"components":[{"id":"base","name_zh":"承载底座与前伸磁搅拌器","function_zh":"承托主机与搅拌器装配。","physical_meaning_zh":"外观支撑结构;真实材料、质量和接触刚度未知。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["metrohm_omnis__base"],"collisions":[{"shape":"box","origin_m":[0.0,0.0005000000237487257,0.02500000037252903],"rpy_rad":[0,0,0],"size_m":[0.142,0.399,0.034]},{"shape":"box","origin_m":[0.0,-0.17499999701976776,0.04800000041723251],"rpy_rad":[0,0,0],"size_m":[0.136,0.044,0.012]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","component_id","empty","geometry_evidence","inertia_kg_m2","mass_kg","mesh","name_zh","object","objects","origin_m","parent"]},{"id":"feet","name_zh":"四支脚","function_zh":"承托整机并给出台面接触位置。","physical_meaning_zh":"外观支撑代理;真实摩擦、恢复系数和接触面积未知。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["metrohm_omnis__feet"],"collisions":[{"shape":"cylinder","origin_m":[-0.052000001072883606,-0.17000000178813934,0.004000000189989805],"rpy_rad":[0,0,0],"radius_m":0.011,"length_m":0.008},{"shape":"cylinder","origin_m":[-0.052000001072883606,0.17000000178813934,0.004000000189989805],"rpy_rad":[0,0,0],"radius_m":0.011,"length_m":0.008},{"shape":"cylinder","origin_m":[0.052000001072883606,-0.17000000178813934,0.004000000189989805],"rpy_rad":[0,0,0],"radius_m":0.011,"length_m":0.008},{"shape":"cylinder","origin_m":[0.052000001072883606,0.17000000178813934,0.004000000189989805],"rpy_rad":[0,0,0],"radius_m":0.011,"length_m":0.008}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","component_id","empty","geometry_evidence","inertia_kg_m2","mass_kg","mesh","name_zh","object","objects","origin_m","parent"]},{"id":"housing","name_zh":"竖直主机壳体","function_zh":"支撑和防护内部功能。","physical_meaning_zh":"按标称包围盒建立的外观代理;内部结构和壁厚未实测。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["metrohm_omnis__housing"],"collisions":[{"shape":"box","origin_m":[0.0,0.10400000214576721,0.1940000057220459],"rpy_rad":[0,0,0],"size_m":[0.142,0.19,0.312]},{"shape":"box","origin_m":[0.0,0.006000000052154064,0.20499999821186066],"rpy_rad":[0,0,0],"size_m":[0.113,0.012,0.295]},{"shape":"box","origin_m":[0.0,0.10400000214576721,0.3540000021457672],"rpy_rad":[0,0,0],"size_m":[0.142,0.19,0.008]},{"shape":"box","origin_m":[0.0,0.007000000216066837,0.08399999886751175],"rpy_rad":[0,0,0],"size_m":[0.114,0.014,0.078]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","titration.read_curve","titration.calculate_content"],"bbox_m":null,"raw_keys":["collisions","component_id","empty","geometry_evidence","inertia_kg_m2","mass_kg","mesh","name_zh","object","objects","origin_m","parent"]},{"id":"stirrer_platform","name_zh":"磁搅拌工作台","function_zh":"提供滴定池位置及磁搅拌工作区域。","physical_meaning_zh":"平台为装配示意;不证明搅拌磁场、转矩或流体混匀性能。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["metrohm_omnis__stirrer_platform"],"collisions":[{"shape":"box","origin_m":[0.0,-0.11400000005960464,0.04500000178813934],"rpy_rad":[0,0,0],"size_m":[0.13,0.118,0.011]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["stirring.set_speed"],"bbox_m":null,"raw_keys":["collisions","component_id","empty","geometry_evidence","inertia_kg_m2","mass_kg","mesh","name_zh","object","objects","origin_m","parent"]},{"id":"stir_bar","name_zh":"搅拌旋转可视代理","function_zh":"显示搅拌角度。","physical_meaning_zh":"运动学可视代理;不假定真实外置搅拌子型号、质量或流体阻力。","subsystem":null,"parent":"root","origin_m":[0,-0.115,0.055],"rpy_rad":[0,0,0],"objects":["metrohm_omnis__stir_bar"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"engineering_assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["stirring.set_speed","titration.start"],"bbox_m":null,"raw_keys":["collisions","component_id","empty","geometry_evidence","inertia_kg_m2","mass_kg","mesh","name_zh","object","objects","origin_m","parent"]},{"id":"dosing_module","name_zh":"加液单元外壳与缸体可视代理","function_zh":"容纳加液缸和驱动的功能区域。","physical_meaning_zh":"加液体积的软件计量与外观装配;未复刻真实阀门和密封结构。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["metrohm_omnis__dosing_module"],"collisions":[{"shape":"box","origin_m":[0.0,-0.007000000216066837,0.17900000512599945],"rpy_rad":[0,0,0],"size_m":[0.066,0.037,0.014]},{"shape":"cylinder","origin_m":[0.0,-0.020999999716877937,0.23399999737739563],"rpy_rad":[0,0,0],"radius_m":0.029,"length_m":0.075},{"shape":"cylinder","origin_m":[0.0,-0.020999999716877937,0.2770000100135803],"rpy_rad":[0,0,0],"radius_m":0.034,"length_m":0.014},{"shape":"cylinder","origin_m":[0.0,-0.020999999716877937,0.19099999964237213],"rpy_rad":[0,0,0],"radius_m":0.03,"length_m":0.01}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["dosing.configure_cylinder","titration.configure_titrant","titration.configure_method","dosing.set_rate","titration.start","titration.stop"],"bbox_m":null,"raw_keys":["collisions","component_id","empty","geometry_evidence","inertia_kg_m2","mass_kg","mesh","name_zh","object","objects","origin_m","parent"]},{"id":"piston_proxy","name_zh":"缸内活塞位移可视代理","function_zh":"显示已交付体积占缸容量的比例。","physical_meaning_zh":"比例到位移仅为工程示意;真实活塞行程、缸径和容积标定未知。","subsystem":null,"parent":"root","origin_m":[0,-0.021,0.197],"rpy_rad":[0,0,0],"objects":["metrohm_omnis__piston_proxy"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"engineering_assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["titration.start"],"bbox_m":null,"raw_keys":["collisions","component_id","empty","geometry_evidence","inertia_kg_m2","mass_kg","mesh","name_zh","object","objects","origin_m","parent"]},{"id":"cylinder_slot","name_zh":"5/10/20/50mL加液缸槽位","function_zh":"选择5/10/20/50 mL加液缸配置。","physical_meaning_zh":"空定位节点与逻辑容量配置;不生成未经指定的加液缸部件物性。","subsystem":null,"parent":"root","origin_m":[0,-0.021,0.191],"rpy_rad":[0,0,0],"objects":["metrohm_omnis__cylinder_slot"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["dosing.configure_cylinder"],"bbox_m":null,"raw_keys":["collisions","component_id","empty","geometry_evidence","inertia_kg_m2","mass_kg","name_zh","object","objects","origin_m","parent"]},{"id":"electrode_holder","name_zh":"电极支撑杆与开孔夹具","function_zh":"承托外部电极连接槽位。","physical_meaning_zh":"局部位置与形状为外观示意;夹具公差和真实夹持力未知。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["metrohm_omnis__electrode_holder"],"collisions":[{"shape":"cylinder","origin_m":[0.05900000035762787,-0.04500000178813934,0.19699999690055847],"rpy_rad":[0,0,0],"radius_m":0.004,"length_m":0.312},{"shape":"box","origin_m":[0.05900000035762787,-0.04500000178813934,0.164000004529953],"rpy_rad":[0,0,0],"size_m":[0.019,0.022,0.027]},{"shape":"box","origin_m":[0.05900000035762787,-0.08100000023841858,0.17000000178813934],"rpy_rad":[0,0,0],"size_m":[0.014,0.086,0.013]},{"shape":"box","origin_m":[0.024000000208616257,-0.11500000208616257,0.17000000178813934],"rpy_rad":[0,0,0],"size_m":[0.07,0.02,0.013]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","component_id","empty","geometry_evidence","inertia_kg_m2","mass_kg","mesh","name_zh","object","objects","origin_m","parent"]},{"id":"electrode_slot","name_zh":"可替换电极定位槽","function_zh":"记录外部电极的连接引用。","physical_meaning_zh":"空定位节点;不编造电极材质、面积、参比体系或尺寸。","subsystem":null,"parent":"root","origin_m":[-0.022,-0.115,0.17],"rpy_rad":[0,0,0],"objects":["metrohm_omnis__electrode_slot"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["slot.set_connection","titration.configure_stability","titration.start"],"bbox_m":null,"raw_keys":["collisions","component_id","empty","geometry_evidence","inertia_kg_m2","mass_kg","name_zh","object","objects","origin_m","parent"]},{"id":"titration_cell_slot","name_zh":"外部滴定池定位槽","function_zh":"记录外部滴定池的连接引用。","physical_meaning_zh":"空定位节点;外部池体、样品和溶液由宿主提供。","subsystem":null,"parent":"root","origin_m":[0,-0.115,0.052],"rpy_rad":[0,0,0],"objects":["metrohm_omnis__titration_cell_slot"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["slot.set_connection","titration.start"],"bbox_m":null,"raw_keys":["collisions","component_id","empty","geometry_evidence","inertia_kg_m2","mass_kg","name_zh","object","objects","origin_m","parent"]},{"id":"dosing_tip","name_zh":"加液出口定位与示意导管","function_zh":"表示滴定液进入池的出口位置。","physical_meaning_zh":"出口和位置为示意;管径、滴落体积与真实流阻未知。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["metrohm_omnis__dosing_tip"],"collisions":[{"shape":"cylinder","origin_m":[0.02500000037252903,-0.10199999809265137,0.1550000011920929],"rpy_rad":[0,0,0],"radius_m":0.002,"length_m":0.075},{"shape":"cylinder","origin_m":[0.02500000037252903,-0.10199999809265137,0.11500000208616257],"rpy_rad":[0,0,0],"radius_m":0.001,"length_m":0.006}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","component_id","empty","geometry_evidence","inertia_kg_m2","mass_kg","mesh","name_zh","object","objects","origin_m","parent"]},{"id":"tubing","name_zh":"从加液缸至出液端的管路示意","function_zh":"表达加液模块到出口的连接关系。","physical_meaning_zh":"视觉布线路径;不代表真实长度、内径、柔性或液体滞留量。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["metrohm_omnis__tubing"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"engineering_assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","component_id","empty","geometry_evidence","inertia_kg_m2","mass_kg","mesh","name_zh","object","objects","origin_m","parent"]},{"id":"status_indicator","name_zh":"前面板状态灯","function_zh":"显示逻辑供电或运行状态。","physical_meaning_zh":"可视状态提示;不是实际显示电子器件模型。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["metrohm_omnis__status_indicator"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set"],"bbox_m":null,"raw_keys":["collisions","component_id","empty","geometry_evidence","inertia_kg_m2","mass_kg","mesh","name_zh","object","objects","origin_m","parent"]},{"id":"rear_ports","name_zh":"后部供电与测量数据接口示意","function_zh":"标记逻辑供电与数据连接。","physical_meaning_zh":"几何仅标识端口区域;未复刻厂家针脚或通讯协议。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["metrohm_omnis__rear_ports"],"collisions":[{"shape":"box","origin_m":[0.0,0.19599999487400055,0.0949999988079071],"rpy_rad":[0,0,0],"size_m":[0.098,0.007,0.07]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","component_id","empty","geometry_evidence","inertia_kg_m2","mass_kg","mesh","name_zh","object","objects","origin_m","parent"]},{"id":"branding","name_zh":"厂家与型号静态标识","function_zh":"标记对应清单型号。","physical_meaning_zh":"静态标签,无独立物理驱动。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["metrohm_omnis__branding","metrohm_omnis__brand_name","metrohm_omnis__model_name"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","component_id","empty","geometry_evidence","inertia_kg_m2","mass_kg","mesh","name_zh","object","objects","origin_m","parent"]},{"id":"display","name_zh":"宿主状态文字目标","function_zh":"保存供宿主UI读取的本批过程文字。","physical_meaning_zh":"隐藏FONT字符串目标与空节点;未给仪器添加触摸屏或复刻厂家显示界面。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["metrohm_omnis__display","metrohm_omnis__display_text"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"engineering_assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","titration.start","titration.stop"],"bbox_m":null,"raw_keys":["collisions","component_id","empty","geometry_evidence","inertia_kg_m2","mass_kg","name_zh","object","objects","origin_m","parent"]}],"component_source":"geometry_manifest.json + asset.contract.json + collision_proxies.json","capabilities":{"power.set":{"function_zh":"设置逻辑供电;断电保留已经加入的体积和曲线。","kind":"device_command","availability":"implemented","component_ids":["housing","status_indicator","display"],"implementation":{"process":"verified","host":"verified","scene":"verified","robot":"absent","hardware":"absent"},"input":["enabled"]},"slot.set_connection":{"function_zh":"登记可替换部件的逻辑槽连接。","kind":"configuration","availability":"implemented","component_ids":["electrode_slot","titration_cell_slot"],"implementation":{"process":"verified","host":"verified","scene":"not_applicable","robot":"absent","hardware":"absent"},"input":["port_id","connection_id"]},"dosing.configure_cylinder":{"function_zh":"选择唯一缸槽容量,尚未实验时可改;每缸100000步。","kind":"configuration","availability":"implemented","component_ids":["cylinder_slot","dosing_module"],"implementation":{"process":"verified","host":"verified","scene":"not_applicable","robot":"absent","hardware":"absent"},"input":["volume_m3"]},"titration.configure_titrant":{"function_zh":"显式配置强碱滴定剂浓度。","kind":"configuration","availability":"implemented","component_ids":["dosing_module"],"implementation":{"process":"verified","host":"verified","scene":"not_applicable","robot":"absent","hardware":"absent"},"input":["concentration_mol_m3"]},"titration.configure_method":{"function_zh":"配置定电位终点或动态等当点合成方法。","kind":"configuration","availability":"implemented","component_ids":["dosing_module"],"implementation":{"process":"verified","host":"verified","scene":"not_applicable","robot":"absent","hardware":"absent"},"input":["mode","dose_increment_m3","maximum_volume_m3","endpoint_potential_v"]},"dosing.set_rate":{"function_zh":"显式设定合成加液速率,不推断厂商流量范围。","kind":"device_command","availability":"implemented","component_ids":["dosing_module"],"implementation":{"process":"verified","host":"verified","scene":"not_applicable","robot":"absent","hardware":"absent"},"input":["rate_m3_s"]},"titration.configure_stability":{"function_zh":"稳定窗口与电位容差由调用者显式给定。","kind":"configuration","availability":"implemented","component_ids":["electrode_slot"],"implementation":{"process":"verified","host":"verified","scene":"not_applicable","robot":"absent","hardware":"absent"},"input":["hold_s","tolerance_v"]},"stirring.set_speed":{"function_zh":"设定搅拌角速度,上限1800rpm;不虚构混合时间常数。","kind":"device_command","availability":"implemented","component_ids":["stir_bar","stirrer_platform"],"implementation":{"process":"verified","host":"verified","scene":"verified","robot":"absent","hardware":"absent"},"input":["angular_speed_rad_s"]},"titration.start":{"function_zh":"启动分段加液/稳定采样;调用不加液、不产生读数、不推进时钟。","kind":"device_command","availability":"implemented","component_ids":["dosing_module","electrode_slot","titration_cell_slot","stir_bar","piston_proxy","display"],"implementation":{"process":"verified","host":"verified","scene":"verified","robot":"absent","hardware":"absent"},"input":[]},"titration.stop":{"function_zh":"停止并保留已加液体积及采点,已转移液体不回滚。","kind":"device_command","availability":"implemented","component_ids":["dosing_module","display"],"implementation":{"process":"verified","host":"verified","scene":"verified","robot":"absent","hardware":"absent"},"input":[]},"titration.read_curve":{"function_zh":"读取合成曲线及估算终点,不推进时间、不访问样品真值。","kind":"query","availability":"implemented","component_ids":["housing"],"implementation":{"process":"verified","host":"verified","scene":"not_applicable","robot":"absent","hardware":"absent"},"input":[]},"titration.calculate_content":{"function_zh":"含量=终点体积×用户滴定剂浓度×用户计量比/用户样品体积。","kind":"analysis","availability":"implemented","component_ids":["housing"],"implementation":{"process":"verified","host":"verified","scene":"not_applicable","robot":"absent","hardware":"absent"},"input":["sample_volume_m3","stoichiometric_ratio"]}},"state_slots":{"power.enabled":{"meaning_zh":"逻辑供电;断电停止滴定,保留已加体积与曲线。","unit":"1","access":"read_write","origin":"setpoint","component_ids":["housing"],"write_via":"power.set"},"slot.electrode.connection_id":{"meaning_zh":"可替换槽逻辑连接;非机械插拔或兼容性验证。","unit":"1","access":"read_write","origin":"scene","component_ids":["electrode_slot"],"write_via":"slot.set_connection"},"slot.titration_cell.connection_id":{"meaning_zh":"可替换槽逻辑连接;非机械插拔或兼容性验证。","unit":"1","access":"read_write","origin":"scene","component_ids":["titration_cell_slot"],"write_via":"slot.set_connection"},"dosing.cylinder_volume_m3":{"meaning_zh":"单个缸槽容量,5/10/20/50mL换算SI。","unit":"m^3","access":"read_write","origin":"setpoint","component_ids":["cylinder_slot","dosing_module"],"write_via":"dosing.configure_cylinder"},"dosing.quantum_m3":{"meaning_zh":"选定容量/100000;分辨率不代表准确度。","unit":"m^3","access":"read_only","origin":"derived","component_ids":["cylinder_slot","dosing_module"],"write_via":null},"dosing.rate_m3_s":{"meaning_zh":"用户显式加液速率;厂家上限未知。","unit":"m^3/s","access":"read_write","origin":"setpoint","component_ids":["dosing_module"],"write_via":"dosing.set_rate"},"dosing.delivered_volume_m3":{"meaning_zh":"当前单缸实验已经加入的量化体积。","unit":"m^3","access":"read_only","origin":"derived","component_ids":["dosing_module"],"write_via":null},"dosing.piston_fraction":{"meaning_zh":"已加入体积/缸容量;仅供示意视觉映射,不等于真实活塞长度。","unit":"1","access":"read_only","origin":"derived","component_ids":["piston_proxy"],"write_via":null},"stirring.angular_speed_rad_s":{"meaning_zh":"1800 rpm = 60π rad/s;实际旋转还需逻辑电源。","unit":"rad/s","access":"read_write","origin":"setpoint","component_ids":["stir_bar","stirrer_platform"],"write_via":"stirring.set_speed"},"stirring.angle_rad":{"meaning_zh":"共同宿主时间积分后的示意搅拌角。","unit":"rad","access":"read_only","origin":"derived","component_ids":["stir_bar","stirrer_platform"],"write_via":null},"titrant.concentration_mol_m3":{"meaning_zh":"用户给定强碱滴定剂浓度;不从隐藏样品真值反推。","unit":"mol/m^3","access":"read_write","origin":"setpoint","component_ids":["dosing_module"],"write_via":"titration.configure_titrant"},"method.mode":{"meaning_zh":"endpoint或dynamic_equivalent,后者为自定义有限差分算法。","unit":"1","access":"read_only","origin":"setpoint","component_ids":["dosing_module"],"write_via":null},"method.dose_increment_m3":{"meaning_zh":"最大名义单次增量,动态模式可细分。","unit":"m^3","access":"read_only","origin":"setpoint","component_ids":["dosing_module"],"write_via":null},"method.maximum_volume_m3":{"meaning_zh":"本次单缸最大累积加液体积。","unit":"m^3","access":"read_only","origin":"setpoint","component_ids":["dosing_module"],"write_via":null},"method.endpoint_potential_v":{"meaning_zh":"endpoint模式明确给定的目标电位,动态模式为null。","unit":"V","access":"read_only","origin":"setpoint","component_ids":["dosing_module"],"write_via":null},"stability.hold_s":{"meaning_zh":"显式稳定保持窗口;没有厂家默认值。","unit":"s","access":"read_only","origin":"setpoint","component_ids":["electrode_slot","titration_cell_slot"],"write_via":null},"stability.tolerance_v":{"meaning_zh":"窗口内合成电位最大最小差的允许值。","unit":"V","access":"read_only","origin":"setpoint","component_ids":["electrode_slot","titration_cell_slot"],"write_via":null},"stability.stable":{"meaning_zh":"停止加液后窗口内合成读数符合显式稳定规则。","unit":"1","access":"read_only","origin":"derived","component_ids":["electrode_slot","titration_cell_slot"],"write_via":null},"titration.status":{"meaning_zh":"完成只表示本工程假设算法结束;limit_reached可能未得到终点。","unit":"1","access":"read_only","origin":"derived","component_ids":["titration_cell_slot","dosing_module"],"write_via":null},"titration.running":{"meaning_zh":"只由host_step推进过程。","unit":"1","access":"read_only","origin":"derived","component_ids":["titration_cell_slot","dosing_module"],"write_via":null},"titration.phase":{"meaning_zh":"分段加液/稳定采样状态。","unit":"1","access":"read_only","origin":"derived","component_ids":["titration_cell_slot","dosing_module"],"write_via":null},"measurement.potential_v":{"meaning_zh":"理想强酸强碱Nernst合成电位;越界为null。","unit":"V","access":"read_only","origin":"derived","component_ids":["electrode_slot","titration_cell_slot"],"write_via":null},"measurement.ph":{"meaning_zh":"由强酸强碱电中性与水离解计算的合成读数。","unit":"1","access":"read_only","origin":"derived","component_ids":["electrode_slot","titration_cell_slot"],"write_via":null},"measurement.sample_time_s":{"meaning_zh":"最近宿主生成的合成测量时刻。","unit":"s","access":"read_only","origin":"derived","component_ids":["electrode_slot","titration_cell_slot"],"write_via":null},"measurement.synthetic":{"meaning_zh":"所有测量与曲线均为synthetic。","unit":"1","access":"read_only","origin":"derived","component_ids":["electrode_slot","titration_cell_slot"],"write_via":null},"titration.curve":{"meaning_zh":"仅已稳定采点的观测序列;不含样品真值。","unit":"1","access":"read_only","origin":"derived","component_ids":["titration_cell_slot","dosing_module"],"write_via":null},"titration.endpoint_volume_m3":{"meaning_zh":"从观测曲线估算的终点体积,不读取宿主酸摩尔数求终点。","unit":"m^3","access":"read_only","origin":"derived","component_ids":["titration_cell_slot","dosing_module"],"write_via":null},"titration.content_mol_m3":{"meaning_zh":"按显式用户样品体积和化学计量比计算的含量。","unit":"mol/m^3","access":"read_only","origin":"derived","component_ids":["titration_cell_slot","dosing_module"],"write_via":null},"display.text":{"meaning_zh":"合成结果与运行状态的显示文本。","unit":"1","access":"read_only","origin":"derived","component_ids":["display"],"write_via":null},"truth.volume_m3":{"meaning_zh":"宿主专有的合成样品条件;agent不可读。","unit":"m^3","access":"read_only","origin":"process_truth","component_ids":["titration_cell_slot","dosing_module"],"write_via":null},"truth.acid_moles":{"meaning_zh":"宿主专有的合成样品条件;agent不可读。","unit":"mol","access":"read_only","origin":"process_truth","component_ids":["titration_cell_slot","dosing_module"],"write_via":null},"truth.temperature_k":{"meaning_zh":"宿主专有的合成样品条件;agent不可读。","unit":"K","access":"read_only","origin":"process_truth","component_ids":["titration_cell_slot","dosing_module"],"write_via":null},"truth.reference_ph":{"meaning_zh":"宿主专有的合成样品条件;agent不可读。","unit":"1","access":"read_only","origin":"process_truth","component_ids":["titration_cell_slot","dosing_module"],"write_via":null},"truth.reference_potential_v":{"meaning_zh":"宿主专有的合成样品条件;agent不可读。","unit":"V","access":"read_only","origin":"process_truth","component_ids":["titration_cell_slot","dosing_module"],"write_via":null}},"mechanisms":{"ideal_acid_base_potentiometry":{"meaning_zh":"engineering_assumption:单元强酸强碱电中性/水离解理想响应及Nernst电位;所有输出synthetic。","implementation":"numerical","equations":["d=(n_acid-c_base*V_dosed)/(1000*(V_sample+V_dosed)); H=(d+sqrt(d*d+4*Kw))/2 with cancellation-safe branch; pH=-log10(H)","E=E_ref-ln(10)*R*T/F*(pH-pH_ref); R=8.31446261815324 J/(mol K), F=96485.33212331001 C/mol"],"parameters":{"water_ionic_product":{"value":1e-14,"unit":"1","evidence":"assumption","meaning_zh":"浓度按mol/L归一后的Kw,固定25°C近似,温度仅进入Nernst斜率。"},"potential_range_v":{"value":[-2.4,2.4],"unit":"V","evidence":"documented","meaning_zh":"整机±2400mV测量范围。"},"electrode_response_time":{"value":null,"unit":"s","evidence":"unknown","meaning_zh":"清单未给出,保持null;不以整机规格代替部件参数。"},"sample_noise":{"value":null,"unit":"V","evidence":"unknown","meaning_zh":"清单未给出,保持null;不以整机规格代替部件参数。"},"calibration_accuracy":{"value":null,"unit":"V","evidence":"unknown","meaning_zh":"清单未给出,保持null;不以整机规格代替部件参数。"}}},"quantized_dosing_and_stirring":{"meaning_zh":"engineering_assumption:表列每缸100000步作为整数体积格点;宿主时钟推进恒定速率加液并积分搅拌角。","implementation":"numerical","equations":["quantum=V_cylinder/100000; delivered=integer_steps*quantum; theta=(theta+omega*dt) mod 2pi"],"parameters":{"cylinder_volumes_m3":{"value":[5e-06,1e-05,2e-05,5e-05],"unit":"m^3","evidence":"documented","meaning_zh":"表列5/10/20/50mL选项。"},"steps_per_cylinder":{"value":100000,"unit":"1","evidence":"documented","meaning_zh":"每缸加液分辨率,不等于精度。"},"maximum_stirring_speed_rad_s":{"value":188.49555921538757,"unit":"rad/s","evidence":"documented","meaning_zh":"1800rpm换算60πrad/s。"},"manufacturer_max_flow_rate":{"value":null,"unit":"m^3/s","evidence":"unknown","meaning_zh":"清单未给出,保持null;不以整机规格代替部件参数。"},"mixing_time_constant":{"value":null,"unit":"s","evidence":"unknown","meaning_zh":"清单未给出,保持null;不以整机规格代替部件参数。"},"cylinder_actual_stroke":{"value":null,"unit":"m","evidence":"unknown","meaning_zh":"清单未给出,保持null;不以整机规格代替部件参数。"}}},"stable_curve_and_endpoint":{"meaning_zh":"engineering_assumption:停液后的显式稳定窗口采点,固定目标电位线性插值或动态有限差分峰值估算终点。","implementation":"numerical","equations":["stable=(max(E over hold window)-min(E over hold window)<=user tolerance); ideal instantaneous mixing keeps E constant while dosing is stopped","endpoint: linear interpolation of observed E crossing; dynamic_equivalent: maximum observed |dE/dV| segment midpoint, confirmed by two later slopes < 0.8*peak","dynamic step=min(nominal_step, max(quantum, floor(0.02/last_abs_slope/quantum)*quantum)); content=V_endpoint*c_titrant*stoichiometric_ratio/V_user_sample"],"parameters":{"dynamic_target_delta_v":{"value":0.02,"unit":"V","evidence":"assumption","meaning_zh":"自定义动态增量算法的目标电位变化;非厂家方法参数。"},"dynamic_peak_fraction":{"value":0.8,"unit":"1","evidence":"assumption","meaning_zh":"峰后两个较低斜率小于峰值80%才确认有限差分终点。"},"max_curve_points":{"value":1024,"unit":"1","evidence":"assumption","meaning_zh":"运行层资源上限,不是厂商数据容量。"},"fault_probability":{"value":null,"unit":"1","evidence":"unknown","meaning_zh":"清单未给出,保持null;不以整机规格代替部件参数。"}}}},"limitations":["本批只覆盖指定型号的外形、组件槽位、合成滴定及视觉代理;不代表厂家全部功能或真实样品动力学。","所有测量曲线、终点体积和含量结果均为synthetic;真实样本响应、噪声、校准曲线和故障概率为null。","仅模拟理想一元强酸/强碱1:1滴定;氧化还原、络合、弱酸���活度修正、真实反应动力学、随温度变化的Kw及厂家终点固件均未实现。","单次实验只用一只加液缸;不自动补液、冲洗、换样或物理插拔。整步量化只表示清单分辨率,不表示计量准确度。","合成响应使用瞬时理想混合;停止加液时电位恒定,稳定性检查采用调用者显式保持窗口;没有混合或电极响应时间常数。","未知部件质量、惯量、密度、摩擦、真实缸径和活塞行程均为null;5.1 kg只用于整机集中刚体。","包围盒质心/惯量、视觉活塞行程、搅拌旋转代理和合成化学关系为engineering_assumption。","槽位为空节点:加液缸、电极、滴定池仅逻辑连接;未执行机器人插拔、抓取或液体接触仿真。","URDF碰撞仅盒/柱/球基元;碰撞存在与几何求值检查不等于接触动力学、刚体稳定性或机器人可达性验证。","真实硬件通讯、厂家软件控制、扩展模块五路并行、精度/重复性标定及实验比对均not_run。","本轮已读三表完整行、官网产品页和产品主图;清单引用PDF的逐页全文复核未完成,official_pdf_full_recheck=not_run。整机规格仍按清单已有证据引用。","宿主显式step推进过程时间;read本身不推进时间。Python可见性检查不构成跨进程或文件系统安全隔离。","原生场景adapter按固定对象名绑定一个实例;运行层多实例隔离通过不表示同一Blender场景内多实例隔离已实现或验证。"],"sources":[],"checks":{"coverage":{"status":"bridged","implemented":["dosing.configure_cylinder","dosing.set_rate","power.set","slot.set_connection","stirring.set_speed","titration.calculate_content","titration.configure_method","titration.configure_stability","titration.configure_titrant","titration.read_curve","titration.start","titration.stop"],"unsupported":[],"note_zh":"桥接 basic40_runtime_measure.MetrohmOmnisRuntime(推进方式 host_step_abs),34 个状态槽;与运行层镜像对比全同;受信设置需经 host.call;关节化 USD(2 个门/盖/阀等被动关节);2 个关节跟随运行层状态;接口点 1 个(放置面);布局:台面、单人可搬、正面 −y、前方留空 0.25 m;面板读数 run(灯)"}},"previews":["previews/metrohm_omnis/preview_front.webp","previews/metrohm_omnis/preview_rear.webp","previews/metrohm_omnis/synthetic_titration_curve.webp"],"files":[{"name":"asset.contract.json","path":"assets/basic40_batch02/t4_measure/metrohm_omnis/asset.contract.json","bytes":238345},{"name":"collision_proxies.json","path":"assets/basic40_batch02/t4_measure/metrohm_omnis/collision_proxies.json","bytes":6197},{"name":"geometry_manifest.json","path":"assets/basic40_batch02/t4_measure/metrohm_omnis/geometry_manifest.json","bytes":19987},{"name":"model.blend","path":"assets/basic40_batch02/t4_measure/metrohm_omnis/model.blend","bytes":293260},{"name":"model.glb","path":"assets/basic40_batch02/t4_measure/metrohm_omnis/model.glb","bytes":1027860},{"name":"model.urdf","path":"assets/basic40_batch02/t4_measure/metrohm_omnis/model.urdf","bytes":11238},{"name":"scene_adapter.py","path":"assets/basic40_batch02/t4_measure/metrohm_omnis/scene_adapter.py","bytes":2829}],"completeness":{"components":17,"with_collisions":8,"with_objects":17,"with_function":17,"with_mass":0,"joints_matching_component":2,"joints":2,"has_contract":true,"has_layout":true,"has_glb":true,"checks_present":["articulation_check","coverage","validation_summary","contract_validation","runtime_validation","scene_validation"]},"slug":"metrohm_omnis","chem_id":"CHEM-101","name_en":"Automatic potentiometric titrator","maker":"Metrohm","model":"OMNIS Professional Titrator","domain":"electrochem","domain_name":"Electrochemistry & Titration","path":"assets/basic40_batch02/t4_measure/metrohm_omnis","glb_up":"y","has_contract":true,"contract":"assets/basic40_batch02/t4_measure/metrohm_omnis/asset.contract.json","runtime":"scripts/basic40_runtime_measure.py"}
|
|
|
|
| 1 |
+
{"tid":"instrument.metrohm_omnis","asset_dir":"basic40_batch02/t4_measure/metrohm_omnis","name_zh":"Metrohm OMNIS Professional Titrator 2.1001.0320 自动电位滴定仪","category":"电化学与定量分析","description_zh":"CHEM-101,三表第106行的指定型号。覆盖本批已登记功能组件、合成滴定与场景代理;full指本批组件登记完整,不表示厂家完整动力学或真实仪器已验证。","coordinate_system":{"status":"defined","length_unit":"m","angle_unit":"rad","handedness":"right","up_axis":"+Z","frame":"asset_root:台面投影中心;X向右、Y向后、Z向上。标称范围X±0.071 m、Y±0.200 m、Z=0..0.358 m。"},"mass_kg":5.1,"size_m":[0.142,0.3996,0.358],"bbox_min":[-0.071,-0.1996,0.0],"bbox_max":[0.071,0.2,0.358],"manifest_dimensions_m":[0.142,0.4,0.358],"glb":"assets/basic40_batch02/t4_measure/metrohm_omnis/model.glb","glb_orientation":"gltf_y_up_rotated","usd":null,"urdf":"assets/basic40_batch02/t4_measure/metrohm_omnis/model.urdf","links":{"root":"/Geometry/root","stir_bar":"/Geometry/root/stir_bar","piston_proxy":"/Geometry/root/piston_proxy"},"frames":{"pre_place":[0.0,-0.114,0.2305],"place":[0.0,-0.114,0.1005],"post_place":[0.0,-0.114,0.2305],"joint_stir_bar_joint":[0.0,-0.115,0.055],"joint_piston_proxy_joint":[0.0,-0.021,0.197]},"joints":[{"name":"stir_bar_joint","type":"continuous","parent":"root","child":"stir_bar","axis":[0.0,0.0,1.0],"lower":null,"upper":null,"effort":0.0,"mimic":null,"origin_m":[0.0,-0.115,0.055],"child_prim":"/Geometry/root/stir_bar","child_bbox_min":[-0.0175,-0.1195,0.052],"child_bbox_max":[0.0175,-0.1105,0.059],"kind":"other"},{"name":"piston_proxy_joint","type":"prismatic","parent":"root","child":"piston_proxy","axis":[0.0,0.0,1.0],"lower":0.0,"upper":0.08,"effort":0.0,"mimic":null,"origin_m":[0.0,-0.021,0.197],"child_prim":"/Geometry/root/piston_proxy","child_bbox_min":[-0.018,-0.039,0.1945],"child_bbox_max":[0.018,-0.003,0.249],"kind":"other"}],"controls":{"buttons":[],"knobs":[]},"slots":[{"name":"stirrer_platform","link":"root","part":"stirrer_platform","pos":[0.0,-0.114,0.0516],"rot":[0.0,0.0,0.0,1.0],"pos_link":[0.0,-0.114,0.0516],"rot_link":[0.0,0.0,0.0,1.0],"radius_m":0.06,"kind":"surface","fits":["beaker"],"anchor":"base","insert_axis":[0.0,0.0,1.0],"capture_m":0.03,"access":[],"modelled_occupant":false}],"hidden_parts":[],"readouts":[{"name":"run","part":"status_indicator","prim":"/Geometry/root/readout_run","link":"root","digits":0,"decimals":0,"unit":"","center":[-0.0445,-0.001,0.102],"up":[0.0,0.0,1.0],"source":{"lamp":{"bridge":"titration.running"}},"blank_channel":null,"on":[0.15,1.0,0.25],"off":[0.03,0.03,0.03],"size_m":[0.003,0.034],"normal":[-1.0,-0.0,-0.0]}],"layout":{"front":[0.0,-1.0,0.0],"front_source":"convention","mount":"bench","weight_class":"one_person","mass_kg":5.1,"footprint_m":[0.142,0.3996],"height_m":0.358,"clearance_m":{"front":0.25,"back":0.15,"left":0.05,"right":0.05,"top":0.1},"robot_standoff_m":0.35,"work_height_m":0.0516,"primary_slot":"stirrer_platform","access":[],"slot_count":1},"components":[{"id":"base","name_zh":"承载底座与前伸磁搅拌器","function_zh":"承托主机与搅拌器装配。","physical_meaning_zh":"外观支撑结构;真实材料、质量和接触刚度未知。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["metrohm_omnis__base"],"collisions":[{"shape":"box","origin_m":[0.0,0.0005000000237487257,0.02500000037252903],"rpy_rad":[0,0,0],"size_m":[0.142,0.399,0.034]},{"shape":"box","origin_m":[0.0,-0.17499999701976776,0.04800000041723251],"rpy_rad":[0,0,0],"size_m":[0.136,0.044,0.012]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","component_id","empty","geometry_evidence","inertia_kg_m2","mass_kg","mesh","name_zh","object","objects","origin_m","parent"]},{"id":"feet","name_zh":"四支脚","function_zh":"承托整机并给出台面接触位置。","physical_meaning_zh":"外观支撑代理;真实摩擦、恢复系数和接触面积未知。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["metrohm_omnis__feet"],"collisions":[{"shape":"cylinder","origin_m":[-0.052000001072883606,-0.17000000178813934,0.004000000189989805],"rpy_rad":[0,0,0],"radius_m":0.011,"length_m":0.008},{"shape":"cylinder","origin_m":[-0.052000001072883606,0.17000000178813934,0.004000000189989805],"rpy_rad":[0,0,0],"radius_m":0.011,"length_m":0.008},{"shape":"cylinder","origin_m":[0.052000001072883606,-0.17000000178813934,0.004000000189989805],"rpy_rad":[0,0,0],"radius_m":0.011,"length_m":0.008},{"shape":"cylinder","origin_m":[0.052000001072883606,0.17000000178813934,0.004000000189989805],"rpy_rad":[0,0,0],"radius_m":0.011,"length_m":0.008}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","component_id","empty","geometry_evidence","inertia_kg_m2","mass_kg","mesh","name_zh","object","objects","origin_m","parent"]},{"id":"housing","name_zh":"竖直主机壳体","function_zh":"支撑和防护内部功能。","physical_meaning_zh":"按标称包围盒建立的外观代理;内部结构和壁厚未实测。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["metrohm_omnis__housing"],"collisions":[{"shape":"box","origin_m":[0.0,0.10400000214576721,0.1940000057220459],"rpy_rad":[0,0,0],"size_m":[0.142,0.19,0.312]},{"shape":"box","origin_m":[0.0,0.006000000052154064,0.20499999821186066],"rpy_rad":[0,0,0],"size_m":[0.113,0.012,0.295]},{"shape":"box","origin_m":[0.0,0.10400000214576721,0.3540000021457672],"rpy_rad":[0,0,0],"size_m":[0.142,0.19,0.008]},{"shape":"box","origin_m":[0.0,0.007000000216066837,0.08399999886751175],"rpy_rad":[0,0,0],"size_m":[0.114,0.014,0.078]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","titration.read_curve","titration.calculate_content"],"bbox_m":null,"raw_keys":["collisions","component_id","empty","geometry_evidence","inertia_kg_m2","mass_kg","mesh","name_zh","object","objects","origin_m","parent"]},{"id":"stirrer_platform","name_zh":"磁搅拌工作台","function_zh":"提供滴定池位置及磁搅拌工作区域。","physical_meaning_zh":"平台为装配示意;不证明搅拌磁场、转矩或流体混匀性能。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["metrohm_omnis__stirrer_platform"],"collisions":[{"shape":"box","origin_m":[0.0,-0.11400000005960464,0.04500000178813934],"rpy_rad":[0,0,0],"size_m":[0.13,0.118,0.011]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["stirring.set_speed"],"bbox_m":null,"raw_keys":["collisions","component_id","empty","geometry_evidence","inertia_kg_m2","mass_kg","mesh","name_zh","object","objects","origin_m","parent"]},{"id":"stir_bar","name_zh":"搅拌旋转可视代理","function_zh":"显示搅拌角度。","physical_meaning_zh":"运动学可视代理;不假定真实外置搅拌子型号、质量或流体阻力。","subsystem":null,"parent":"root","origin_m":[0,-0.115,0.055],"rpy_rad":[0,0,0],"objects":["metrohm_omnis__stir_bar"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"engineering_assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["stirring.set_speed","titration.start"],"bbox_m":null,"raw_keys":["collisions","component_id","empty","geometry_evidence","inertia_kg_m2","mass_kg","mesh","name_zh","object","objects","origin_m","parent"]},{"id":"dosing_module","name_zh":"加液单元外壳与缸体可视代理","function_zh":"容纳加液缸和驱动的功能区域。","physical_meaning_zh":"加液体积的软件计量与外观装配;未复刻真实阀门和密封结构。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["metrohm_omnis__dosing_module"],"collisions":[{"shape":"box","origin_m":[0.0,-0.007000000216066837,0.17900000512599945],"rpy_rad":[0,0,0],"size_m":[0.066,0.037,0.014]},{"shape":"cylinder","origin_m":[0.0,-0.020999999716877937,0.23399999737739563],"rpy_rad":[0,0,0],"radius_m":0.029,"length_m":0.075},{"shape":"cylinder","origin_m":[0.0,-0.020999999716877937,0.2770000100135803],"rpy_rad":[0,0,0],"radius_m":0.034,"length_m":0.014},{"shape":"cylinder","origin_m":[0.0,-0.020999999716877937,0.19099999964237213],"rpy_rad":[0,0,0],"radius_m":0.03,"length_m":0.01}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["dosing.configure_cylinder","titration.configure_titrant","titration.configure_method","dosing.set_rate","titration.start","titration.stop"],"bbox_m":null,"raw_keys":["collisions","component_id","empty","geometry_evidence","inertia_kg_m2","mass_kg","mesh","name_zh","object","objects","origin_m","parent"]},{"id":"piston_proxy","name_zh":"缸内活塞位移可视代理","function_zh":"显示已交付体积占缸容量的比例。","physical_meaning_zh":"比例到位移仅为工程示意;真实活塞行程、缸径和容积标定未知。","subsystem":null,"parent":"root","origin_m":[0,-0.021,0.197],"rpy_rad":[0,0,0],"objects":["metrohm_omnis__piston_proxy"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"engineering_assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["titration.start"],"bbox_m":null,"raw_keys":["collisions","component_id","empty","geometry_evidence","inertia_kg_m2","mass_kg","mesh","name_zh","object","objects","origin_m","parent"]},{"id":"cylinder_slot","name_zh":"5/10/20/50mL加液缸槽位","function_zh":"选择5/10/20/50 mL加液缸配置。","physical_meaning_zh":"空定位节点与逻辑容量配置;不生成未经指定的加液缸部件物性。","subsystem":null,"parent":"root","origin_m":[0,-0.021,0.191],"rpy_rad":[0,0,0],"objects":["metrohm_omnis__cylinder_slot"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["dosing.configure_cylinder"],"bbox_m":null,"raw_keys":["collisions","component_id","empty","geometry_evidence","inertia_kg_m2","mass_kg","name_zh","object","objects","origin_m","parent"]},{"id":"electrode_holder","name_zh":"电极支撑杆与开孔夹具","function_zh":"承托外部电极连接槽位。","physical_meaning_zh":"局部位置与形状为外观示意;夹具公差和真实夹持力未知。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["metrohm_omnis__electrode_holder"],"collisions":[{"shape":"cylinder","origin_m":[0.05900000035762787,-0.04500000178813934,0.19699999690055847],"rpy_rad":[0,0,0],"radius_m":0.004,"length_m":0.312},{"shape":"box","origin_m":[0.05900000035762787,-0.04500000178813934,0.164000004529953],"rpy_rad":[0,0,0],"size_m":[0.019,0.022,0.027]},{"shape":"box","origin_m":[0.05900000035762787,-0.08100000023841858,0.17000000178813934],"rpy_rad":[0,0,0],"size_m":[0.014,0.086,0.013]},{"shape":"box","origin_m":[0.024000000208616257,-0.11500000208616257,0.17000000178813934],"rpy_rad":[0,0,0],"size_m":[0.07,0.02,0.013]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","component_id","empty","geometry_evidence","inertia_kg_m2","mass_kg","mesh","name_zh","object","objects","origin_m","parent"]},{"id":"electrode_slot","name_zh":"可替换电极定位槽","function_zh":"记录外部电极的连接引用。","physical_meaning_zh":"空定位节点;不编造电极材质、面积、参比体系或尺寸。","subsystem":null,"parent":"root","origin_m":[-0.022,-0.115,0.17],"rpy_rad":[0,0,0],"objects":["metrohm_omnis__electrode_slot"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["slot.set_connection","titration.configure_stability","titration.start"],"bbox_m":null,"raw_keys":["collisions","component_id","empty","geometry_evidence","inertia_kg_m2","mass_kg","name_zh","object","objects","origin_m","parent"]},{"id":"titration_cell_slot","name_zh":"外部滴定池定位槽","function_zh":"记录外部滴定池的连接引用。","physical_meaning_zh":"空定位节点;外部池体、样品和溶液由宿主提供。","subsystem":null,"parent":"root","origin_m":[0,-0.115,0.052],"rpy_rad":[0,0,0],"objects":["metrohm_omnis__titration_cell_slot"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["slot.set_connection","titration.start"],"bbox_m":null,"raw_keys":["collisions","component_id","empty","geometry_evidence","inertia_kg_m2","mass_kg","name_zh","object","objects","origin_m","parent"]},{"id":"dosing_tip","name_zh":"加液出口定位与示意导管","function_zh":"表示滴定液进入池的出口位置。","physical_meaning_zh":"出口和位置为示意;管径、滴落体积与真实流阻未知。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["metrohm_omnis__dosing_tip"],"collisions":[{"shape":"cylinder","origin_m":[0.02500000037252903,-0.10199999809265137,0.1550000011920929],"rpy_rad":[0,0,0],"radius_m":0.002,"length_m":0.075},{"shape":"cylinder","origin_m":[0.02500000037252903,-0.10199999809265137,0.11500000208616257],"rpy_rad":[0,0,0],"radius_m":0.001,"length_m":0.006}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","component_id","empty","geometry_evidence","inertia_kg_m2","mass_kg","mesh","name_zh","object","objects","origin_m","parent"]},{"id":"tubing","name_zh":"从加液缸至出液端的管路示意","function_zh":"表达加液模块到出口的连接关系。","physical_meaning_zh":"视觉布线路径;不代表真实长度、内径、柔性或液体滞留量。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["metrohm_omnis__tubing"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"engineering_assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","component_id","empty","geometry_evidence","inertia_kg_m2","mass_kg","mesh","name_zh","object","objects","origin_m","parent"]},{"id":"status_indicator","name_zh":"前面板状态灯","function_zh":"显示逻辑供电或运行状态。","physical_meaning_zh":"可视状态提示;不是实际显示电子器件模型。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["metrohm_omnis__status_indicator"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set"],"bbox_m":null,"raw_keys":["collisions","component_id","empty","geometry_evidence","inertia_kg_m2","mass_kg","mesh","name_zh","object","objects","origin_m","parent"]},{"id":"rear_ports","name_zh":"后部供电与测量数据接口示意","function_zh":"标记逻辑供电与数据连接。","physical_meaning_zh":"几何仅标识端口区域;未复刻厂家针脚或通讯协议。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["metrohm_omnis__rear_ports"],"collisions":[{"shape":"box","origin_m":[0.0,0.19599999487400055,0.0949999988079071],"rpy_rad":[0,0,0],"size_m":[0.098,0.007,0.07]}],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","component_id","empty","geometry_evidence","inertia_kg_m2","mass_kg","mesh","name_zh","object","objects","origin_m","parent"]},{"id":"branding","name_zh":"厂家与型号静态标识","function_zh":"标记对应清单型号。","physical_meaning_zh":"静态标签,无独立物理驱动。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["metrohm_omnis__branding","metrohm_omnis__brand_name","metrohm_omnis__model_name"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"photo_estimate","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":[],"bbox_m":null,"raw_keys":["collisions","component_id","empty","geometry_evidence","inertia_kg_m2","mass_kg","mesh","name_zh","object","objects","origin_m","parent"]},{"id":"display","name_zh":"宿主状态文字目标","function_zh":"保存供宿主UI读取的本批过程文字。","physical_meaning_zh":"隐藏FONT字符串目标与空节点;未给仪器添加触摸屏或复刻厂家显示界面。","subsystem":null,"parent":"root","origin_m":[0,0,0],"rpy_rad":[0,0,0],"objects":["metrohm_omnis__display","metrohm_omnis__display_text"],"collisions":[],"joint":null,"mass_kg":null,"mass_evidence":"unknown","material":null,"friction":null,"restitution":null,"geometry_evidence":"engineering_assumption","geometry_note_zh":null,"interaction":null,"actions":[],"preconditions":[],"anchor_m":null,"physical_quantities":[],"capability_ids":["power.set","titration.start","titration.stop"],"bbox_m":null,"raw_keys":["collisions","component_id","empty","geometry_evidence","inertia_kg_m2","mass_kg","name_zh","object","objects","origin_m","parent"]}],"component_source":"geometry_manifest.json + asset.contract.json + collision_proxies.json","capabilities":{"power.set":{"function_zh":"设置逻辑供电;断电保留已经加入的体积和曲线。","kind":"device_command","availability":"implemented","component_ids":["housing","status_indicator","display"],"implementation":{"process":"verified","host":"verified","scene":"verified","robot":"absent","hardware":"absent"},"input":["enabled"]},"slot.set_connection":{"function_zh":"登记可替换部件的逻辑槽连接。","kind":"configuration","availability":"implemented","component_ids":["electrode_slot","titration_cell_slot"],"implementation":{"process":"verified","host":"verified","scene":"not_applicable","robot":"absent","hardware":"absent"},"input":["port_id","connection_id"]},"dosing.configure_cylinder":{"function_zh":"选择唯一缸槽容量,尚未实验时可改;每缸100000步。","kind":"configuration","availability":"implemented","component_ids":["cylinder_slot","dosing_module"],"implementation":{"process":"verified","host":"verified","scene":"not_applicable","robot":"absent","hardware":"absent"},"input":["volume_m3"]},"titration.configure_titrant":{"function_zh":"显式配置强碱滴定剂浓度。","kind":"configuration","availability":"implemented","component_ids":["dosing_module"],"implementation":{"process":"verified","host":"verified","scene":"not_applicable","robot":"absent","hardware":"absent"},"input":["concentration_mol_m3"]},"titration.configure_method":{"function_zh":"配置定电位终点或动态等当点合成方法。","kind":"configuration","availability":"implemented","component_ids":["dosing_module"],"implementation":{"process":"verified","host":"verified","scene":"not_applicable","robot":"absent","hardware":"absent"},"input":["mode","dose_increment_m3","maximum_volume_m3","endpoint_potential_v"]},"dosing.set_rate":{"function_zh":"显式设定合成加液速率,不推断厂商流量范围。","kind":"device_command","availability":"implemented","component_ids":["dosing_module"],"implementation":{"process":"verified","host":"verified","scene":"not_applicable","robot":"absent","hardware":"absent"},"input":["rate_m3_s"]},"titration.configure_stability":{"function_zh":"稳定窗口与电位容差由调用者显式给定。","kind":"configuration","availability":"implemented","component_ids":["electrode_slot"],"implementation":{"process":"verified","host":"verified","scene":"not_applicable","robot":"absent","hardware":"absent"},"input":["hold_s","tolerance_v"]},"stirring.set_speed":{"function_zh":"设定搅拌角速度,上限1800rpm;不虚构混合时间常数。","kind":"device_command","availability":"implemented","component_ids":["stir_bar","stirrer_platform"],"implementation":{"process":"verified","host":"verified","scene":"verified","robot":"absent","hardware":"absent"},"input":["angular_speed_rad_s"]},"titration.start":{"function_zh":"启动分段加液/稳定采样;调用不加液、不产生读数、不推进时钟。","kind":"device_command","availability":"implemented","component_ids":["dosing_module","electrode_slot","titration_cell_slot","stir_bar","piston_proxy","display"],"implementation":{"process":"verified","host":"verified","scene":"verified","robot":"absent","hardware":"absent"},"input":[]},"titration.stop":{"function_zh":"停止并保留已加液体积及采点,已转移液体不回滚。","kind":"device_command","availability":"implemented","component_ids":["dosing_module","display"],"implementation":{"process":"verified","host":"verified","scene":"verified","robot":"absent","hardware":"absent"},"input":[]},"titration.read_curve":{"function_zh":"读取合成曲线及估算终点,不推进时间、不访问样品真值。","kind":"query","availability":"implemented","component_ids":["housing"],"implementation":{"process":"verified","host":"verified","scene":"not_applicable","robot":"absent","hardware":"absent"},"input":[]},"titration.calculate_content":{"function_zh":"含量=终点体积×用户滴定剂浓度×用户计量比/用户样品体积。","kind":"analysis","availability":"implemented","component_ids":["housing"],"implementation":{"process":"verified","host":"verified","scene":"not_applicable","robot":"absent","hardware":"absent"},"input":["sample_volume_m3","stoichiometric_ratio"]}},"state_slots":{"power.enabled":{"meaning_zh":"逻辑供电;断电停止滴定,保留已加体积与曲线。","unit":"1","access":"read_write","origin":"setpoint","component_ids":["housing"],"write_via":"power.set"},"slot.electrode.connection_id":{"meaning_zh":"可替换槽逻辑连接;非机械插拔或兼容性验证。","unit":"1","access":"read_write","origin":"scene","component_ids":["electrode_slot"],"write_via":"slot.set_connection"},"slot.titration_cell.connection_id":{"meaning_zh":"可替换槽逻辑连接;非机械插拔或兼容性验证。","unit":"1","access":"read_write","origin":"scene","component_ids":["titration_cell_slot"],"write_via":"slot.set_connection"},"dosing.cylinder_volume_m3":{"meaning_zh":"单个缸槽容量,5/10/20/50mL换算SI。","unit":"m^3","access":"read_write","origin":"setpoint","component_ids":["cylinder_slot","dosing_module"],"write_via":"dosing.configure_cylinder"},"dosing.quantum_m3":{"meaning_zh":"选定容量/100000;分辨率不代表准确度。","unit":"m^3","access":"read_only","origin":"derived","component_ids":["cylinder_slot","dosing_module"],"write_via":null},"dosing.rate_m3_s":{"meaning_zh":"用户显式加液速率;厂家上限未知。","unit":"m^3/s","access":"read_write","origin":"setpoint","component_ids":["dosing_module"],"write_via":"dosing.set_rate"},"dosing.delivered_volume_m3":{"meaning_zh":"当前单缸实验已经加入的量化体积。","unit":"m^3","access":"read_only","origin":"derived","component_ids":["dosing_module"],"write_via":null},"dosing.piston_fraction":{"meaning_zh":"已加入体积/缸容量;仅供示意视觉映射,不等于真实活塞长度。","unit":"1","access":"read_only","origin":"derived","component_ids":["piston_proxy"],"write_via":null},"stirring.angular_speed_rad_s":{"meaning_zh":"1800 rpm = 60π rad/s;实际旋转还需逻辑电源。","unit":"rad/s","access":"read_write","origin":"setpoint","component_ids":["stir_bar","stirrer_platform"],"write_via":"stirring.set_speed"},"stirring.angle_rad":{"meaning_zh":"共同宿主时间积分后的示意搅拌角。","unit":"rad","access":"read_only","origin":"derived","component_ids":["stir_bar","stirrer_platform"],"write_via":null},"titrant.concentration_mol_m3":{"meaning_zh":"用户给定强碱滴定剂浓度;不从隐藏样品真值反推。","unit":"mol/m^3","access":"read_write","origin":"setpoint","component_ids":["dosing_module"],"write_via":"titration.configure_titrant"},"method.mode":{"meaning_zh":"endpoint或dynamic_equivalent,后者为自定义有限差分算法。","unit":"1","access":"read_only","origin":"setpoint","component_ids":["dosing_module"],"write_via":null},"method.dose_increment_m3":{"meaning_zh":"最大名义单次增量,动态模式可细分。","unit":"m^3","access":"read_only","origin":"setpoint","component_ids":["dosing_module"],"write_via":null},"method.maximum_volume_m3":{"meaning_zh":"本次单缸最大累积加液体积。","unit":"m^3","access":"read_only","origin":"setpoint","component_ids":["dosing_module"],"write_via":null},"method.endpoint_potential_v":{"meaning_zh":"endpoint模式明确给定的目标电位,动态模式为null。","unit":"V","access":"read_only","origin":"setpoint","component_ids":["dosing_module"],"write_via":null},"stability.hold_s":{"meaning_zh":"显式稳定保持窗口;没有厂家默认值。","unit":"s","access":"read_only","origin":"setpoint","component_ids":["electrode_slot","titration_cell_slot"],"write_via":null},"stability.tolerance_v":{"meaning_zh":"窗口内合成电位最大最小差的允许值。","unit":"V","access":"read_only","origin":"setpoint","component_ids":["electrode_slot","titration_cell_slot"],"write_via":null},"stability.stable":{"meaning_zh":"停止加液后窗口内合成读数符合显式稳定规则。","unit":"1","access":"read_only","origin":"derived","component_ids":["electrode_slot","titration_cell_slot"],"write_via":null},"titration.status":{"meaning_zh":"完成只表示本工程假设算法结束;limit_reached可能未得到终点。","unit":"1","access":"read_only","origin":"derived","component_ids":["titration_cell_slot","dosing_module"],"write_via":null},"titration.running":{"meaning_zh":"只由host_step推进过程。","unit":"1","access":"read_only","origin":"derived","component_ids":["titration_cell_slot","dosing_module"],"write_via":null},"titration.phase":{"meaning_zh":"分段加液/稳定采样状态。","unit":"1","access":"read_only","origin":"derived","component_ids":["titration_cell_slot","dosing_module"],"write_via":null},"measurement.potential_v":{"meaning_zh":"理想强酸强碱Nernst合成电位;越界为null。","unit":"V","access":"read_only","origin":"derived","component_ids":["electrode_slot","titration_cell_slot"],"write_via":null},"measurement.ph":{"meaning_zh":"由强酸强碱电中性与水离解计算的合成读数。","unit":"1","access":"read_only","origin":"derived","component_ids":["electrode_slot","titration_cell_slot"],"write_via":null},"measurement.sample_time_s":{"meaning_zh":"最近宿主生成的合成测量时刻。","unit":"s","access":"read_only","origin":"derived","component_ids":["electrode_slot","titration_cell_slot"],"write_via":null},"measurement.synthetic":{"meaning_zh":"所有测量与曲线均为synthetic。","unit":"1","access":"read_only","origin":"derived","component_ids":["electrode_slot","titration_cell_slot"],"write_via":null},"titration.curve":{"meaning_zh":"仅已稳定采点的观测序列;不含样品真值。","unit":"1","access":"read_only","origin":"derived","component_ids":["titration_cell_slot","dosing_module"],"write_via":null},"titration.endpoint_volume_m3":{"meaning_zh":"从观测曲线估算的终点体积,不读取宿主酸摩尔数求终点。","unit":"m^3","access":"read_only","origin":"derived","component_ids":["titration_cell_slot","dosing_module"],"write_via":null},"titration.content_mol_m3":{"meaning_zh":"按显式用户样品体积和化学计量比计算的含量。","unit":"mol/m^3","access":"read_only","origin":"derived","component_ids":["titration_cell_slot","dosing_module"],"write_via":null},"display.text":{"meaning_zh":"合成结果与运行状态的显示文本。","unit":"1","access":"read_only","origin":"derived","component_ids":["display"],"write_via":null},"truth.volume_m3":{"meaning_zh":"宿主专有的合成样品条件;agent不可读。","unit":"m^3","access":"read_only","origin":"process_truth","component_ids":["titration_cell_slot","dosing_module"],"write_via":null},"truth.acid_moles":{"meaning_zh":"宿主专有的合成样品条件;agent不可读。","unit":"mol","access":"read_only","origin":"process_truth","component_ids":["titration_cell_slot","dosing_module"],"write_via":null},"truth.temperature_k":{"meaning_zh":"宿主专有的合成样品条件;agent不可读。","unit":"K","access":"read_only","origin":"process_truth","component_ids":["titration_cell_slot","dosing_module"],"write_via":null},"truth.reference_ph":{"meaning_zh":"宿主专有的合成样品条件;agent不可读。","unit":"1","access":"read_only","origin":"process_truth","component_ids":["titration_cell_slot","dosing_module"],"write_via":null},"truth.reference_potential_v":{"meaning_zh":"宿主专有的合成样品条件;agent不可读。","unit":"V","access":"read_only","origin":"process_truth","component_ids":["titration_cell_slot","dosing_module"],"write_via":null}},"mechanisms":{"ideal_acid_base_potentiometry":{"meaning_zh":"engineering_assumption:单元强酸强碱电中性/水离解理想响应及Nernst电位;所有输出synthetic。","implementation":"numerical","equations":["d=(n_acid-c_base*V_dosed)/(1000*(V_sample+V_dosed)); H=(d+sqrt(d*d+4*Kw))/2 with cancellation-safe branch; pH=-log10(H)","E=E_ref-ln(10)*R*T/F*(pH-pH_ref); R=8.31446261815324 J/(mol K), F=96485.33212331001 C/mol"],"parameters":{"water_ionic_product":{"value":1e-14,"unit":"1","evidence":"assumption","meaning_zh":"浓度按mol/L归一后的Kw,固定25°C近似,温度仅进入Nernst斜率。"},"potential_range_v":{"value":[-2.4,2.4],"unit":"V","evidence":"documented","meaning_zh":"整机±2400mV测量范围。"},"electrode_response_time":{"value":null,"unit":"s","evidence":"unknown","meaning_zh":"清单未给出,保持null;不以整机规格代替部件参数。"},"sample_noise":{"value":null,"unit":"V","evidence":"unknown","meaning_zh":"清单未给出,保持null;不以整机规格代替部件参数。"},"calibration_accuracy":{"value":null,"unit":"V","evidence":"unknown","meaning_zh":"清单未给出,保持null;不以整机规格代替部件参数。"}}},"quantized_dosing_and_stirring":{"meaning_zh":"engineering_assumption:表列每缸100000步作为整数体积格点;宿主时钟推进恒定速率加液并积分搅拌角。","implementation":"numerical","equations":["quantum=V_cylinder/100000; delivered=integer_steps*quantum; theta=(theta+omega*dt) mod 2pi"],"parameters":{"cylinder_volumes_m3":{"value":[5e-06,1e-05,2e-05,5e-05],"unit":"m^3","evidence":"documented","meaning_zh":"表列5/10/20/50mL选项。"},"steps_per_cylinder":{"value":100000,"unit":"1","evidence":"documented","meaning_zh":"每缸加液分辨率,不等于精度。"},"maximum_stirring_speed_rad_s":{"value":188.49555921538757,"unit":"rad/s","evidence":"documented","meaning_zh":"1800rpm换算60πrad/s。"},"manufacturer_max_flow_rate":{"value":null,"unit":"m^3/s","evidence":"unknown","meaning_zh":"清单未给出,保持null;不以整机规格代替部件参数。"},"mixing_time_constant":{"value":null,"unit":"s","evidence":"unknown","meaning_zh":"清单未给出,保持null;不以整机规格代替部件参数。"},"cylinder_actual_stroke":{"value":null,"unit":"m","evidence":"unknown","meaning_zh":"清单未给出,保持null;不以整机规格代替部件参数。"}}},"stable_curve_and_endpoint":{"meaning_zh":"engineering_assumption:停液后的显式稳定窗口采点,固定目标电位线性插值或动态有限差分峰值估算终点。","implementation":"numerical","equations":["stable=(max(E over hold window)-min(E over hold window)<=user tolerance); ideal instantaneous mixing keeps E constant while dosing is stopped","endpoint: linear interpolation of observed E crossing; dynamic_equivalent: maximum observed |dE/dV| segment midpoint, confirmed by two later slopes < 0.8*peak","dynamic step=min(nominal_step, max(quantum, floor(0.02/last_abs_slope/quantum)*quantum)); content=V_endpoint*c_titrant*stoichiometric_ratio/V_user_sample"],"parameters":{"dynamic_target_delta_v":{"value":0.02,"unit":"V","evidence":"assumption","meaning_zh":"自定义动态增量算法的目标电位变化;非厂家方法参数。"},"dynamic_peak_fraction":{"value":0.8,"unit":"1","evidence":"assumption","meaning_zh":"峰后两个较低斜率小于峰值80%才确认有限差分终点。"},"max_curve_points":{"value":1024,"unit":"1","evidence":"assumption","meaning_zh":"运行层资源上限,不是厂商数据容量。"},"fault_probability":{"value":null,"unit":"1","evidence":"unknown","meaning_zh":"清单未给出,保持null;不以整机规格代替部件参数。"}}}},"limitations":["本批只覆盖指定型号的外形、组件槽位、合成滴定及视觉代理;不代表厂家全部功能或真实样品动力学。","所有测量曲线、终点体积和含量结果均为synthetic;真实样本响应、噪声、校准曲线和故障概率为null。","仅模拟理想一元强酸/强碱1:1滴定;氧化还原、络合、弱酸、活度修正、真实反应动力学、随温度变化的Kw及厂家终点固件均未实现。","单次实验只用一只加液缸;不自动补液、冲洗、换样或物理插拔。整步量化只表示清单分辨率,不表示计量准确度。","合成响应使用瞬时理想混合;停止加液时电位恒定,稳定性检查采用调用者显式保持窗口;没有混合或电极响应时间常数。","未知部件质量、惯量、密度、摩擦、真实缸径和活塞行程均为null;5.1 kg只用于整机集中刚体。","包围盒质心/惯量、视觉活塞行程、搅拌旋转代理和合成化学关系为engineering_assumption。","槽位为空节点:加液缸、电极、滴定池仅逻辑连接;未执行机器人插拔、抓取或液体接触仿真。","URDF碰撞仅盒/柱/球基元;碰撞存在与几何求值检查不等于接触动力学、刚体稳定性或机器人可达性验证。","真实硬件通讯、厂家软件控制、扩展模块五路并行、精度/重复性标定及实验比对均not_run。","本轮已读三表完整行、官网产品页和产品主图;清单引用PDF的逐页全文复核未完成,official_pdf_full_recheck=not_run。整机规格仍按清单已有证据引用。","宿主显式step推进过程时间;read本身不推进时间。Python可见性检查不构成跨进程或文件系统安全隔离。","原生场景adapter按固定对象名绑定一个实例;运行层多实例隔离通过不表示同一Blender场景内多实例隔离已实现或验证。"],"sources":[],"checks":{"coverage":{"status":"bridged","implemented":["dosing.configure_cylinder","dosing.set_rate","power.set","slot.set_connection","stirring.set_speed","titration.calculate_content","titration.configure_method","titration.configure_stability","titration.configure_titrant","titration.read_curve","titration.start","titration.stop"],"unsupported":[],"note_zh":"桥接 basic40_runtime_measure.MetrohmOmnisRuntime(推进方式 host_step_abs),34 个状态槽;与运行层镜像对比全同;受信设置需经 host.call;关节化 USD(2 个门/盖/阀等被动关节);2 个关节跟随运行层状态;接口点 1 个(放置面);布局:台面、单人可搬、正面 −y、前方留空 0.25 m;面板读数 run(灯)"}},"previews":["previews/metrohm_omnis/preview_front.webp","previews/metrohm_omnis/preview_rear.webp","previews/metrohm_omnis/synthetic_titration_curve.webp"],"files":[{"name":"asset.contract.json","path":"assets/basic40_batch02/t4_measure/metrohm_omnis/asset.contract.json","bytes":268899},{"name":"collision_proxies.json","path":"assets/basic40_batch02/t4_measure/metrohm_omnis/collision_proxies.json","bytes":6197},{"name":"geometry_manifest.json","path":"assets/basic40_batch02/t4_measure/metrohm_omnis/geometry_manifest.json","bytes":19987},{"name":"model.blend","path":"assets/basic40_batch02/t4_measure/metrohm_omnis/model.blend","bytes":293260},{"name":"model.glb","path":"assets/basic40_batch02/t4_measure/metrohm_omnis/model.glb","bytes":1027860},{"name":"model.urdf","path":"assets/basic40_batch02/t4_measure/metrohm_omnis/model.urdf","bytes":11238},{"name":"scene_adapter.py","path":"assets/basic40_batch02/t4_measure/metrohm_omnis/scene_adapter.py","bytes":2829}],"completeness":{"components":17,"with_collisions":8,"with_objects":17,"with_function":17,"with_mass":0,"joints_matching_component":2,"joints":2,"has_contract":true,"has_layout":true,"has_glb":true,"checks_present":["articulation_check","coverage","validation_summary","contract_validation","runtime_validation","scene_validation"]},"slug":"metrohm_omnis","chem_id":"CHEM-101","name_en":"Automatic potentiometric titrator","maker":"Metrohm","model":"OMNIS Professional Titrator","domain":"electrochem","domain_name":"Electrochemistry & Titration","path":"assets/basic40_batch02/t4_measure/metrohm_omnis","glb_up":"y","has_contract":true,"contract":"assets/basic40_batch02/t4_measure/metrohm_omnis/asset.contract.json","runtime":"scripts/basic40_runtime_measure.py"}
|
data/assets/instrument.micromeritics_autochemiii.json
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/assets/instrument.microtrac_turbiscanlab.json
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/assets/instrument.miele_plw6111.json
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/assets/instrument.mt_quantos_q2_xpe206dr.json
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/assets/instrument.mt_xpr204e.json
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|
data/assets/instrument.multiwave_7101.json
CHANGED
|
The diff for this file is too large to render.
See raw diff
|
|
|