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Update README.md

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Modify resource_tracker file module path.

(cherry picked from commit 8066c200b9)
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Xuwznln
2026-01-07 20:54:20 +08:00
parent 78bf57f590
commit 3d2d428a96
18 changed files with 38 additions and 43 deletions
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14
README.md
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@@ -31,7 +31,9 @@ Detailed documentation can be found at:
## Quick Start ## Quick Start
Uni-Lab-OS recommends using `mamba` for environment management. Choose the appropriate environment file for your operating system: 1. Setup Conda Environment
Uni-Lab-OS recommends using `mamba` for environment management:
```bash ```bash
# Create new environment # Create new environment
@@ -40,7 +42,7 @@ mamba activate unilab
mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
``` ```
## Install Dev Uni-Lab-OS 2. Install Dev Uni-Lab-OS
```bash ```bash
# Clone the repository # Clone the repository
@@ -51,17 +53,21 @@ cd Uni-Lab-OS
pip install . pip install .
``` ```
3. Start Uni-Lab System: 3. Start Uni-Lab System
Please refer to [Documentation - Boot Examples](https://deepmodeling.github.io/Uni-Lab-OS/boot_examples/index.html) Please refer to [Documentation - Boot Examples](https://deepmodeling.github.io/Uni-Lab-OS/boot_examples/index.html)
4. Best Practice
See [Best Practice Guide](https://deepmodeling.github.io/Uni-Lab-OS/user_guide/best_practice.html)
## Message Format ## Message Format
Uni-Lab-OS uses pre-built `unilabos_msgs` for system communication. You can find the built versions on the [GitHub Releases](https://github.com/deepmodeling/Uni-Lab-OS/releases) page. Uni-Lab-OS uses pre-built `unilabos_msgs` for system communication. You can find the built versions on the [GitHub Releases](https://github.com/deepmodeling/Uni-Lab-OS/releases) page.
## Citation ## Citation
If you use Uni-Lab-OS in academic research, please cite: If you use [Uni-Lab-OS](https://arxiv.org/abs/2512.21766) in academic research, please cite:
```bibtex ```bibtex
@article{gao2025unilabos, @article{gao2025unilabos,

8
README_zh.md
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@@ -53,17 +53,21 @@ cd Uni-Lab-OS
pip install . pip install .
``` ```
3. 启动 Uni-Lab 系统: 3. 启动 Uni-Lab 系统
请见[文档-启动样例](https://deepmodeling.github.io/Uni-Lab-OS/boot_examples/index.html) 请见[文档-启动样例](https://deepmodeling.github.io/Uni-Lab-OS/boot_examples/index.html)
4. 最佳实践
请见[最佳实践指南](https://deepmodeling.github.io/Uni-Lab-OS/user_guide/best_practice.html)
## 消息格式 ## 消息格式
Uni-Lab-OS 使用预构建的 `unilabos_msgs` 进行系统通信。您可以在 [GitHub Releases](https://github.com/deepmodeling/Uni-Lab-OS/releases) 页面找到已构建的版本。 Uni-Lab-OS 使用预构建的 `unilabos_msgs` 进行系统通信。您可以在 [GitHub Releases](https://github.com/deepmodeling/Uni-Lab-OS/releases) 页面找到已构建的版本。
## 引用 ## 引用
如果您在学术研究中使用 Uni-Lab-OS，请引用： 如果您在学术研究中使用 [Uni-Lab-OS](https://arxiv.org/abs/2512.21766)，请引用：
```bibtex ```bibtex
@article{gao2025unilabos, @article{gao2025unilabos,

2
docs/user_guide/graph_files.md
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@@ -463,7 +463,7 @@ Uni-Lab 使用 `ResourceDictInstance.get_resource_instance_from_dict()` 方法
### 使用示例 ### 使用示例
```python ```python
from unilabos.ros.nodes.resource_tracker import ResourceDictInstance from unilabos.resources.resource_tracker import ResourceDictInstance
# 旧格式节点 # 旧格式节点
old_format_node = { old_format_node = {

3
tests/resources/test_resourcetreeset.py
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@@ -2,9 +2,8 @@ import pytest
import json import json
import os import os
from pylabrobot.resources import Resource as ResourcePLR
from unilabos.resources.graphio import resource_bioyond_to_plr from unilabos.resources.graphio import resource_bioyond_to_plr
from unilabos.ros.nodes.resource_tracker import ResourceTreeSet from unilabos.resources.resource_tracker import ResourceTreeSet
from unilabos.registry.registry import lab_registry from unilabos.registry.registry import lab_registry
from unilabos.resources.bioyond.decks import BIOYOND_PolymerReactionStation_Deck from unilabos.resources.bioyond.decks import BIOYOND_PolymerReactionStation_Deck

2
unilabos/app/backend.py
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@@ -1,6 +1,6 @@
import threading import threading
from unilabos.ros.nodes.resource_tracker import ResourceTreeSet from unilabos.resources.resource_tracker import ResourceTreeSet
from unilabos.utils import logger from unilabos.utils import logger

2
unilabos/app/main.py
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@@ -315,7 +315,7 @@ def main():
from unilabos.app.web import start_server from unilabos.app.web import start_server
from unilabos.app.register import register_devices_and_resources from unilabos.app.register import register_devices_and_resources
from unilabos.resources.graphio import modify_to_backend_format from unilabos.resources.graphio import modify_to_backend_format
from unilabos.ros.nodes.resource_tracker import ResourceTreeSet, ResourceDict from unilabos.resources.resource_tracker import ResourceTreeSet, ResourceDict
# 显示启动横幅 # 显示启动横幅
print_unilab_banner(args_dict) print_unilab_banner(args_dict)

4
unilabos/app/web/client.py
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@@ -6,12 +6,10 @@ HTTP客户端模块
import json import json
import os import os
import time
from threading import Thread
from typing import List, Dict, Any, Optional from typing import List, Dict, Any, Optional
import requests import requests
from unilabos.ros.nodes.resource_tracker import ResourceTreeSet from unilabos.resources.resource_tracker import ResourceTreeSet
from unilabos.utils.log import info from unilabos.utils.log import info
from unilabos.config.config import HTTPConfig, BasicConfig from unilabos.config.config import HTTPConfig, BasicConfig
from unilabos.utils import logger from unilabos.utils import logger

4
unilabos/device_comms/coin_cell_assembly_workstation.py
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@@ -6,7 +6,7 @@ Coin Cell Assembly Workstation
""" """
from typing import Dict, Any, List, Optional, Union from typing import Dict, Any, List, Optional, Union
from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker from unilabos.resources.resource_tracker import DeviceNodeResourceTracker
from unilabos.device_comms.workstation_base import WorkstationBase, WorkflowInfo from unilabos.device_comms.workstation_base import WorkstationBase, WorkflowInfo
from unilabos.device_comms.workstation_communication import ( from unilabos.device_comms.workstation_communication import (
WorkstationCommunicationBase, CommunicationConfig, CommunicationProtocol, CoinCellCommunication WorkstationCommunicationBase, CommunicationConfig, CommunicationProtocol, CoinCellCommunication
@@ -61,7 +61,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
# 创建资源跟踪器（如果没有提供） # 创建资源跟踪器（如果没有提供）
if resource_tracker is None: if resource_tracker is None:
from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker from unilabos.resources.resource_tracker import DeviceNodeResourceTracker
resource_tracker = DeviceNodeResourceTracker() resource_tracker = DeviceNodeResourceTracker()
# 初始化基类 # 初始化基类

2
unilabos/devices/liquid_handling/biomek.py
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@@ -13,7 +13,7 @@ from pylabrobot.resources import (
import copy import copy
from unilabos_msgs.msg import Resource from unilabos_msgs.msg import Resource
from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker # type: ignore from unilabos.resources.resource_tracker import DeviceNodeResourceTracker # type: ignore
class LiquidHandlerBiomek: class LiquidHandlerBiomek:

2
unilabos/resources/graphio.py
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@@ -13,7 +13,7 @@ from unilabos.config.config import BasicConfig
from unilabos.resources.container import RegularContainer from unilabos.resources.container import RegularContainer
from unilabos.resources.itemized_carrier import ItemizedCarrier, BottleCarrier from unilabos.resources.itemized_carrier import ItemizedCarrier, BottleCarrier
from unilabos.ros.msgs.message_converter import convert_to_ros_msg from unilabos.ros.msgs.message_converter import convert_to_ros_msg
from unilabos.ros.nodes.resource_tracker import ( from unilabos.resources.resource_tracker import (
ResourceDictInstance, ResourceDictInstance,
ResourceTreeSet, ResourceTreeSet,
) )

0
unilabos/ros/nodes/resource_tracker.py → unilabos/resources/resource_tracker.py
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2
unilabos/ros/device_node_wrapper.py
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@@ -5,7 +5,7 @@ from unilabos.ros.msgs.message_converter import (
get_action_type, get_action_type,
) )
from unilabos.ros.nodes.base_device_node import init_wrapper, ROS2DeviceNode from unilabos.ros.nodes.base_device_node import init_wrapper, ROS2DeviceNode
from unilabos.ros.nodes.resource_tracker import ResourceDictInstance from unilabos.resources.resource_tracker import ResourceDictInstance
# 定义泛型类型变量 # 定义泛型类型变量
T = TypeVar("T") T = TypeVar("T")

3
unilabos/ros/initialize_device.py
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@@ -1,10 +1,9 @@
import copy
from typing import Optional from typing import Optional
from unilabos.registry.registry import lab_registry from unilabos.registry.registry import lab_registry
from unilabos.ros.device_node_wrapper import ros2_device_node from unilabos.ros.device_node_wrapper import ros2_device_node
from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, DeviceInitError from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, DeviceInitError
from unilabos.ros.nodes.resource_tracker import ResourceDictInstance from unilabos.resources.resource_tracker import ResourceDictInstance
from unilabos.utils import logger from unilabos.utils import logger
from unilabos.utils.exception import DeviceClassInvalid from unilabos.utils.exception import DeviceClassInvalid
from unilabos.utils.import_manager import default_manager from unilabos.utils.import_manager import default_manager

2
unilabos/ros/main_slave_run.py
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@@ -10,7 +10,7 @@ from unilabos_msgs.srv._serial_command import SerialCommand_Response
from unilabos.app.register import register_devices_and_resources from unilabos.app.register import register_devices_and_resources
from unilabos.ros.nodes.presets.resource_mesh_manager import ResourceMeshManager from unilabos.ros.nodes.presets.resource_mesh_manager import ResourceMeshManager
from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker, ResourceTreeSet from unilabos.resources.resource_tracker import DeviceNodeResourceTracker, ResourceTreeSet
from unilabos.devices.ros_dev.liquid_handler_joint_publisher import LiquidHandlerJointPublisher from unilabos.devices.ros_dev.liquid_handler_joint_publisher import LiquidHandlerJointPublisher
from unilabos_msgs.srv import SerialCommand # type: ignore from unilabos_msgs.srv import SerialCommand # type: ignore
from rclpy.executors import MultiThreadedExecutor from rclpy.executors import MultiThreadedExecutor

9
unilabos/ros/nodes/base_device_node.py
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@@ -1,4 +1,3 @@
import copy
import inspect import inspect
import io import io
import json import json
@@ -13,7 +12,6 @@ import asyncio
import rclpy import rclpy
import yaml import yaml
from msgcenterpy import ROS2MessageInstance
from rclpy.node import Node from rclpy.node import Node
from rclpy.action import ActionServer, ActionClient from rclpy.action import ActionServer, ActionClient
from rclpy.action.server import ServerGoalHandle from rclpy.action.server import ServerGoalHandle
@@ -26,11 +24,7 @@ from unilabos.utils.decorator import get_topic_config, get_all_subscriptions
from unilabos.resources.container import RegularContainer from unilabos.resources.container import RegularContainer
from unilabos.resources.graphio import ( from unilabos.resources.graphio import (
resource_ulab_to_plr,
initialize_resources, initialize_resources,
dict_to_tree,
resource_plr_to_ulab,
tree_to_list,
) )
from unilabos.resources.plr_additional_res_reg import register from unilabos.resources.plr_additional_res_reg import register
from unilabos.ros.msgs.message_converter import ( from unilabos.ros.msgs.message_converter import (
@@ -47,7 +41,7 @@ from unilabos_msgs.srv import (
) # type: ignore ) # type: ignore
from unilabos_msgs.msg import Resource # type: ignore from unilabos_msgs.msg import Resource # type: ignore
from unilabos.ros.nodes.resource_tracker import ( from unilabos.resources.resource_tracker import (
DeviceNodeResourceTracker, DeviceNodeResourceTracker,
ResourceTreeSet, ResourceTreeSet,
ResourceTreeInstance, ResourceTreeInstance,
@@ -363,7 +357,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
return res return res
async def append_resource(req: SerialCommand_Request, res: SerialCommand_Response): async def append_resource(req: SerialCommand_Request, res: SerialCommand_Response):
from pylabrobot.resources.resource import Resource as ResourcePLR
from pylabrobot.resources.deck import Deck from pylabrobot.resources.deck import Deck
from pylabrobot.resources import Coordinate from pylabrobot.resources import Coordinate
from pylabrobot.resources import Plate from pylabrobot.resources import Plate

4
unilabos/ros/nodes/presets/host_node.py
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@@ -10,7 +10,6 @@ from typing import TYPE_CHECKING, Optional, Dict, Any, List, ClassVar, Set, Type
from action_msgs.msg import GoalStatus from action_msgs.msg import GoalStatus
from geometry_msgs.msg import Point from geometry_msgs.msg import Point
from rclpy.action import ActionClient, get_action_server_names_and_types_by_node from rclpy.action import ActionClient, get_action_server_names_and_types_by_node
from rclpy.callback_groups import ReentrantCallbackGroup
from rclpy.service import Service from rclpy.service import Service
from unilabos_msgs.msg import Resource # type: ignore from unilabos_msgs.msg import Resource # type: ignore
from unilabos_msgs.srv import ( from unilabos_msgs.srv import (
@@ -19,7 +18,6 @@ from unilabos_msgs.srv import (
ResourceUpdate, ResourceUpdate,
ResourceList, ResourceList,
SerialCommand, SerialCommand,
ResourceGet,
) # type: ignore ) # type: ignore
from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
from unique_identifier_msgs.msg import UUID from unique_identifier_msgs.msg import UUID
@@ -37,7 +35,7 @@ from unilabos.ros.msgs.message_converter import (
) )
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode, DeviceNodeResourceTracker from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode, DeviceNodeResourceTracker
from unilabos.ros.nodes.presets.controller_node import ControllerNode from unilabos.ros.nodes.presets.controller_node import ControllerNode
from unilabos.ros.nodes.resource_tracker import ( from unilabos.resources.resource_tracker import (
ResourceDict, ResourceDict,
ResourceDictInstance, ResourceDictInstance,
ResourceTreeSet, ResourceTreeSet,

5
unilabos/ros/nodes/presets/workstation.py
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@@ -12,11 +12,10 @@ from unilabos_msgs.srv import ResourceUpdate
from unilabos.messages import * # type: ignore # protocol names from unilabos.messages import * # type: ignore # protocol names
from rclpy.action import ActionServer, ActionClient from rclpy.action import ActionServer, ActionClient
from rclpy.action.server import ServerGoalHandle from rclpy.action.server import ServerGoalHandle
from rclpy.callback_groups import ReentrantCallbackGroup
from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
from unilabos.compile import action_protocol_generators from unilabos.compile import action_protocol_generators
from unilabos.resources.graphio import list_to_nested_dict, nested_dict_to_list from unilabos.resources.graphio import nested_dict_to_list
from unilabos.ros.initialize_device import initialize_device_from_dict from unilabos.ros.initialize_device import initialize_device_from_dict
from unilabos.ros.msgs.message_converter import ( from unilabos.ros.msgs.message_converter import (
get_action_type, get_action_type,
@@ -24,7 +23,7 @@ from unilabos.ros.msgs.message_converter import (
convert_from_ros_msg_with_mapping, convert_from_ros_msg_with_mapping,
) )
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeResourceTracker, ROS2DeviceNode from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeResourceTracker, ROS2DeviceNode
from unilabos.ros.nodes.resource_tracker import ResourceTreeSet, ResourceDictInstance from unilabos.resources.resource_tracker import ResourceTreeSet, ResourceDictInstance
from unilabos.utils.type_check import get_result_info_str from unilabos.utils.type_check import get_result_info_str
if TYPE_CHECKING: if TYPE_CHECKING:

7
unilabos/ros/utils/driver_creator.py
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@@ -11,10 +11,9 @@ import traceback
from abc import abstractmethod from abc import abstractmethod
from typing import Type, Any, Dict, Optional, TypeVar, Generic, List from typing import Type, Any, Dict, Optional, TypeVar, Generic, List
from unilabos.resources.graphio import nested_dict_to_list, resource_ulab_to_plr from unilabos.resources.resource_tracker import DeviceNodeResourceTracker, ResourceTreeSet, ResourceDictInstance, \
from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker, ResourceTreeSet, ResourceDictInstance, \
ResourceTreeInstance ResourceTreeInstance
from unilabos.utils import logger, import_manager from unilabos.utils import logger
from unilabos.utils.cls_creator import create_instance_from_config from unilabos.utils.cls_creator import create_instance_from_config
# 定义泛型类型变量 # 定义泛型类型变量
@@ -135,7 +134,7 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
Returns: Returns:
处理后的数据 处理后的数据
""" """
from pylabrobot.resources import Deck, Resource from pylabrobot.resources import Resource
if states is None: if states is None:
states = {} states = {}