From 279c5ed5199c23dcb1749b665d8f5cb52754b287 Mon Sep 17 00:00:00 2001
From: zhangshixiang <@zhangshixiang>
Date: Thu, 24 Apr 2025 00:59:43 +0800
Subject: [PATCH] =?UTF-8?q?=E5=AE=8C=E6=88=90=E5=9C=A8main=E4=B8=AD?=
=?UTF-8?q?=E5=90=AF=E5=8A=A8=E8=AE=BE=E5=A4=87=E5=8F=AF=E8=A7=86=E5=8C=96?=
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完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model
添加物料模型管理类，遍历物料与resource_model，完成TF数据收集
---
test/experiments/test.json | 2 +-
unilabos/app/main.py | 16 +-
.../joint_config.json | 0
.../macro_device.xacro | 20 +-
.../opentrons_liquid_handler/meshes/ot2-0.fbx | Bin
.../opentrons_liquid_handler/meshes/ot2-0.stl | Bin
.../opentrons_liquid_handler/meshes/ot2-1.fbx | Bin
.../opentrons_liquid_handler/meshes/ot2-1.stl | Bin
.../opentrons_liquid_handler/meshes/ot2-2.fbx | Bin
.../opentrons_liquid_handler/meshes/ot2-2.stl | Bin
.../meshes/ot2-3a.fbx | Bin
.../meshes/ot2-3a.stl | Bin
.../meshes/ot2-3b.fbx | Bin
.../meshes/ot2-3b.stl | Bin
.../param_config.json | 0
.../slide_w140/joint_config.json | 0
.../slide_w140/macro_device.xacro | 16 +-
.../slide_w140/meshes/base_link.STL | Bin
.../slide_w140/meshes/base_link.fbx | Bin
.../slide_w140/meshes/length.STL | Bin
.../slide_w140/meshes/length.fbx | Bin
.../slide_w140/meshes/slide_end.STL | Bin
.../slide_w140/meshes/slide_end.fbx | Bin
.../slide_w140/meshes/slider.STL | Bin
.../slide_w140/meshes/slider.fbx | Bin
.../slide_w140/param_config.json | 0
unilabos/device_mesh/resource_visalization.py | 47 +-
.../generic_labware_tube_10_75/0_base.png | Bin
.../meshes/0_base.glb | Bin
.../meshes/0_base.stl | Bin
.../generic_labware_tube_10_75/meta.json | 0
.../generic_labware_tube_10_75/modal.xacro | 0
.../tecan_nested_tip_rack/meshes/plate.glb | Bin
.../tecan_nested_tip_rack/meshes/plate.stl | Bin
.../tecan_nested_tip_rack/meta.json | 0
.../tecan_nested_tip_rack/modal.xacro | 0
.../tecan_nested_tip_rack/plate.png | Bin
.../devices/ros_dev/resource_mesh_manager.py | 4612 +++++++++++++++++
unilabos/registry/devices/robot_gripper.yaml | 4 +-
.../registry/resources/opentrons/plates.yaml | 4 +-
40 files changed, 4678 insertions(+), 43 deletions(-)
rename unilabos/device_mesh/{device => devices}/opentrons_liquid_handler/joint_config.json (100%)
rename unilabos/device_mesh/{device => devices}/opentrons_liquid_handler/macro_device.xacro (89%)
rename unilabos/device_mesh/{device => devices}/opentrons_liquid_handler/meshes/ot2-0.fbx (100%)
rename unilabos/device_mesh/{device => devices}/opentrons_liquid_handler/meshes/ot2-0.stl (100%)
rename unilabos/device_mesh/{device => devices}/opentrons_liquid_handler/meshes/ot2-1.fbx (100%)
rename unilabos/device_mesh/{device => devices}/opentrons_liquid_handler/meshes/ot2-1.stl (100%)
rename unilabos/device_mesh/{device => devices}/opentrons_liquid_handler/meshes/ot2-2.fbx (100%)
rename unilabos/device_mesh/{device => devices}/opentrons_liquid_handler/meshes/ot2-2.stl (100%)
rename unilabos/device_mesh/{device => devices}/opentrons_liquid_handler/meshes/ot2-3a.fbx (100%)
rename unilabos/device_mesh/{device => devices}/opentrons_liquid_handler/meshes/ot2-3a.stl (100%)
rename unilabos/device_mesh/{device => devices}/opentrons_liquid_handler/meshes/ot2-3b.fbx (100%)
rename unilabos/device_mesh/{device => devices}/opentrons_liquid_handler/meshes/ot2-3b.stl (100%)
rename unilabos/device_mesh/{device => devices}/opentrons_liquid_handler/param_config.json (100%)
rename unilabos/device_mesh/{device => devices}/slide_w140/joint_config.json (100%)
rename unilabos/device_mesh/{device => devices}/slide_w140/macro_device.xacro (86%)
rename unilabos/device_mesh/{device => devices}/slide_w140/meshes/base_link.STL (100%)
rename unilabos/device_mesh/{device => devices}/slide_w140/meshes/base_link.fbx (100%)
rename unilabos/device_mesh/{device => devices}/slide_w140/meshes/length.STL (100%)
rename unilabos/device_mesh/{device => devices}/slide_w140/meshes/length.fbx (100%)
rename unilabos/device_mesh/{device => devices}/slide_w140/meshes/slide_end.STL (100%)
rename unilabos/device_mesh/{device => devices}/slide_w140/meshes/slide_end.fbx (100%)
rename unilabos/device_mesh/{device => devices}/slide_w140/meshes/slider.STL (100%)
rename unilabos/device_mesh/{device => devices}/slide_w140/meshes/slider.fbx (100%)
rename unilabos/device_mesh/{device => devices}/slide_w140/param_config.json (100%)
rename unilabos/device_mesh/{resource => resources}/generic_labware_tube_10_75/0_base.png (100%)
rename unilabos/device_mesh/{resource => resources}/generic_labware_tube_10_75/meshes/0_base.glb (100%)
rename unilabos/device_mesh/{resource => resources}/generic_labware_tube_10_75/meshes/0_base.stl (100%)
rename unilabos/device_mesh/{resource => resources}/generic_labware_tube_10_75/meta.json (100%)
rename unilabos/device_mesh/{resource => resources}/generic_labware_tube_10_75/modal.xacro (100%)
rename unilabos/device_mesh/{resource => resources}/tecan_nested_tip_rack/meshes/plate.glb (100%)
rename unilabos/device_mesh/{resource => resources}/tecan_nested_tip_rack/meshes/plate.stl (100%)
rename unilabos/device_mesh/{resource => resources}/tecan_nested_tip_rack/meta.json (100%)
rename unilabos/device_mesh/{resource => resources}/tecan_nested_tip_rack/modal.xacro (100%)
rename unilabos/device_mesh/{resource => resources}/tecan_nested_tip_rack/plate.png (100%)
create mode 100644 unilabos/devices/ros_dev/resource_mesh_manager.py
diff --git a/test/experiments/test.json b/test/experiments/test.json
index 07b802cd..a07592c2 100644
--- a/test/experiments/test.json
+++ b/test/experiments/test.json
@@ -25,7 +25,7 @@
],
"parent": null,
"type": "plate",
- "class": "nest_96_wellplate_2ml_deep",
+ "class": "nest_96_wellplate_100ul_pcr_full_skirt",
"position": {
"x": 620.6111111111111,
"y": 171,
diff --git a/unilabos/app/main.py b/unilabos/app/main.py
index d418c5c1..8ec45f38 100644
--- a/unilabos/app/main.py
+++ b/unilabos/app/main.py
@@ -5,6 +5,7 @@ import sys
import json
import yaml
from copy import deepcopy
+import threading
# 首先添加项目根目录到路径
current_dir = os.path.dirname(os.path.abspath(__file__))
@@ -14,7 +15,7 @@ if ilabos_dir not in sys.path:
from unilabos.config.config import load_config, BasicConfig
from unilabos.utils.banner_print import print_status, print_unilab_banner
-
+from unilabos.device_mesh.resource_visalization import ResourceVisualization
def parse_args():
"""解析命令行参数"""
@@ -102,7 +103,8 @@ def main():
print_unilab_banner(args_dict)
# 注册表
- build_registry(args_dict["registry_path"])
+ registry_dict = build_registry(args_dict["registry_path"])
+
if args_dict["graph"] is not None:
import unilabos.resources.graphio as graph_res
@@ -150,8 +152,16 @@ def main():
signal.signal(signal.SIGTERM, _exit)
mqtt_client.start()
+ resource_visualization = ResourceVisualization(args_dict["devices_config"], args_dict["resources_config"],registry_dict)
start_backend(**args_dict)
- start_server()
+ print('-'*100)
+ print(resource_visualization.resource_model)
+ print(json.dumps(args_dict["resources_config"], indent=4, ensure_ascii=False))
+ print('-'*100)
+ server_thread = threading.Thread(target=start_server)
+ server_thread.start()
+
+ resource_visualization.start()
if __name__ == "__main__":
diff --git a/unilabos/device_mesh/device/opentrons_liquid_handler/joint_config.json b/unilabos/device_mesh/devices/opentrons_liquid_handler/joint_config.json
similarity index 100%
rename from unilabos/device_mesh/device/opentrons_liquid_handler/joint_config.json
rename to unilabos/device_mesh/devices/opentrons_liquid_handler/joint_config.json
diff --git a/unilabos/device_mesh/device/opentrons_liquid_handler/macro_device.xacro b/unilabos/device_mesh/devices/opentrons_liquid_handler/macro_device.xacro
similarity index 89%
rename from unilabos/device_mesh/device/opentrons_liquid_handler/macro_device.xacro
rename to unilabos/device_mesh/devices/opentrons_liquid_handler/macro_device.xacro
index 7431c20b..5dc945ba 100644
--- a/unilabos/device_mesh/device/opentrons_liquid_handler/macro_device.xacro
+++ b/unilabos/device_mesh/devices/opentrons_liquid_handler/macro_device.xacro
@@ -24,7 +24,7 @@
-
+
@@ -33,7 +33,7 @@
-
+
@@ -41,7 +41,7 @@
-
+
@@ -50,7 +50,7 @@
-
+
@@ -58,7 +58,7 @@
-
+
@@ -67,7 +67,7 @@
-
+
@@ -75,7 +75,7 @@
-
+
@@ -84,7 +84,7 @@
-
+
@@ -92,7 +92,7 @@
-
+
@@ -101,7 +101,7 @@
-
+
diff --git a/unilabos/device_mesh/device/opentrons_liquid_handler/meshes/ot2-0.fbx b/unilabos/device_mesh/devices/opentrons_liquid_handler/meshes/ot2-0.fbx
similarity index 100%
rename from unilabos/device_mesh/device/opentrons_liquid_handler/meshes/ot2-0.fbx
rename to unilabos/device_mesh/devices/opentrons_liquid_handler/meshes/ot2-0.fbx
diff --git a/unilabos/device_mesh/device/opentrons_liquid_handler/meshes/ot2-0.stl b/unilabos/device_mesh/devices/opentrons_liquid_handler/meshes/ot2-0.stl
similarity index 100%
rename from unilabos/device_mesh/device/opentrons_liquid_handler/meshes/ot2-0.stl
rename to unilabos/device_mesh/devices/opentrons_liquid_handler/meshes/ot2-0.stl
diff --git a/unilabos/device_mesh/device/opentrons_liquid_handler/meshes/ot2-1.fbx b/unilabos/device_mesh/devices/opentrons_liquid_handler/meshes/ot2-1.fbx
similarity index 100%
rename from unilabos/device_mesh/device/opentrons_liquid_handler/meshes/ot2-1.fbx
rename to unilabos/device_mesh/devices/opentrons_liquid_handler/meshes/ot2-1.fbx
diff --git a/unilabos/device_mesh/device/opentrons_liquid_handler/meshes/ot2-1.stl b/unilabos/device_mesh/devices/opentrons_liquid_handler/meshes/ot2-1.stl
similarity index 100%
rename from unilabos/device_mesh/device/opentrons_liquid_handler/meshes/ot2-1.stl
rename to unilabos/device_mesh/devices/opentrons_liquid_handler/meshes/ot2-1.stl
diff --git a/unilabos/device_mesh/device/opentrons_liquid_handler/meshes/ot2-2.fbx b/unilabos/device_mesh/devices/opentrons_liquid_handler/meshes/ot2-2.fbx
similarity index 100%
rename from unilabos/device_mesh/device/opentrons_liquid_handler/meshes/ot2-2.fbx
rename to unilabos/device_mesh/devices/opentrons_liquid_handler/meshes/ot2-2.fbx
diff --git a/unilabos/device_mesh/device/opentrons_liquid_handler/meshes/ot2-2.stl b/unilabos/device_mesh/devices/opentrons_liquid_handler/meshes/ot2-2.stl
similarity index 100%
rename from unilabos/device_mesh/device/opentrons_liquid_handler/meshes/ot2-2.stl
rename to unilabos/device_mesh/devices/opentrons_liquid_handler/meshes/ot2-2.stl
diff --git a/unilabos/device_mesh/device/opentrons_liquid_handler/meshes/ot2-3a.fbx b/unilabos/device_mesh/devices/opentrons_liquid_handler/meshes/ot2-3a.fbx
similarity index 100%
rename from unilabos/device_mesh/device/opentrons_liquid_handler/meshes/ot2-3a.fbx
rename to unilabos/device_mesh/devices/opentrons_liquid_handler/meshes/ot2-3a.fbx
diff --git a/unilabos/device_mesh/device/opentrons_liquid_handler/meshes/ot2-3a.stl b/unilabos/device_mesh/devices/opentrons_liquid_handler/meshes/ot2-3a.stl
similarity index 100%
rename from unilabos/device_mesh/device/opentrons_liquid_handler/meshes/ot2-3a.stl
rename to unilabos/device_mesh/devices/opentrons_liquid_handler/meshes/ot2-3a.stl
diff --git a/unilabos/device_mesh/device/opentrons_liquid_handler/meshes/ot2-3b.fbx b/unilabos/device_mesh/devices/opentrons_liquid_handler/meshes/ot2-3b.fbx
similarity index 100%
rename from unilabos/device_mesh/device/opentrons_liquid_handler/meshes/ot2-3b.fbx
rename to unilabos/device_mesh/devices/opentrons_liquid_handler/meshes/ot2-3b.fbx
diff --git a/unilabos/device_mesh/device/opentrons_liquid_handler/meshes/ot2-3b.stl b/unilabos/device_mesh/devices/opentrons_liquid_handler/meshes/ot2-3b.stl
similarity index 100%
rename from unilabos/device_mesh/device/opentrons_liquid_handler/meshes/ot2-3b.stl
rename to unilabos/device_mesh/devices/opentrons_liquid_handler/meshes/ot2-3b.stl
diff --git a/unilabos/device_mesh/device/opentrons_liquid_handler/param_config.json b/unilabos/device_mesh/devices/opentrons_liquid_handler/param_config.json
similarity index 100%
rename from unilabos/device_mesh/device/opentrons_liquid_handler/param_config.json
rename to unilabos/device_mesh/devices/opentrons_liquid_handler/param_config.json
diff --git a/unilabos/device_mesh/device/slide_w140/joint_config.json b/unilabos/device_mesh/devices/slide_w140/joint_config.json
similarity index 100%
rename from unilabos/device_mesh/device/slide_w140/joint_config.json
rename to unilabos/device_mesh/devices/slide_w140/joint_config.json
diff --git a/unilabos/device_mesh/device/slide_w140/macro_device.xacro b/unilabos/device_mesh/devices/slide_w140/macro_device.xacro
similarity index 86%
rename from unilabos/device_mesh/device/slide_w140/macro_device.xacro
rename to unilabos/device_mesh/devices/slide_w140/macro_device.xacro
index ffbc6f79..7e43242e 100644
--- a/unilabos/device_mesh/device/slide_w140/macro_device.xacro
+++ b/unilabos/device_mesh/devices/slide_w140/macro_device.xacro
@@ -35,7 +35,7 @@
-
+
@@ -44,7 +44,7 @@
-
+
@@ -57,7 +57,7 @@
-
+
@@ -66,7 +66,7 @@
-
+
@@ -86,7 +86,7 @@
-
+
@@ -95,7 +95,7 @@
-
+
@@ -113,7 +113,7 @@
-
+
@@ -122,7 +122,7 @@
-
+
diff --git a/unilabos/device_mesh/device/slide_w140/meshes/base_link.STL b/unilabos/device_mesh/devices/slide_w140/meshes/base_link.STL
similarity index 100%
rename from unilabos/device_mesh/device/slide_w140/meshes/base_link.STL
rename to unilabos/device_mesh/devices/slide_w140/meshes/base_link.STL
diff --git a/unilabos/device_mesh/device/slide_w140/meshes/base_link.fbx b/unilabos/device_mesh/devices/slide_w140/meshes/base_link.fbx
similarity index 100%
rename from unilabos/device_mesh/device/slide_w140/meshes/base_link.fbx
rename to unilabos/device_mesh/devices/slide_w140/meshes/base_link.fbx
diff --git a/unilabos/device_mesh/device/slide_w140/meshes/length.STL b/unilabos/device_mesh/devices/slide_w140/meshes/length.STL
similarity index 100%
rename from unilabos/device_mesh/device/slide_w140/meshes/length.STL
rename to unilabos/device_mesh/devices/slide_w140/meshes/length.STL
diff --git a/unilabos/device_mesh/device/slide_w140/meshes/length.fbx b/unilabos/device_mesh/devices/slide_w140/meshes/length.fbx
similarity index 100%
rename from unilabos/device_mesh/device/slide_w140/meshes/length.fbx
rename to unilabos/device_mesh/devices/slide_w140/meshes/length.fbx
diff --git a/unilabos/device_mesh/device/slide_w140/meshes/slide_end.STL b/unilabos/device_mesh/devices/slide_w140/meshes/slide_end.STL
similarity index 100%
rename from unilabos/device_mesh/device/slide_w140/meshes/slide_end.STL
rename to unilabos/device_mesh/devices/slide_w140/meshes/slide_end.STL
diff --git a/unilabos/device_mesh/device/slide_w140/meshes/slide_end.fbx b/unilabos/device_mesh/devices/slide_w140/meshes/slide_end.fbx
similarity index 100%
rename from unilabos/device_mesh/device/slide_w140/meshes/slide_end.fbx
rename to unilabos/device_mesh/devices/slide_w140/meshes/slide_end.fbx
diff --git a/unilabos/device_mesh/device/slide_w140/meshes/slider.STL b/unilabos/device_mesh/devices/slide_w140/meshes/slider.STL
similarity index 100%
rename from unilabos/device_mesh/device/slide_w140/meshes/slider.STL
rename to unilabos/device_mesh/devices/slide_w140/meshes/slider.STL
diff --git a/unilabos/device_mesh/device/slide_w140/meshes/slider.fbx b/unilabos/device_mesh/devices/slide_w140/meshes/slider.fbx
similarity index 100%
rename from unilabos/device_mesh/device/slide_w140/meshes/slider.fbx
rename to unilabos/device_mesh/devices/slide_w140/meshes/slider.fbx
diff --git a/unilabos/device_mesh/device/slide_w140/param_config.json b/unilabos/device_mesh/devices/slide_w140/param_config.json
similarity index 100%
rename from unilabos/device_mesh/device/slide_w140/param_config.json
rename to unilabos/device_mesh/devices/slide_w140/param_config.json
diff --git a/unilabos/device_mesh/resource_visalization.py b/unilabos/device_mesh/resource_visalization.py
index d4a1a712..e73a6807 100644
--- a/unilabos/device_mesh/resource_visalization.py
+++ b/unilabos/device_mesh/resource_visalization.py
@@ -1,3 +1,5 @@
+import os
+from pathlib import Path
from launch import LaunchService
from launch import LaunchDescription
from launch_ros.actions import Node as nd
@@ -6,19 +8,26 @@ from lxml import etree
class ResourceVisualization:
- def __init__(self, device: dict, registry: dict, resource: dict, enable_rviz: bool = False):
-
+ def __init__(self, device: dict, resource: dict, registry: dict, enable_rviz: bool = True):
"""初始化资源可视化类
+ 该类用于将设备和资源的3D模型可视化展示。通过解析设备和资源的配置信息,
+ 从注册表中获取对应的3D模型文件,并使用ROS2和RViz进行可视化。
+
Args:
- device: 设备配置字典
- registry: 注册表字典
+ device (dict): 设备配置字典,包含设备的类型、位置等信息
+ resource (dict): 资源配置字典,包含资源的类型、位置等信息
+ registry (dict): 注册表字典,包含设备和资源类型的注册信息
+ enable_rviz (bool, optional): 是否启用RViz可视化. Defaults to True.
"""
self.launch_service = LaunchService()
self.launch_description = LaunchDescription()
self.resource_dict = resource
self.resource_model = {}
self.resource_type = ['plate', 'container']
+ self.mesh_path = Path(__file__).parent.absolute()
+ self.enable_rviz = enable_rviz
+
self.robot_state_str= '''
@@ -28,8 +37,9 @@ class ResourceVisualization:
self.root = etree.fromstring(self.robot_state_str)
xacro_uri = self.root.nsmap["xacro"]
+
# 遍历设备节点
- for node in device['nodes']:
+ for node in device.values():
if node['type'] == 'device':
device_class = node['class']
@@ -37,37 +47,40 @@ class ResourceVisualization:
if device_class not in registry.device_type_registry.keys():
raise ValueError(f"设备类型 {device_class} 未在注册表中注册")
- elif "model" in device_class.keys():
+ elif "model" in registry.device_type_registry[device_class].keys():
model_config = registry.device_type_registry[device_class]['model']
if model_config['type'] == 'device':
new_include = etree.SubElement(self.root, f"{{{xacro_uri}}}include")
- new_include.set("filename", f"{model_config['mesh']}/macro_device.xacro")
+ new_include.set("filename", f"{str(self.mesh_path)}/devices/{model_config['mesh']}/macro_device.xacro")
new_dev = etree.SubElement(self.root, f"{{{xacro_uri}}}{model_config['mesh']}")
new_dev.set("parent_link", "world")
+ new_dev.set("mesh_path", str(self.mesh_path))
elif node['type'] in self.resource_type:
+ # print(registry.resource_type_registry)
resource_class = node['class']
if resource_class not in registry.resource_type_registry.keys():
raise ValueError(f"资源类型 {resource_class} 未在注册表中注册")
- if model_config['type'] == 'resource':
+ elif "model" in registry.resource_type_registry[resource_class].keys():
model_config = registry.resource_type_registry[resource_class]['model']
- self.resource_model[node['id']] = model_config['mesh']
- if model_config['children_mesh'] is not None:
- self.resource_model[f"{node['id']}_"] = model_config['children_mesh']
-
+ if model_config['type'] == 'resource':
+ self.resource_model[node['id']] = f"{str(self.mesh_path)}/resources/{model_config['mesh']}"
+ if model_config['children_mesh'] is not None:
+ self.resource_model[f"{node['id']}_"] = f"{str(self.mesh_path)}/resources/{model_config['children_mesh']}"
+
re = etree.tostring(self.root, encoding="unicode")
doc = xacro.parse(re)
xacro.process_doc(doc)
+ self.urdf_str = doc.toxml()
- def create_launch_description(self, urdf_str: str, enable_rviz: bool = False) -> LaunchDescription:
+ def create_launch_description(self, urdf_str: str) -> LaunchDescription:
"""
创建launch描述，包含robot_state_publisher和move_group节点
Args:
urdf_str: URDF文本
- enable_rviz: 是否启用RViz可视化
Returns:
LaunchDescription: launch描述对象
@@ -109,7 +122,7 @@ class ResourceVisualization:
self.launch_description.add_action(move_group)
# 如果启用RViz,添加RViz节点
- if enable_rviz:
+ if self.enable_rviz:
rviz_node = nd(
package='rviz2',
executable='rviz2',
@@ -120,13 +133,13 @@ class ResourceVisualization:
return self.launch_description
- def start(self, urdf_str: str) -> None:
+ def start(self) -> None:
"""
启动可视化服务
Args:
urdf_str: URDF文件路径
"""
- launch_description = self.create_launch_description(urdf_str)
+ launch_description = self.create_launch_description(self.urdf_str)
self.launch_service.include_launch_description(launch_description)
self.launch_service.run()
\ No newline at end of file
diff --git a/unilabos/device_mesh/resource/generic_labware_tube_10_75/0_base.png b/unilabos/device_mesh/resources/generic_labware_tube_10_75/0_base.png
similarity index 100%
rename from unilabos/device_mesh/resource/generic_labware_tube_10_75/0_base.png
rename to unilabos/device_mesh/resources/generic_labware_tube_10_75/0_base.png
diff --git a/unilabos/device_mesh/resource/generic_labware_tube_10_75/meshes/0_base.glb b/unilabos/device_mesh/resources/generic_labware_tube_10_75/meshes/0_base.glb
similarity index 100%
rename from unilabos/device_mesh/resource/generic_labware_tube_10_75/meshes/0_base.glb
rename to unilabos/device_mesh/resources/generic_labware_tube_10_75/meshes/0_base.glb
diff --git a/unilabos/device_mesh/resource/generic_labware_tube_10_75/meshes/0_base.stl b/unilabos/device_mesh/resources/generic_labware_tube_10_75/meshes/0_base.stl
similarity index 100%
rename from unilabos/device_mesh/resource/generic_labware_tube_10_75/meshes/0_base.stl
rename to unilabos/device_mesh/resources/generic_labware_tube_10_75/meshes/0_base.stl
diff --git a/unilabos/device_mesh/resource/generic_labware_tube_10_75/meta.json b/unilabos/device_mesh/resources/generic_labware_tube_10_75/meta.json
similarity index 100%
rename from unilabos/device_mesh/resource/generic_labware_tube_10_75/meta.json
rename to unilabos/device_mesh/resources/generic_labware_tube_10_75/meta.json
diff --git a/unilabos/device_mesh/resource/generic_labware_tube_10_75/modal.xacro b/unilabos/device_mesh/resources/generic_labware_tube_10_75/modal.xacro
similarity index 100%
rename from unilabos/device_mesh/resource/generic_labware_tube_10_75/modal.xacro
rename to unilabos/device_mesh/resources/generic_labware_tube_10_75/modal.xacro
diff --git a/unilabos/device_mesh/resource/tecan_nested_tip_rack/meshes/plate.glb b/unilabos/device_mesh/resources/tecan_nested_tip_rack/meshes/plate.glb
similarity index 100%
rename from unilabos/device_mesh/resource/tecan_nested_tip_rack/meshes/plate.glb
rename to unilabos/device_mesh/resources/tecan_nested_tip_rack/meshes/plate.glb
diff --git a/unilabos/device_mesh/resource/tecan_nested_tip_rack/meshes/plate.stl b/unilabos/device_mesh/resources/tecan_nested_tip_rack/meshes/plate.stl
similarity index 100%
rename from unilabos/device_mesh/resource/tecan_nested_tip_rack/meshes/plate.stl
rename to unilabos/device_mesh/resources/tecan_nested_tip_rack/meshes/plate.stl
diff --git a/unilabos/device_mesh/resource/tecan_nested_tip_rack/meta.json b/unilabos/device_mesh/resources/tecan_nested_tip_rack/meta.json
similarity index 100%
rename from unilabos/device_mesh/resource/tecan_nested_tip_rack/meta.json
rename to unilabos/device_mesh/resources/tecan_nested_tip_rack/meta.json
diff --git a/unilabos/device_mesh/resource/tecan_nested_tip_rack/modal.xacro b/unilabos/device_mesh/resources/tecan_nested_tip_rack/modal.xacro
similarity index 100%
rename from unilabos/device_mesh/resource/tecan_nested_tip_rack/modal.xacro
rename to unilabos/device_mesh/resources/tecan_nested_tip_rack/modal.xacro
diff --git a/unilabos/device_mesh/resource/tecan_nested_tip_rack/plate.png b/unilabos/device_mesh/resources/tecan_nested_tip_rack/plate.png
similarity index 100%
rename from unilabos/device_mesh/resource/tecan_nested_tip_rack/plate.png
rename to unilabos/device_mesh/resources/tecan_nested_tip_rack/plate.png
diff --git a/unilabos/devices/ros_dev/resource_mesh_manager.py b/unilabos/devices/ros_dev/resource_mesh_manager.py
new file mode 100644
index 00000000..f7e4232f
--- /dev/null
+++ b/unilabos/devices/ros_dev/resource_mesh_manager.py
@@ -0,0 +1,4612 @@
+import time
+import rclpy,json
+from rclpy.node import Node
+from std_msgs.msg import String,Header
+import numpy as np
+from moveit_msgs.srv import GetPlanningScene, ApplyPlanningScene
+from rclpy.callback_groups import ReentrantCallbackGroup
+from rclpy.qos import QoSProfile, QoSDurabilityPolicy, QoSReliabilityPolicy, QoSHistoryPolicy
+from moveit_msgs.msg import CollisionObject, AttachedCollisionObject, AllowedCollisionEntry
+from shape_msgs.msg import Mesh, MeshTriangle, SolidPrimitive
+from geometry_msgs.msg import Pose, PoseStamped, Point, Quaternion
+from rclpy.callback_groups import ReentrantCallbackGroup
+from rclpy.qos import QoSProfile, QoSDurabilityPolicy, QoSReliabilityPolicy, QoSHistoryPolicy
+from rclpy.task import Future
+import copy
+from typing import Tuple, Optional, Union, Any, List
+
+class ResourceMeshManager(Node):
+ def __init__(self, resource_model: dict, resource_config: list, node_name: str):
+ """初始化资源网格管理器节点
+
+ Args:
+ resource_model (dict): 资源模型字典,包含资源的3D模型信息
+ resource_config (dict): 资源配置字典,包含资源的配置信息
+ node_name (str): 节点名称
+ """
+ super().__init__(node_name)
+
+ self.resource_model = resource_model
+ self.resource_config = resource_config
+ self.resource_config_dict = {item['id']: item for item in self.resource_config}
+ self.move_group_ready = False
+ self.resource_tf_dict = {}
+ callback_group = ReentrantCallbackGroup()
+ self._get_planning_scene_service = self.create_client(
+ srv_type=GetPlanningScene,
+ srv_name="get_planning_scene",
+ qos_profile=QoSProfile(
+ durability=QoSDurabilityPolicy.VOLATILE,
+ reliability=QoSReliabilityPolicy.RELIABLE,
+ history=QoSHistoryPolicy.KEEP_LAST,
+ depth=1,
+ ),
+ callback_group=callback_group,
+ )
+ self.__planning_scene = None
+ self.__old_planning_scene = None
+ self.__old_allowed_collision_matrix = None
+
+ # Create a service for applying the planning scene
+ self._apply_planning_scene_service = self.create_client(
+ srv_type=ApplyPlanningScene,
+ srv_name="apply_planning_scene",
+ qos_profile=QoSProfile(
+ durability=QoSDurabilityPolicy.VOLATILE,
+ reliability=QoSReliabilityPolicy.RELIABLE,
+ history=QoSHistoryPolicy.KEEP_LAST,
+ depth=1,
+ ),
+ callback_group=callback_group,
+ )
+
+ self.__collision_object_publisher = self.create_publisher(
+ CollisionObject, "/collision_object", 10
+ )
+ self.__attached_collision_object_publisher = self.create_publisher(
+ AttachedCollisionObject, "/attached_collision_object", 10
+ )
+
+
+ """检查move_group节点是否已初始化完成"""
+ def check_move_group_ready(self):
+ while not self.move_group_ready:
+ # 获取当前可用的节点列表
+ if self._get_planning_scene_service.service_is_ready() and self._apply_planning_scene_service.service_is_ready():
+ self.resource_mesh_setup()
+ self.move_group_ready = True
+
+ time.sleep(0.5)
+
+ def resource_mesh_setup(self):
+ """move_group初始化完成后的设置"""
+ self.get_logger().info('开始设置资源网格管理器')
+
+ #遍历resource_config中的资源配置，判断panent是否在resource_model中，
+
+ for resource_config in self.resource_config:
+ if resource_config['parent'] in self.resource_model:
+ # self.resource_tf_dict[resource_config['id']] = resource_config['parent']
+ self.resource_tf_dict.update({resource_config['id']:{"parent":resource_config['parent'],
+ "position":resource_config['position'],
+ "rotation":resource_config['config']['rotation']}})
+ elif resource_config['parent'] is None and resource_config['id'] in self.resource_model:
+ self.resource_tf_dict.update({resource_config['id']:{'parent':'world',
+ "position":resource_config['position'],
+ "rotation":resource_config['config']['rotation']}})
+ elif resource_config['parent'] not in self.resource_model and resource_config['parent'] is not None:
+ self.resource_tf_dict.update({resource_config['id']:{'parent':f"{self.resource_config_dict[resource_config['parent']]['parent']}{resource_config['parent']}_device_link".replace("None",""),
+ "position":resource_config['position'],
+ "rotation":resource_config['config']['rotation']}})
+
+
+
+ def add_collision_primitive(
+ self,
+ id: str,
+ primitive_type: int,
+ dimensions: Tuple[float, float, float],
+ pose: Optional[Union[PoseStamped, Pose]] = None,
+ position: Optional[Union[Point, Tuple[float, float, float]]] = None,
+ quat_xyzw: Optional[
+ Union[Quaternion, Tuple[float, float, float, float]]
+ ] = None,
+ frame_id: Optional[str] = None,
+ operation: int = CollisionObject.ADD,
+ ):
+ """
+ Add collision object with a primitive geometry specified by its dimensions.
+
+ `primitive_type` can be one of the following:
+ - `SolidPrimitive.BOX`
+ - `SolidPrimitive.SPHERE`
+ - `SolidPrimitive.CYLINDER`
+ - `SolidPrimitive.CONE`
+ """
+
+ if (pose is None) and (position is None or quat_xyzw is None):
+ raise ValueError(
+ "Either `pose` or `position` and `quat_xyzw` must be specified!"
+ )
+
+ if isinstance(pose, PoseStamped):
+ pose_stamped = pose
+ elif isinstance(pose, Pose):
+ pose_stamped = PoseStamped(
+ header=Header(
+ stamp=self.get_clock().now().to_msg(),
+ frame_id=(
+ frame_id if frame_id is not None else self.__base_link_name
+ ),
+ ),
+ pose=pose,
+ )
+ else:
+ if not isinstance(position, Point):
+ position = Point(
+ x=float(position[0]), y=float(position[1]), z=float(position[2])
+ )
+ if not isinstance(quat_xyzw, Quaternion):
+ quat_xyzw = Quaternion(
+ x=float(quat_xyzw[0]),
+ y=float(quat_xyzw[1]),
+ z=float(quat_xyzw[2]),
+ w=float(quat_xyzw[3]),
+ )
+ pose_stamped = PoseStamped(
+ header=Header(
+ stamp=self.get_clock().now().to_msg(),
+ frame_id=(
+ frame_id if frame_id is not None else self.__base_link_name
+ ),
+ ),
+ pose=Pose(position=position, orientation=quat_xyzw),
+ )
+
+ msg = CollisionObject(
+ header=pose_stamped.header,
+ id=id,
+ operation=operation,
+ pose=pose_stamped.pose,
+ )
+
+ msg.primitives.append(
+ SolidPrimitive(type=primitive_type, dimensions=dimensions)
+ )
+
+ self.__collision_object_publisher.publish(msg)
+
+ def add_collision_box(
+ self,
+ id: str,
+ size: Tuple[float, float, float],
+ pose: Optional[Union[PoseStamped, Pose]] = None,
+ position: Optional[Union[Point, Tuple[float, float, float]]] = None,
+ quat_xyzw: Optional[
+ Union[Quaternion, Tuple[float, float, float, float]]
+ ] = None,
+ frame_id: Optional[str] = None,
+ operation: int = CollisionObject.ADD,
+ ):
+ """
+ Add collision object with a box geometry specified by its size.
+ """
+
+ assert len(size) == 3, "Invalid size of the box!"
+
+ self.add_collision_primitive(
+ id=id,
+ primitive_type=SolidPrimitive.BOX,
+ dimensions=size,
+ pose=pose,
+ position=position,
+ quat_xyzw=quat_xyzw,
+ frame_id=frame_id,
+ operation=operation,
+ )
+
+ def add_collision_sphere(
+ self,
+ id: str,
+ radius: float,
+ pose: Optional[Union[PoseStamped, Pose]] = None,
+ position: Optional[Union[Point, Tuple[float, float, float]]] = None,
+ quat_xyzw: Optional[
+ Union[Quaternion, Tuple[float, float, float, float]]
+ ] = None,
+ frame_id: Optional[str] = None,
+ operation: int = CollisionObject.ADD,
+ ):
+ """
+ Add collision object with a sphere geometry specified by its radius.
+ """
+
+ if quat_xyzw is None:
+ quat_xyzw = Quaternion(x=0.0, y=0.0, z=0.0, w=1.0)
+
+ self.add_collision_primitive(
+ id=id,
+ primitive_type=SolidPrimitive.SPHERE,
+ dimensions=[
+ radius,
+ ],
+ pose=pose,
+ position=position,
+ quat_xyzw=quat_xyzw,
+ frame_id=frame_id,
+ operation=operation,
+ )
+
+ def add_collision_cylinder(
+ self,
+ id: str,
+ height: float,
+ radius: float,
+ pose: Optional[Union[PoseStamped, Pose]] = None,
+ position: Optional[Union[Point, Tuple[float, float, float]]] = None,
+ quat_xyzw: Optional[
+ Union[Quaternion, Tuple[float, float, float, float]]
+ ] = None,
+ frame_id: Optional[str] = None,
+ operation: int = CollisionObject.ADD,
+ ):
+ """
+ Add collision object with a cylinder geometry specified by its height and radius.
+ """
+
+ self.add_collision_primitive(
+ id=id,
+ primitive_type=SolidPrimitive.CYLINDER,
+ dimensions=[height, radius],
+ pose=pose,
+ position=position,
+ quat_xyzw=quat_xyzw,
+ frame_id=frame_id,
+ operation=operation,
+ )
+
+ def add_collision_cone(
+ self,
+ id: str,
+ height: float,
+ radius: float,
+ pose: Optional[Union[PoseStamped, Pose]] = None,
+ position: Optional[Union[Point, Tuple[float, float, float]]] = None,
+ quat_xyzw: Optional[
+ Union[Quaternion, Tuple[float, float, float, float]]
+ ] = None,
+ frame_id: Optional[str] = None,
+ operation: int = CollisionObject.ADD,
+ ):
+ """
+ Add collision object with a cone geometry specified by its height and radius.
+ """
+
+ self.add_collision_primitive(
+ id=id,
+ primitive_type=SolidPrimitive.CONE,
+ dimensions=[height, radius],
+ pose=pose,
+ position=position,
+ quat_xyzw=quat_xyzw,
+ frame_id=frame_id,
+ operation=operation,
+ )
+
+ def add_collision_mesh(
+ self,
+ filepath: Optional[str],
+ id: str,
+ pose: Optional[Union[PoseStamped, Pose]] = None,
+ position: Optional[Union[Point, Tuple[float, float, float]]] = None,
+ quat_xyzw: Optional[
+ Union[Quaternion, Tuple[float, float, float, float]]
+ ] = None,
+ frame_id: Optional[str] = None,
+ operation: int = CollisionObject.ADD,
+ scale: Union[float, Tuple[float, float, float]] = 1.0,
+ mesh: Optional[Any] = None,
+ ):
+ """
+ Add collision object with a mesh geometry. Either `filepath` must be
+ specified or `mesh` must be provided.
+ Note: This function required 'trimesh' Python module to be installed.
+ """
+
+ # Load the mesh
+ try:
+ import trimesh
+ except ImportError as err:
+ raise ImportError(
+ "Python module 'trimesh' not found! Please install it manually in order "
+ "to add collision objects into the MoveIt 2 planning scene."
+ ) from err
+
+ # Check the parameters
+ if (pose is None) and (position is None or quat_xyzw is None):
+ raise ValueError(
+ "Either `pose` or `position` and `quat_xyzw` must be specified!"
+ )
+ if (filepath is None and mesh is None) or (
+ filepath is not None and mesh is not None
+ ):
+ raise ValueError("Exactly one of `filepath` or `mesh` must be specified!")
+ if mesh is not None and not isinstance(mesh, trimesh.Trimesh):
+ raise ValueError("`mesh` must be an instance of `trimesh.Trimesh`!")
+
+ if isinstance(pose, PoseStamped):
+ pose_stamped = pose
+ elif isinstance(pose, Pose):
+ pose_stamped = PoseStamped(
+ header=Header(
+ stamp=self.get_clock().now().to_msg(),
+ frame_id=(
+ frame_id if frame_id is not None else self.__base_link_name
+ ),
+ ),
+ pose=pose,
+ )
+ else:
+ if not isinstance(position, Point):
+ position = Point(
+ x=float(position[0]), y=float(position[1]), z=float(position[2])
+ )
+ if not isinstance(quat_xyzw, Quaternion):
+ quat_xyzw = Quaternion(
+ x=float(quat_xyzw[0]),
+ y=float(quat_xyzw[1]),
+ z=float(quat_xyzw[2]),
+ w=float(quat_xyzw[3]),
+ )
+ pose_stamped = PoseStamped(
+ header=Header(
+ stamp=self.get_clock().now().to_msg(),
+ frame_id=(
+ frame_id if frame_id is not None else self.__base_link_name
+ ),
+ ),
+ pose=Pose(position=position, orientation=quat_xyzw),
+ )
+
+ msg = CollisionObject(
+ header=pose_stamped.header,
+ id=id,
+ operation=operation,
+ pose=pose_stamped.pose,
+ )
+
+ if filepath is not None:
+ mesh = trimesh.load(filepath)
+
+ # Scale the mesh
+ if isinstance(scale, float):
+ scale = (scale, scale, scale)
+ if not (scale[0] == scale[1] == scale[2] == 1.0):
+ # If the mesh was passed in as a parameter, make a copy of it to
+ # avoid transforming the original.
+ if filepath is not None:
+ mesh = mesh.copy()
+ # Transform the mesh
+ transform = np.eye(4)
+ np.fill_diagonal(transform, scale)
+ mesh.apply_transform(transform)
+
+ msg.meshes.append(
+ Mesh(
+ triangles=[MeshTriangle(vertex_indices=face) for face in mesh.faces],
+ vertices=[
+ Point(x=vert[0], y=vert[1], z=vert[2]) for vert in mesh.vertices
+ ],
+ )
+ )
+
+ self.__collision_object_publisher.publish(msg)
+
+ def remove_collision_object(self, id: str):
+ """
+ Remove collision object specified by its `id`.
+ """
+
+ msg = CollisionObject()
+ msg.id = id
+ msg.operation = CollisionObject.REMOVE
+ msg.header.stamp = self.get_clock().now().to_msg()
+ self.__collision_object_publisher.publish(msg)
+
+ def remove_collision_mesh(self, id: str):
+ """
+ Remove collision mesh specified by its `id`.
+ Identical to `remove_collision_object()`.
+ """
+
+ self.remove_collision_object(id)
+
+ def attach_collision_object(
+ self,
+ id: str,
+ link_name: Optional[str] = None,
+ touch_links: List[str] = [],
+ weight: float = 0.0,
+ ):
+ """
+ Attach collision object to the robot.
+ """
+
+ if link_name is None:
+ link_name = self.__end_effector_name
+
+ msg = AttachedCollisionObject(
+ object=CollisionObject(id=id, operation=CollisionObject.ADD)
+ )
+ msg.link_name = link_name
+ msg.touch_links = touch_links
+ msg.weight = weight
+
+ self.__attached_collision_object_publisher.publish(msg)
+
+ def detach_collision_object(self, id: int):
+ """
+ Detach collision object from the robot.
+ """
+
+ msg = AttachedCollisionObject(
+ object=CollisionObject(id=id, operation=CollisionObject.REMOVE)
+ )
+ self.__attached_collision_object_publisher.publish(msg)
+
+ def detach_all_collision_objects(self):
+ """
+ Detach collision object from the robot.
+ """
+
+ msg = AttachedCollisionObject(
+ object=CollisionObject(operation=CollisionObject.REMOVE)
+ )
+ self.__attached_collision_object_publisher.publish(msg)
+
+ def move_collision(
+ self,
+ id: str,
+ position: Union[Point, Tuple[float, float, float]],
+ quat_xyzw: Union[Quaternion, Tuple[float, float, float, float]],
+ frame_id: Optional[str] = None,
+ ):
+ """
+ Move collision object specified by its `id`.
+ """
+
+ msg = CollisionObject()
+
+ if not isinstance(position, Point):
+ position = Point(
+ x=float(position[0]), y=float(position[1]), z=float(position[2])
+ )
+ if not isinstance(quat_xyzw, Quaternion):
+ quat_xyzw = Quaternion(
+ x=float(quat_xyzw[0]),
+ y=float(quat_xyzw[1]),
+ z=float(quat_xyzw[2]),
+ w=float(quat_xyzw[3]),
+ )
+
+ pose = Pose()
+ pose.position = position
+ pose.orientation = quat_xyzw
+ msg.pose = pose
+ msg.id = id
+ msg.operation = CollisionObject.MOVE
+ msg.header.frame_id = (
+ frame_id if frame_id is not None else self.__base_link_name
+ )
+ msg.header.stamp = self.get_clock().now().to_msg()
+
+ self.__collision_object_publisher.publish(msg)
+
+ def update_planning_scene(self) -> bool:
+ """
+ Gets the current planning scene. Returns whether the service call was
+ successful.
+ """
+
+ if not self._get_planning_scene_service.service_is_ready():
+ self.get_logger().warn(
+ f"Service '{self._get_planning_scene_service.srv_name}' is not yet available. Better luck next time!"
+ )
+ return False
+ self.__planning_scene = self._get_planning_scene_service.call(
+ GetPlanningScene.Request()
+ ).scene
+ return True
+
+ def allow_collisions(self, id: str, allow: bool) -> Optional[Future]:
+ """
+ Takes in the ID of an element in the planning scene. Modifies the allowed
+ collision matrix to (dis)allow collisions between that object and all other
+ object.
+
+ If `allow` is True, a plan will succeed even if the robot collides with that object.
+ If `allow` is False, a plan will fail if the robot collides with that object.
+ Returns whether it successfully updated the allowed collision matrix.
+
+ Returns the future of the service call.
+ """
+ # Update the planning scene
+ if not self.update_planning_scene():
+ return None
+ allowed_collision_matrix = self.__planning_scene.allowed_collision_matrix
+ self.__old_allowed_collision_matrix = copy.deepcopy(allowed_collision_matrix)
+
+ # Get the location in the allowed collision matrix of the object
+ j = None
+ if id not in allowed_collision_matrix.entry_names:
+ allowed_collision_matrix.entry_names.append(id)
+ else:
+ j = allowed_collision_matrix.entry_names.index(id)
+ # For all other objects, (dis)allow collisions with the object with `id`
+ for i in range(len(allowed_collision_matrix.entry_values)):
+ if j is None:
+ allowed_collision_matrix.entry_values[i].enabled.append(allow)
+ elif i != j:
+ allowed_collision_matrix.entry_values[i].enabled[j] = allow
+ # For the object with `id`, (dis)allow collisions with all other objects
+ allowed_collision_entry = AllowedCollisionEntry(
+ enabled=[allow for _ in range(len(allowed_collision_matrix.entry_names))]
+ )
+ if j is None:
+ allowed_collision_matrix.entry_values.append(allowed_collision_entry)
+ else:
+ allowed_collision_matrix.entry_values[j] = allowed_collision_entry
+
+ # Apply the new planning scene
+ if not self._apply_planning_scene_service.service_is_ready():
+ self.get_logger().warn(
+ f"Service '{self._apply_planning_scene_service.srv_name}' is not yet available. Better luck next time!"
+ )
+ return None
+ return self._apply_planning_scene_service.call_async(
+ ApplyPlanningScene.Request(scene=self.__planning_scene)
+ )
+
+ def process_allow_collision_future(self, future: Future) -> bool:
+ """
+ Return whether the allow collision service call is done and has succeeded
+ or not. If it failed, reset the allowed collision matrix to the old one.
+ """
+ if not future.done():
+ return False
+
+ # Get response
+ resp = future.result()
+
+ # If it failed, restore the old planning scene
+ if not resp.success:
+ self.__planning_scene.allowed_collision_matrix = (
+ self.__old_allowed_collision_matrix
+ )
+
+ return resp.success
+
+ def clear_all_collision_objects(self) -> Optional[Future]:
+ """
+ Removes all attached and un-attached collision objects from the planning scene.
+
+ Returns a future for the ApplyPlanningScene service call.
+ """
+ # Update the planning scene
+ if not self.update_planning_scene():
+ return None
+ self.__old_planning_scene = copy.deepcopy(self.__planning_scene)
+
+ # Remove all collision objects from the planning scene
+ self.__planning_scene.world.collision_objects = []
+ self.__planning_scene.robot_state.attached_collision_objects = []
+
+ # Apply the new planning scene
+ if not self._apply_planning_scene_service.service_is_ready():
+ self.get_logger().warn(
+ f"Service '{self._apply_planning_scene_service.srv_name}' is not yet available. Better luck next time!"
+ )
+ return None
+ return self._apply_planning_scene_service.call_async(
+ ApplyPlanningScene.Request(scene=self.__planning_scene)
+ )
+
+if __name__ == '__main__':
+ model_s = '''
+{'Plate1': '/home/z43/git_pj/Uni-Lab-OS/unilabos/device_mesh/resources/tecan_nested_tip_rack/meshes/plate.stl', 'Plate1_': '/home/z43/git_pj/Uni-Lab-OS/unilabos/device_mesh/resources/generic_labware_tube_10_75/meshes/0_base.stl'}
+'''
+ resource_model = json.loads(model_s.replace("'",'"'))
+
+ config_s = '''
+[
+ {
+ "id": "Gripper1",
+ "name": "假夹爪",
+ "children": [],
+ "parent": null,
+ "type": "device",
+ "class": "gripper.mock",
+ "position": {
+ "x": 620.6111111111111,
+ "y": 171,
+ "z": 0
+ },
+ "config": {},
+ "data": {}
+ },
+ {
+ "id": "Plate1",
+ "name": "Plate1",
+ "sample_id": null,
+ "children": [
+ "Plate1_A1",
+ "Plate1_B1",
+ "Plate1_C1",
+ "Plate1_D1",
+ "Plate1_E1",
+ "Plate1_F1",
+ "Plate1_G1",
+ "Plate1_H1",
+ "Plate1_A2",
+ "Plate1_B2",
+ "Plate1_C2",
+ "Plate1_D2",
+ "Plate1_E2",
+ "Plate1_F2",
+ "Plate1_G2",
+ "Plate1_H2",
+ "Plate1_A3",
+ "Plate1_B3",
+ "Plate1_C3",
+ "Plate1_D3",
+ "Plate1_E3",
+ "Plate1_F3",
+ "Plate1_G3",
+ "Plate1_H3",
+ "Plate1_A4",
+ "Plate1_B4",
+ "Plate1_C4",
+ "Plate1_D4",
+ "Plate1_E4",
+ "Plate1_F4",
+ "Plate1_G4",
+ "Plate1_H4",
+ "Plate1_A5",
+ "Plate1_B5",
+ "Plate1_C5",
+ "Plate1_D5",
+ "Plate1_E5",
+ "Plate1_F5",
+ "Plate1_G5",
+ "Plate1_H5",
+ "Plate1_A6",
+ "Plate1_B6",
+ "Plate1_C6",
+ "Plate1_D6",
+ "Plate1_E6",
+ "Plate1_F6",
+ "Plate1_G6",
+ "Plate1_H6",
+ "Plate1_A7",
+ "Plate1_B7",
+ "Plate1_C7",
+ "Plate1_D7",
+ "Plate1_E7",
+ "Plate1_F7",
+ "Plate1_G7",
+ "Plate1_H7",
+ "Plate1_A8",
+ "Plate1_B8",
+ "Plate1_C8",
+ "Plate1_D8",
+ "Plate1_E8",
+ "Plate1_F8",
+ "Plate1_G8",
+ "Plate1_H8",
+ "Plate1_A9",
+ "Plate1_B9",
+ "Plate1_C9",
+ "Plate1_D9",
+ "Plate1_E9",
+ "Plate1_F9",
+ "Plate1_G9",
+ "Plate1_H9",
+ "Plate1_A10",
+ "Plate1_B10",
+ "Plate1_C10",
+ "Plate1_D10",
+ "Plate1_E10",
+ "Plate1_F10",
+ "Plate1_G10",
+ "Plate1_H10",
+ "Plate1_A11",
+ "Plate1_B11",
+ "Plate1_C11",
+ "Plate1_D11",
+ "Plate1_E11",
+ "Plate1_F11",
+ "Plate1_G11",
+ "Plate1_H11",
+ "Plate1_A12",
+ "Plate1_B12",
+ "Plate1_C12",
+ "Plate1_D12",
+ "Plate1_E12",
+ "Plate1_F12",
+ "Plate1_G12",
+ "Plate1_H12"
+ ],
+ "parent": "Gripper1",
+ "type": "device",
+ "class": "",
+ "position": {
+ "x": 620.6111111111111,
+ "y": 171,
+ "z": 0
+ },
+ "config": {
+ "type": "Plate",
+ "size_x": 127.76,
+ "size_y": 85.48,
+ "size_z": 15.7,
+ "rotation": {
+ "x": 0,
+ "y": 0,
+ "z": 0,
+ "type": "Rotation"
+ },
+ "category": "plate",
+ "model": "NEST 96 Well Plate 100 µL PCR Full Skirt",
+ "ordering": [
+ "A1",
+ "B1",
+ "C1",
+ "D1",
+ "E1",
+ "F1",
+ "G1",
+ "H1",
+ "A2",
+ "B2",
+ "C2",
+ "D2",
+ "E2",
+ "F2",
+ "G2",
+ "H2",
+ "A3",
+ "B3",
+ "C3",
+ "D3",
+ "E3",
+ "F3",
+ "G3",
+ "H3",
+ "A4",
+ "B4",
+ "C4",
+ "D4",
+ "E4",
+ "F4",
+ "G4",
+ "H4",
+ "A5",
+ "B5",
+ "C5",
+ "D5",
+ "E5",
+ "F5",
+ "G5",
+ "H5",
+ "A6",
+ "B6",
+ "C6",
+ "D6",
+ "E6",
+ "F6",
+ "G6",
+ "H6",
+ "A7",
+ "B7",
+ "C7",
+ "D7",
+ "E7",
+ "F7",
+ "G7",
+ "H7",
+ "A8",
+ "B8",
+ "C8",
+ "D8",
+ "E8",
+ "F8",
+ "G8",
+ "H8",
+ "A9",
+ "B9",
+ "C9",
+ "D9",
+ "E9",
+ "F9",
+ "G9",
+ "H9",
+ "A10",
+ "B10",
+ "C10",
+ "D10",
+ "E10",
+ "F10",
+ "G10",
+ "H10",
+ "A11",
+ "B11",
+ "C11",
+ "D11",
+ "E11",
+ "F11",
+ "G11",
+ "H11",
+ "A12",
+ "B12",
+ "C12",
+ "D12",
+ "E12",
+ "F12",
+ "G12",
+ "H12"
+ ]
+ },
+ "data": {}
+ },
+ {
+ "id": "Plate1_A1",
+ "name": "Plate1_A1",
+ "sample_id": null,
+ "children": [],
+ "parent": "Plate1",
+ "type": "device",
+ "class": "",
+ "position": {
+ "x": 12.492,
+ "y": 72.352,
+ "z": 0.92
+ },
+ "config": {
+ "type": "Well",
+ "size_x": 3.776,
+ "size_y": 3.776,
+ "size_z": 14.78,
+ "rotation": {
+ "x": 0,
+ "y": 0,
+ "z": 0,
+ "type": "Rotation"
+ },
+ "category": "well",
+ "model": null,
+ "max_volume": 100,
+ "material_z_thickness": null,
+ "compute_volume_from_height": null,
+ "compute_height_from_volume": null,
+ "bottom_type": "unknown",
+ "cross_section_type": "circle"
+ },
+ "data": {
+ "liquids": [],
+ "pending_liquids": [],
+ "liquid_history": []
+ }
+ },
+ {
+ "id": "Plate1_B1",
+ "name": "Plate1_B1",
+ "sample_id": null,
+ "children": [],
+ "parent": "Plate1",
+ "type": "device",
+ "class": "",
+ "position": {
+ "x": 12.492,
+ "y": 63.352,
+ "z": 0.92
+ },
+ "config": {
+ "type": "Well",
+ "size_x": 3.776,
+ "size_y": 3.776,
+ "size_z": 14.78,
+ "rotation": {
+ "x": 0,
+ "y": 0,
+ "z": 0,
+ "type": "Rotation"
+ },
+ "category": "well",
+ "model": null,
+ "max_volume": 100,
+ "material_z_thickness": null,
+ "compute_volume_from_height": null,
+ "compute_height_from_volume": null,
+ "bottom_type": "unknown",
+ "cross_section_type": "circle"
+ },
+ "data": {
+ "liquids": [],
+ "pending_liquids": [],
+ "liquid_history": []
+ }
+ },
+ {
+ "id": "Plate1_C1",
+ "name": "Plate1_C1",
+ "sample_id": null,
+ "children": [],
+ "parent": "Plate1",
+ "type": "device",
+ "class": "",
+ "position": {
+ "x": 12.492,
+ "y": 54.352,
+ "z": 0.92
+ },
+ "config": {
+ "type": "Well",
+ "size_x": 3.776,
+ "size_y": 3.776,
+ "size_z": 14.78,
+ "rotation": {
+ "x": 0,
+ "y": 0,
+ "z": 0,
+ "type": "Rotation"
+ },
+ "category": "well",
+ "model": null,
+ "max_volume": 100,
+ "material_z_thickness": null,
+ "compute_volume_from_height": null,
+ "compute_height_from_volume": null,
+ "bottom_type": "unknown",
+ "cross_section_type": "circle"
+ },
+ "data": {
+ "liquids": [],
+ "pending_liquids": [],
+ "liquid_history": []
+ }
+ },
+ {
+ "id": "Plate1_D1",
+ "name": "Plate1_D1",
+ "sample_id": null,
+ "children": [],
+ "parent": "Plate1",
+ "type": "device",
+ "class": "",
+ "position": {
+ "x": 12.492,
+ "y": 45.352,
+ "z": 0.92
+ },
+ "config": {
+ "type": "Well",
+ "size_x": 3.776,
+ "size_y": 3.776,
+ "size_z": 14.78,
+ "rotation": {
+ "x": 0,
+ "y": 0,
+ "z": 0,
+ "type": "Rotation"
+ },
+ "category": "well",
+ "model": null,
+ "max_volume": 100,
+ "material_z_thickness": null,
+ "compute_volume_from_height": null,
+ "compute_height_from_volume": null,
+ "bottom_type": "unknown",
+ "cross_section_type": "circle"
+ },
+ "data": {
+ "liquids": [],
+ "pending_liquids": [],
+ "liquid_history": []
+ }
+ },
+ {
+ "id": "Plate1_E1",
+ "name": "Plate1_E1",
+ "sample_id": null,
+ "children": [],
+ "parent": "Plate1",
+ "type": "device",
+ "class": "",
+ "position": {
+ "x": 12.492,
+ "y": 36.352,
+ "z": 0.92
+ },
+ "config": {
+ "type": "Well",
+ "size_x": 3.776,
+ "size_y": 3.776,
+ "size_z": 14.78,
+ "rotation": {
+ "x": 0,
+ "y": 0,
+ "z": 0,
+ "type": "Rotation"
+ },
+ "category": "well",
+ "model": null,
+ "max_volume": 100,
+ "material_z_thickness": null,
+ "compute_volume_from_height": null,
+ "compute_height_from_volume": null,
+ "bottom_type": "unknown",
+ "cross_section_type": "circle"
+ },
+ "data": {
+ "liquids": [],
+ "pending_liquids": [],
+ "liquid_history": []
+ }
+ },
+ {
+ "id": "Plate1_F1",
+ "name": "Plate1_F1",
+ "sample_id": null,
+ "children": [],
+ "parent": "Plate1",
+ "type": "device",
+ "class": "",
+ "position": {
+ "x": 12.492,
+ "y": 27.352,
+ "z": 0.92
+ },
+ "config": {
+ "type": "Well",
+ "size_x": 3.776,
+ "size_y": 3.776,
+ "size_z": 14.78,
+ "rotation": {
+ "x": 0,
+ "y": 0,
+ "z": 0,
+ "type": "Rotation"
+ },
+ "category": "well",
+ "model": null,
+ "max_volume": 100,
+ "material_z_thickness": null,
+ "compute_volume_from_height": null,
+ "compute_height_from_volume": null,
+ "bottom_type": "unknown",
+ "cross_section_type": "circle"
+ },
+ "data": {
+ "liquids": [],
+ "pending_liquids": [],
+ "liquid_history": []
+ }
+ },
+ {
+ "id": "Plate1_G1",
+ "name": "Plate1_G1",
+ "sample_id": null,
+ "children": [],
+ "parent": "Plate1",
+ "type": "device",
+ "class": "",
+ "position": {
+ "x": 12.492,
+ "y": 18.352,
+ "z": 0.92
+ },
+ "config": {
+ "type": "Well",
+ "size_x": 3.776,
+ "size_y": 3.776,
+ "size_z": 14.78,
+ "rotation": {
+ "x": 0,
+ "y": 0,
+ "z": 0,
+ "type": "Rotation"
+ },
+ "category": "well",
+ "model": null,
+ "max_volume": 100,
+ "material_z_thickness": null,
+ "compute_volume_from_height": null,
+ "compute_height_from_volume": null,
+ "bottom_type": "unknown",
+ "cross_section_type": "circle"
+ },
+ "data": {
+ "liquids": [],
+ "pending_liquids": [],
+ "liquid_history": []
+ }
+ },
+ {
+ "id": "Plate1_H1",
+ "name": "Plate1_H1",
+ "sample_id": null,
+ "children": [],
+ "parent": "Plate1",
+ "type": "device",
+ "class": "",
+ "position": {
+ "x": 12.492,
+ "y": 9.352,
+ "z": 0.92
+ },
+ "config": {
+ "type": "Well",
+ "size_x": 3.776,
+ "size_y": 3.776,
+ "size_z": 14.78,
+ "rotation": {
+ "x": 0,
+ "y": 0,
+ "z": 0,
+ "type": "Rotation"
+ },
+ "category": "well",
+ "model": null,
+ "max_volume": 100,
+ "material_z_thickness": null,
+ "compute_volume_from_height": null,
+ "compute_height_from_volume": null,
+ "bottom_type": "unknown",
+ "cross_section_type": "circle"
+ },
+ "data": {
+ "liquids": [],
+ "pending_liquids": [],
+ "liquid_history": []
+ }
+ },
+ {
+ "id": "Plate1_A2",
+ "name": "Plate1_A2",
+ "sample_id": null,
+ "children": [],
+ "parent": "Plate1",
+ "type": "device",
+ "class": "",
+ "position": {
+ "x": 21.492,
+ "y": 72.352,
+ "z": 0.92
+ },
+ "config": {
+ "type": "Well",
+ "size_x": 3.776,
+ "size_y": 3.776,
+ "size_z": 14.78,
+ "rotation": {
+ "x": 0,
+ "y": 0,
+ "z": 0,
+ "type": "Rotation"
+ },
+ "category": "well",
+ "model": null,
+ "max_volume": 100,
+ "material_z_thickness": null,
+ "compute_volume_from_height": null,
+ "compute_height_from_volume": null,
+ "bottom_type": "unknown",
+ "cross_section_type": "circle"
+ },
+ "data": {
+ "liquids": [],
+ "pending_liquids": [],
+ "liquid_history": []
+ }
+ },
+ {
+ "id": "Plate1_B2",
+ "name": "Plate1_B2",
+ "sample_id": null,
+ "children": [],
+ "parent": "Plate1",
+ "type": "device",
+ "class": "",
+ "position": {
+ "x": 21.492,
+ "y": 63.352,
+ "z": 0.92
+ },
+ "config": {
+ "type": "Well",
+ "size_x": 3.776,
+ "size_y": 3.776,
+ "size_z": 14.78,
+ "rotation": {
+ "x": 0,
+ "y": 0,
+ "z": 0,
+ "type": "Rotation"
+ },
+ "category": "well",
+ "model": null,
+ "max_volume": 100,
+ "material_z_thickness": null,
+ "compute_volume_from_height": null,
+ "compute_height_from_volume": null,
+ "bottom_type": "unknown",
+ "cross_section_type": "circle"
+ },
+ "data": {
+ "liquids": [],
+ "pending_liquids": [],
+ "liquid_history": []
+ }
+ },
+ {
+ "id": "Plate1_C2",
+ "name": "Plate1_C2",
+ "sample_id": null,
+ "children": [],
+ "parent": "Plate1",
+ "type": "device",
+ "class": "",
+ "position": {
+ "x": 21.492,
+ "y": 54.352,
+ "z": 0.92
+ },
+ "config": {
+ "type": "Well",
+ "size_x": 3.776,
+ "size_y": 3.776,
+ "size_z": 14.78,
+ "rotation": {
+ "x": 0,
+ "y": 0,
+ "z": 0,
+ "type": "Rotation"
+ },
+ "category": "well",
+ "model": null,
+ "max_volume": 100,
+ "material_z_thickness": null,
+ "compute_volume_from_height": null,
+ "compute_height_from_volume": null,
+ "bottom_type": "unknown",
+ "cross_section_type": "circle"
+ },
+ "data": {
+ "liquids": [],
+ "pending_liquids": [],
+ "liquid_history": []
+ }
+ },
+ {
+ "id": "Plate1_D2",
+ "name": "Plate1_D2",
+ "sample_id": null,
+ "children": [],
+ "parent": "Plate1",
+ "type": "device",
+ "class": "",
+ "position": {
+ "x": 21.492,
+ "y": 45.352,
+ "z": 0.92
+ },
+ "config": {
+ "type": "Well",
+ "size_x": 3.776,
+ "size_y": 3.776,
+ "size_z": 14.78,
+ "rotation": {
+ "x": 0,
+ "y": 0,
+ "z": 0,
+ "type": "Rotation"
+ },
+ "category": "well",
+ "model": null,
+ "max_volume": 100,
+ "material_z_thickness": null,
+ "compute_volume_from_height": null,
+ "compute_height_from_volume": null,
+ "bottom_type": "unknown",
+ "cross_section_type": "circle"
+ },
+ "data": {
+ "liquids": [],
+ "pending_liquids": [],
+ "liquid_history": []
+ }
+ },
+ {
+ "id": "Plate1_E2",
+ "name": "Plate1_E2",
+ "sample_id": null,
+ "children": [],
+ "parent": "Plate1",
+ "type": "device",
+ "class": "",
+ "position": {
+ "x": 21.492,
+ "y": 36.352,
+ "z": 0.92
+ },
+ "config": {
+ "type": "Well",
+ "size_x": 3.776,
+ "size_y": 3.776,
+ "size_z": 14.78,
+ "rotation": {
+ "x": 0,
+ "y": 0,
+ "z": 0,
+ "type": "Rotation"
+ },
+ "category": "well",
+ "model": null,
+ "max_volume": 100,
+ "material_z_thickness": null,
+ "compute_volume_from_height": null,
+ "compute_height_from_volume": null,
+ "bottom_type": "unknown",
+ "cross_section_type": "circle"
+ },
+ "data": {
+ "liquids": [],
+ "pending_liquids": [],
+ "liquid_history": []
+ }
+ },
+ {
+ "id": "Plate1_F2",
+ "name": "Plate1_F2",
+ "sample_id": null,
+ "children": [],
+ "parent": "Plate1",
+ "type": "device",
+ "class": "",
+ "position": {
+ "x": 21.492,
+ "y": 27.352,
+ "z": 0.92
+ },
+ "config": {
+ "type": "Well",
+ "size_x": 3.776,
+ "size_y": 3.776,
+ "size_z": 14.78,
+ "rotation": {
+ "x": 0,
+ "y": 0,
+ "z": 0,
+ "type": "Rotation"
+ },
+ "category": "well",
+ "model": null,
+ "max_volume": 100,
+ "material_z_thickness": null,
+ "compute_volume_from_height": null,
+ "compute_height_from_volume": null,
+ "bottom_type": "unknown",
+ "cross_section_type": "circle"
+ },
+ "data": {
+ "liquids": [],
+ "pending_liquids": [],
+ "liquid_history": []
+ }
+ },
+ {
+ "id": "Plate1_G2",
+ "name": "Plate1_G2",
+ "sample_id": null,
+ "children": [],
+ "parent": "Plate1",
+ "type": "device",
+ "class": "",
+ "position": {
+ "x": 21.492,
+ "y": 18.352,
+ "z": 0.92
+ },
+ "config": {
+ "type": "Well",
+ "size_x": 3.776,
+ "size_y": 3.776,
+ "size_z": 14.78,
+ "rotation": {
+ "x": 0,
+ "y": 0,
+ "z": 0,
+ "type": "Rotation"
+ },
+ "category": "well",
+ "model": null,
+ "max_volume": 100,
+ "material_z_thickness": null,
+ "compute_volume_from_height": null,
+ "compute_height_from_volume": null,
+ "bottom_type": "unknown",
+ "cross_section_type": "circle"
+ },
+ "data": {
+ "liquids": [],
+ "pending_liquids": [],
+ "liquid_history": []
+ }
+ },
+ {
+ "id": "Plate1_H2",
+ "name": "Plate1_H2",
+ "sample_id": null,
+ "children": [],
+ "parent": "Plate1",
+ "type": "device",
+ "class": "",
+ "position": {
+ "x": 21.492,
+ "y": 9.352,
+ "z": 0.92
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+ "config": {
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+ "size_x": 3.776,
+ "size_y": 3.776,
+ "size_z": 14.78,
+ "rotation": {
+ "x": 0,
+ "y": 0,
+ "z": 0,
+ "type": "Rotation"
+ },
+ "category": "well",
+ "model": null,
+ "max_volume": 100,
+ "material_z_thickness": null,
+ "compute_volume_from_height": null,
+ "compute_height_from_volume": null,
+ "bottom_type": "unknown",
+ "cross_section_type": "circle"
+ },
+ "data": {
+ "liquids": [],
+ "pending_liquids": [],
+ "liquid_history": []
+ }
+ },
+ {
+ "id": "Plate1_G11",
+ "name": "Plate1_G11",
+ "sample_id": null,
+ "children": [],
+ "parent": "Plate1",
+ "type": "device",
+ "class": "",
+ "position": {
+ "x": 102.492,
+ "y": 18.352,
+ "z": 0.92
+ },
+ "config": {
+ "type": "Well",
+ "size_x": 3.776,
+ "size_y": 3.776,
+ "size_z": 14.78,
+ "rotation": {
+ "x": 0,
+ "y": 0,
+ "z": 0,
+ "type": "Rotation"
+ },
+ "category": "well",
+ "model": null,
+ "max_volume": 100,
+ "material_z_thickness": null,
+ "compute_volume_from_height": null,
+ "compute_height_from_volume": null,
+ "bottom_type": "unknown",
+ "cross_section_type": "circle"
+ },
+ "data": {
+ "liquids": [],
+ "pending_liquids": [],
+ "liquid_history": []
+ }
+ },
+ {
+ "id": "Plate1_H11",
+ "name": "Plate1_H11",
+ "sample_id": null,
+ "children": [],
+ "parent": "Plate1",
+ "type": "device",
+ "class": "",
+ "position": {
+ "x": 102.492,
+ "y": 9.352,
+ "z": 0.92
+ },
+ "config": {
+ "type": "Well",
+ "size_x": 3.776,
+ "size_y": 3.776,
+ "size_z": 14.78,
+ "rotation": {
+ "x": 0,
+ "y": 0,
+ "z": 0,
+ "type": "Rotation"
+ },
+ "category": "well",
+ "model": null,
+ "max_volume": 100,
+ "material_z_thickness": null,
+ "compute_volume_from_height": null,
+ "compute_height_from_volume": null,
+ "bottom_type": "unknown",
+ "cross_section_type": "circle"
+ },
+ "data": {
+ "liquids": [],
+ "pending_liquids": [],
+ "liquid_history": []
+ }
+ },
+ {
+ "id": "Plate1_A12",
+ "name": "Plate1_A12",
+ "sample_id": null,
+ "children": [],
+ "parent": "Plate1",
+ "type": "device",
+ "class": "",
+ "position": {
+ "x": 111.492,
+ "y": 72.352,
+ "z": 0.92
+ },
+ "config": {
+ "type": "Well",
+ "size_x": 3.776,
+ "size_y": 3.776,
+ "size_z": 14.78,
+ "rotation": {
+ "x": 0,
+ "y": 0,
+ "z": 0,
+ "type": "Rotation"
+ },
+ "category": "well",
+ "model": null,
+ "max_volume": 100,
+ "material_z_thickness": null,
+ "compute_volume_from_height": null,
+ "compute_height_from_volume": null,
+ "bottom_type": "unknown",
+ "cross_section_type": "circle"
+ },
+ "data": {
+ "liquids": [],
+ "pending_liquids": [],
+ "liquid_history": []
+ }
+ },
+ {
+ "id": "Plate1_B12",
+ "name": "Plate1_B12",
+ "sample_id": null,
+ "children": [],
+ "parent": "Plate1",
+ "type": "device",
+ "class": "",
+ "position": {
+ "x": 111.492,
+ "y": 63.352,
+ "z": 0.92
+ },
+ "config": {
+ "type": "Well",
+ "size_x": 3.776,
+ "size_y": 3.776,
+ "size_z": 14.78,
+ "rotation": {
+ "x": 0,
+ "y": 0,
+ "z": 0,
+ "type": "Rotation"
+ },
+ "category": "well",
+ "model": null,
+ "max_volume": 100,
+ "material_z_thickness": null,
+ "compute_volume_from_height": null,
+ "compute_height_from_volume": null,
+ "bottom_type": "unknown",
+ "cross_section_type": "circle"
+ },
+ "data": {
+ "liquids": [],
+ "pending_liquids": [],
+ "liquid_history": []
+ }
+ },
+ {
+ "id": "Plate1_C12",
+ "name": "Plate1_C12",
+ "sample_id": null,
+ "children": [],
+ "parent": "Plate1",
+ "type": "device",
+ "class": "",
+ "position": {
+ "x": 111.492,
+ "y": 54.352,
+ "z": 0.92
+ },
+ "config": {
+ "type": "Well",
+ "size_x": 3.776,
+ "size_y": 3.776,
+ "size_z": 14.78,
+ "rotation": {
+ "x": 0,
+ "y": 0,
+ "z": 0,
+ "type": "Rotation"
+ },
+ "category": "well",
+ "model": null,
+ "max_volume": 100,
+ "material_z_thickness": null,
+ "compute_volume_from_height": null,
+ "compute_height_from_volume": null,
+ "bottom_type": "unknown",
+ "cross_section_type": "circle"
+ },
+ "data": {
+ "liquids": [],
+ "pending_liquids": [],
+ "liquid_history": []
+ }
+ },
+ {
+ "id": "Plate1_D12",
+ "name": "Plate1_D12",
+ "sample_id": null,
+ "children": [],
+ "parent": "Plate1",
+ "type": "device",
+ "class": "",
+ "position": {
+ "x": 111.492,
+ "y": 45.352,
+ "z": 0.92
+ },
+ "config": {
+ "type": "Well",
+ "size_x": 3.776,
+ "size_y": 3.776,
+ "size_z": 14.78,
+ "rotation": {
+ "x": 0,
+ "y": 0,
+ "z": 0,
+ "type": "Rotation"
+ },
+ "category": "well",
+ "model": null,
+ "max_volume": 100,
+ "material_z_thickness": null,
+ "compute_volume_from_height": null,
+ "compute_height_from_volume": null,
+ "bottom_type": "unknown",
+ "cross_section_type": "circle"
+ },
+ "data": {
+ "liquids": [],
+ "pending_liquids": [],
+ "liquid_history": []
+ }
+ },
+ {
+ "id": "Plate1_E12",
+ "name": "Plate1_E12",
+ "sample_id": null,
+ "children": [],
+ "parent": "Plate1",
+ "type": "device",
+ "class": "",
+ "position": {
+ "x": 111.492,
+ "y": 36.352,
+ "z": 0.92
+ },
+ "config": {
+ "type": "Well",
+ "size_x": 3.776,
+ "size_y": 3.776,
+ "size_z": 14.78,
+ "rotation": {
+ "x": 0,
+ "y": 0,
+ "z": 0,
+ "type": "Rotation"
+ },
+ "category": "well",
+ "model": null,
+ "max_volume": 100,
+ "material_z_thickness": null,
+ "compute_volume_from_height": null,
+ "compute_height_from_volume": null,
+ "bottom_type": "unknown",
+ "cross_section_type": "circle"
+ },
+ "data": {
+ "liquids": [],
+ "pending_liquids": [],
+ "liquid_history": []
+ }
+ },
+ {
+ "id": "Plate1_F12",
+ "name": "Plate1_F12",
+ "sample_id": null,
+ "children": [],
+ "parent": "Plate1",
+ "type": "device",
+ "class": "",
+ "position": {
+ "x": 111.492,
+ "y": 27.352,
+ "z": 0.92
+ },
+ "config": {
+ "type": "Well",
+ "size_x": 3.776,
+ "size_y": 3.776,
+ "size_z": 14.78,
+ "rotation": {
+ "x": 0,
+ "y": 0,
+ "z": 0,
+ "type": "Rotation"
+ },
+ "category": "well",
+ "model": null,
+ "max_volume": 100,
+ "material_z_thickness": null,
+ "compute_volume_from_height": null,
+ "compute_height_from_volume": null,
+ "bottom_type": "unknown",
+ "cross_section_type": "circle"
+ },
+ "data": {
+ "liquids": [],
+ "pending_liquids": [],
+ "liquid_history": []
+ }
+ },
+ {
+ "id": "Plate1_G12",
+ "name": "Plate1_G12",
+ "sample_id": null,
+ "children": [],
+ "parent": "Plate1",
+ "type": "device",
+ "class": "",
+ "position": {
+ "x": 111.492,
+ "y": 18.352,
+ "z": 0.92
+ },
+ "config": {
+ "type": "Well",
+ "size_x": 3.776,
+ "size_y": 3.776,
+ "size_z": 14.78,
+ "rotation": {
+ "x": 0,
+ "y": 0,
+ "z": 0,
+ "type": "Rotation"
+ },
+ "category": "well",
+ "model": null,
+ "max_volume": 100,
+ "material_z_thickness": null,
+ "compute_volume_from_height": null,
+ "compute_height_from_volume": null,
+ "bottom_type": "unknown",
+ "cross_section_type": "circle"
+ },
+ "data": {
+ "liquids": [],
+ "pending_liquids": [],
+ "liquid_history": []
+ }
+ },
+ {
+ "id": "Plate1_H12",
+ "name": "Plate1_H12",
+ "sample_id": null,
+ "children": [],
+ "parent": "Plate1",
+ "type": "device",
+ "class": "",
+ "position": {
+ "x": 111.492,
+ "y": 9.352,
+ "z": 0.92
+ },
+ "config": {
+ "type": "Well",
+ "size_x": 3.776,
+ "size_y": 3.776,
+ "size_z": 14.78,
+ "rotation": {
+ "x": 0,
+ "y": 0,
+ "z": 0,
+ "type": "Rotation"
+ },
+ "category": "well",
+ "model": null,
+ "max_volume": 100,
+ "material_z_thickness": null,
+ "compute_volume_from_height": null,
+ "compute_height_from_volume": null,
+ "bottom_type": "unknown",
+ "cross_section_type": "circle"
+ },
+ "data": {
+ "liquids": [],
+ "pending_liquids": [],
+ "liquid_history": []
+ }
+ }
+]
+
+ '''
+ resource_config = json.loads(config_s.replace("'",'"'))
+ rclpy.init()
+ resource_mesh_manager = ResourceMeshManager(resource_model, resource_config, 'resource_mesh_manager')
+ resource_mesh_manager.resource_mesh_setup()
+ print(json.dumps(resource_mesh_manager.resource_tf_dict, indent=4, ensure_ascii=False))
\ No newline at end of file
diff --git a/unilabos/registry/devices/robot_gripper.yaml b/unilabos/registry/devices/robot_gripper.yaml
index 15881df1..3cb86fed 100644
--- a/unilabos/registry/devices/robot_gripper.yaml
+++ b/unilabos/registry/devices/robot_gripper.yaml
@@ -20,8 +20,8 @@ gripper.mock:
position: position
effort: torque
model:
- tpye: device
- mesh: slide_w140
+ type: device
+ mesh: opentrons_liquid_handler
gripper.misumi_rz:
description: Misumi RZ gripper
diff --git a/unilabos/registry/resources/opentrons/plates.yaml b/unilabos/registry/resources/opentrons/plates.yaml
index efc65650..0a7c4b84 100644
--- a/unilabos/registry/resources/opentrons/plates.yaml
+++ b/unilabos/registry/resources/opentrons/plates.yaml
@@ -53,8 +53,8 @@ nest_96_wellplate_100ul_pcr_full_skirt:
type: pylabrobot
model:
type: resource
- mesh: /home/z43/git_pj/uni-lab-assets/device_models/tecan_nested_tip_rack/meshes/plate.stl
- children_mesh: /home/z43/git_pj/uni-lab-assets/device_models/generic_labware_tube_10_75/meshes/0_base.stl
+ mesh: tecan_nested_tip_rack/meshes/plate.stl
+ children_mesh: generic_labware_tube_10_75/meshes/0_base.stl
appliedbiosystemsmicroamp_384_wellplate_40ul:
description: Applied Biosystems microamp 384 wellplate 40ul