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3d sim (#97)

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* 修改lh的json启动

* 修改lh的json启动

* 修改backend，做成sim的通用backend

* 修改yaml的地址，3D模型适配网页生产环境

* 添加laiyu硬件连接

* 修改移液枪的状态判断方法，

修改移液枪的状态判断方法，
添加三轴的表定点与零点之间的转换
添加三轴真实移动的backend

* 修改laiyu移液站

简化移动方法，
取消软件限制位置，
修改当值使用Z轴时也需要重新复位Z轴的问题

* 更新lh以及laiyu workshop

1,现在可以直接通过修改backend，适配其他的移液站，主类依旧使用LiquidHandler，不用重新编写

2,修改枪头判断标准，使用枪头自身判断而不是类的判断，

3,将归零参数用毫米计算，方便手动调整，

4,修改归零方式，上电使用机械归零，确定机械零点，手动归零设置工作区域零点方便计算，二者互不干涉

* 修改枪头动作

* 修改虚拟仿真方法

---------

Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: Junhan Chang <changjh@dp.tech>
This commit is contained in:
q434343
2025-11-15 02:50:17 +08:00
committed by Xuwznln
parent 304827fc8d
commit 448e0074b7
98 changed files with 16477 additions and 126 deletions
Download Patch File Download Diff File Expand all files Collapse all files

30
test/experiments/plr_test_converted.json
View File

@@ -10,24 +10,22 @@
"x": 620.6111111111111,
"y": 171,
"z": 0
},
"config": {
"data": {
"children": [
{
"_resource_child_name": "deck",
"_resource_type": "pylabrobot.resources.opentrons.deck:OTDeck"
}
],
"backend": {
"type": "LiquidHandlerRvizBackend"
}
}
},
},
"data": {},
"children": [
"deck"
]
],
"config": {
"deck": {
"_resource_child_name": "deck",
"_resource_type": "pylabrobot.resources.opentrons.deck:OTDeck"
},
"backend": {
"type": "UniLiquidHandlerRvizBackend"
},
"simulator": true
}
},
{
"id": "deck",
@@ -9650,7 +9648,7 @@
"children": [],
"parent": null,
"type": "device",
"class": "robotic_arm.SCARA_with_slider.virtual",
"class": "robotic_arm.SCARA_with_slider.moveit.virtual",
"position": {
"x": -500,
"y": 1000,

40
test/experiments/test_laiyu.json
View File

@@ -18,21 +18,21 @@
"config": {
"deck": {
"_resource_child_name": "deck",
"_resource_type": "pylabrobot.resources.opentrons.deck:OTDeck",
"_resource_type": "unilabos.devices.liquid_handling.laiyu.laiyu:TransformXYZDeck",
"name": "deck"
},
"backend": {
"type": "UniLiquidHandlerRvizBackend"
"type": "UniLiquidHandlerLaiyuBackend",
"port": "/dev/ttyUSB_CH340"
},
"simulator": true,
"total_height": 300
"simulator": false,
"total_height": 232.5
}
},
{
"id": "deck",
"name": "deck",
"sample_id": null,
"children": [
"tip_rack",
"plate_well",
@@ -64,7 +64,7 @@
{
"id": "tip_rack",
"name": "tip_rack",
"sample_id": null,
"children": [
"tip_rack_A1"
],
@@ -102,7 +102,7 @@
{
"id": "tip_rack_A1",
"name": "tip_rack_A1",
"sample_id": null,
"children": [],
"parent": "tip_rack",
"type": "container",
@@ -144,7 +144,7 @@
{
"id": "plate_well",
"name": "plate_well",
"sample_id": null,
"children": [
"plate_well_A1"
],
@@ -156,18 +156,6 @@
"y": 116,
"z": 48.5
},
"pose": {
"position_3d": {
"x": 161,
"y": 116,
"z": 48.5
},
"rotation": {
"x": 0,
"y": 0,
"z": 0
}
},
"config": {
"type": "Plate",
"size_x": 127.76,
@@ -195,7 +183,7 @@
{
"id": "plate_well_A1",
"name": "plate_well_A1",
"sample_id": null,
"children": [],
"parent": "plate_well",
"type": "device",
@@ -236,7 +224,7 @@
{
"id": "tube_rack",
"name": "tube_rack",
"sample_id": null,
"children": [
"tube_rack_A1"
],
@@ -271,7 +259,7 @@
{
"id": "tube_rack_A1",
"name": "tube_rack_A1",
"sample_id": null,
"children": [],
"parent": "tube_rack",
"type": "device",
@@ -315,7 +303,7 @@
{
"id": "bottle_rack",
"name": "bottle_rack",
"sample_id": null,
"children": [
"bottle_rack_A1"
],
@@ -351,7 +339,7 @@
{
"id": "bottle_rack_A1",
"name": "bottle_rack_A1",
"sample_id": null,
"children": [],
"parent": "bottle_rack",
"type": "device",

383
test/experiments/test_laiyu_v.json Normal file
View File

@@ -0,0 +1,383 @@
{
"nodes": [
{
"id": "liquid_handler",
"name": "liquid_handler",
"parent": null,
"type": "device",
"class": "liquid_handler",
"position": {
"x": 0,
"y": 0,
"z": 0
},
"data": {},
"children": [
"deck"
],
"config": {
"deck": {
"_resource_child_name": "deck",
"_resource_type": "unilabos.devices.liquid_handling.laiyu.laiyu:TransformXYZDeck",
"name": "deck"
},
"backend": {
"type": "UniLiquidHandlerRvizBackend"
},
"simulator": true,
"total_height": 300,
"joint_config": "TransformXYZDeck",
"simulate_rviz": true
}
},
{
"id": "deck",
"name": "deck",
"children": [
"tip_rack",
"plate_well",
"tube_rack",
"bottle_rack"
],
"parent": "liquid_handler",
"type": "deck",
"class": "TransformXYZDeck",
"position": {
"x": 0,
"y": 0,
"z": 18
},
"config": {
"type": "TransformXYZDeck",
"size_x": 624.3,
"size_y": 565.2,
"size_z": 900,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
}
},
"data": {}
},
{
"id": "tip_rack",
"name": "tip_rack",
"children": [
"tip_rack_A1"
],
"parent": "deck",
"type": "tip_rack",
"class": "tiprack_box",
"position": {
"x": 150,
"y": 7,
"z": 103
},
"config": {
"type": "TipRack",
"size_x": 134,
"size_y": 96,
"size_z": 7.0,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "tip_rack",
"model": "tiprack_box",
"ordering": [
"A1"
]
},
"data": {}
},
{
"id": "tip_rack_A1",
"name": "tip_rack_A1",
"children": [],
"parent": "tip_rack",
"type": "container",
"class": "",
"position": {
"x": 11.12,
"y": 75,
"z": -91.54
},
"config": {
"type": "TipSpot",
"size_x": 9,
"size_y": 9,
"size_z": 95,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "tip_spot",
"model": null,
"prototype_tip": {
"type": "Tip",
"total_tip_length": 95,
"has_filter": false,
"maximal_volume": 1000.0,
"fitting_depth": 3.29
}
},
"data": {
"tip": null,
"tip_state": null,
"pending_tip": null
}
},
{
"id": "plate_well",
"name": "plate_well",
"children": [
"plate_well_A1"
],
"parent": "deck",
"type": "plate",
"class": "plate_96",
"position": {
"x": 161,
"y": 116,
"z": 48.5
},
"config": {
"type": "Plate",
"size_x": 127.76,
"size_y": 85.48,
"size_z": 45.5,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "plate",
"model": "plate_96",
"ordering": [
"A1"
]
},
"data": {}
},
{
"id": "plate_well_A1",
"name": "plate_well_A1",
"children": [],
"parent": "plate_well",
"type": "device",
"class": "",
"position": {
"x": 10.1,
"y": 70,
"z": 6.1
},
"config": {
"type": "Well",
"size_x": 8.2,
"size_y": 8.2,
"size_z": 38,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "well",
"model": null,
"max_volume": 2000,
"material_z_thickness": null,
"compute_volume_from_height": null,
"compute_height_from_volume": null,
"bottom_type": "unknown",
"cross_section_type": "rectangle"
},
"data": {
"liquids": [["water", 50.0]],
"pending_liquids": [["water", 50.0]],
"liquid_history": []
}
},
{
"id": "tube_rack",
"name": "tube_rack",
"children": [
"tube_rack_A1"
],
"parent": "deck",
"type": "container",
"class": "tube_container",
"position": {
"x": 0,
"y": 127,
"z": 0
},
"config": {
"type": "Plate",
"size_x": 151,
"size_y": 75,
"size_z": 75,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"model": "tube_container",
"ordering": [
"A1"
]
},
"data": {}
},
{
"id": "tube_rack_A1",
"name": "tube_rack_A1",
"children": [],
"parent": "tube_rack",
"type": "device",
"class": "",
"position": {
"x": 6,
"y": 38,
"z": 10
},
"config": {
"type": "Well",
"size_x": 34,
"size_y": 34,
"size_z": 117,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "tube",
"model": null,
"max_volume": 2000,
"material_z_thickness": null,
"compute_volume_from_height": null,
"compute_height_from_volume": null,
"bottom_type": "unknown",
"cross_section_type": "rectangle"
},
"data": {
"liquids": [["water", 50.0]],
"pending_liquids": [["water", 50.0]],
"liquid_history": []
}
}
,
{
"id": "bottle_rack",
"name": "bottle_rack",
"children": [
"bottle_rack_A1"
],
"parent": "deck",
"type": "container",
"class": "bottle_container",
"position": {
"x": 0,
"y": 0,
"z": 0
},
"config": {
"type": "Plate",
"size_x": 130,
"size_y": 117,
"size_z": 8,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "tube_rack",
"model": "bottle_container",
"ordering": [
"A1"
]
},
"data": {}
},
{
"id": "bottle_rack_A1",
"name": "bottle_rack_A1",
"children": [],
"parent": "bottle_rack",
"type": "device",
"class": "",
"position": {
"x": 25,
"y": 18.5,
"z": 8
},
"config": {
"type": "Well",
"size_x": 80,
"size_y": 80,
"size_z": 117,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "tube",
"model": null,
"max_volume": 2000,
"material_z_thickness": null,
"compute_volume_from_height": null,
"compute_height_from_volume": null,
"bottom_type": "unknown",
"cross_section_type": "rectangle"
},
"data": {
"liquids": [["water", 50.0]],
"pending_liquids": [["water", 50.0]],
"liquid_history": []
}
}
],
"links": []
}

18
unilabos/app/main.py
View File

@@ -419,7 +419,23 @@ def main():
)
server_thread.start()
asyncio.set_event_loop(asyncio.new_event_loop())
resource_visualization.start()
try:
resource_visualization.start()
except OSError as e:
if "AMENT_PREFIX_PATH" in str(e):
print_status(
f"ROS 2环境未正确设置，跳过3D可视化启动。错误详情: {e}",
"warning"
)
print_status(
"建议解决方案：\n"
"1. 激活Conda环境: conda activate unilab\n"
"2. 或使用 --backend simple 参数\n"
"3. 或使用 --visual disable 参数禁用可视化",
"info"
)
else:
raise
while True:
time.sleep(1)
else:

25
unilabos/device_mesh/devices/dummy2_robot/config/default_kinematics.yaml Normal file
View File

@@ -0,0 +1,25 @@
dummy2_robot:
kinematics:
# DH parameters for Dummy2 6-DOF robot arm
# [theta, d, a, alpha] for each joint
joint_1: [0.0, 0.1, 0.0, 1.5708] # Base rotation
joint_2: [0.0, 0.0, 0.2, 0.0] # Shoulder
joint_3: [0.0, 0.0, 0.15, 0.0] # Elbow
joint_4: [0.0, 0.1, 0.0, 1.5708] # Wrist roll
joint_5: [0.0, 0.0, 0.0, -1.5708] # Wrist pitch
joint_6: [0.0, 0.06, 0.0, 0.0] # Wrist yaw
# Tool center point offset from last joint
tcp_offset:
x: 0.0
y: 0.0
z: 0.04
# Workspace limits
workspace:
x_min: -0.5
x_max: 0.5
y_min: -0.5
y_max: 0.5
z_min: 0.0
z_max: 0.6

45
unilabos/device_mesh/devices/dummy2_robot/config/dummy2.srdf Normal file
View File

@@ -0,0 +1,45 @@
<?xml version="1.0" encoding="UTF-8"?>
<!--This does not replace URDF, and is not an extension of URDF.
This is a format for representing semantic information about the robot structure.
A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
-->
<robot name="dummy2">
<!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
<!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
<!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
<!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
<!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
<group name="dummy2_arm">
<joint name="virtual_joint"/>
<joint name="Joint1"/>
<joint name="Joint2"/>
<joint name="Joint3"/>
<joint name="Joint4"/>
<joint name="Joint5"/>
<joint name="Joint6"/>
</group>
<!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
<group_state name="home" group="dummy2_arm">
<joint name="Joint1" value="0"/>
<joint name="Joint2" value="0"/>
<joint name="Joint3" value="0"/>
<joint name="Joint4" value="0"/>
<joint name="Joint5" value="0"/>
<joint name="Joint6" value="0"/>
</group_state>
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
<virtual_joint name="virtual_joint" type="fixed" parent_frame="world" child_link="base_link"/>
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
<disable_collisions link1="J1_1" link2="J2_1" reason="Adjacent"/>
<disable_collisions link1="J1_1" link2="J3_1" reason="Never"/>
<disable_collisions link1="J1_1" link2="J4_1" reason="Never"/>
<disable_collisions link1="J1_1" link2="base_link" reason="Adjacent"/>
<disable_collisions link1="J2_1" link2="J3_1" reason="Adjacent"/>
<disable_collisions link1="J3_1" link2="J4_1" reason="Adjacent"/>
<disable_collisions link1="J3_1" link2="J5_1" reason="Never"/>
<disable_collisions link1="J3_1" link2="J6_1" reason="Never"/>
<disable_collisions link1="J3_1" link2="base_link" reason="Never"/>
<disable_collisions link1="J4_1" link2="J5_1" reason="Adjacent"/>
<disable_collisions link1="J4_1" link2="J6_1" reason="Never"/>
<disable_collisions link1="J5_1" link2="J6_1" reason="Adjacent"/>
</robot>

70
unilabos/device_mesh/devices/dummy2_robot/config/dummy2.trans Normal file
View File

@@ -0,0 +1,70 @@
<?xml version="1.0" ?>
<robot name="dummy2" xmlns:xacro="http://www.ros.org/wiki/xacro" >
<transmission name="Joint1_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Joint1">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="Joint1_actr">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="Joint2_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Joint2">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="Joint2_actr">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="Joint3_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Joint3">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="Joint3_actr">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="Joint4_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Joint4">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="Joint4_actr">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="Joint5_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Joint5">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="Joint5_actr">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="Joint6_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Joint6">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="Joint6_actr">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</robot>

14
unilabos/device_mesh/devices/dummy2_robot/config/dummy2.urdf.xacro Normal file
View File

@@ -0,0 +1,14 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="dummy2">
<xacro:arg name="initial_positions_file" default="initial_positions.yaml" />
<!-- Import dummy2 urdf file -->
<xacro:include filename="$(find dummy2_description)/urdf/dummy2.xacro" />
<!-- Import control_xacro -->
<xacro:include filename="dummy2.ros2_control.xacro" />
<xacro:dummy2_ros2_control name="FakeSystem" initial_positions_file="$(arg initial_positions_file)"/>
</robot>

73
unilabos/device_mesh/devices/dummy2_robot/config/dummy2_simulated_config.yaml Normal file
View File

@@ -0,0 +1,73 @@
###############################################
# Modify all parameters related to servoing here
###############################################
# adapt to dummy2 by Muzhxiaowen, check out the details on bilibili.com
use_gazebo: false # Whether the robot is started in a Gazebo simulation environment
## Properties of incoming commands
command_in_type: "unitless" # "unitless"> in the range [-1:1], as if from joystick. "speed_units"> cmds are in m/s and rad/s
scale:
# Scale parameters are only used if command_in_type=="unitless"
linear: 0.4 # Max linear velocity. Unit is [m/s]. Only used for Cartesian commands.
rotational: 0.8 # Max angular velocity. Unit is [rad/s]. Only used for Cartesian commands.
# Max joint angular/linear velocity. Only used for joint commands on joint_command_in_topic.
joint: 0.5
# Optionally override Servo's internal velocity scaling when near singularity or collision (0.0 = use internal velocity scaling)
# override_velocity_scaling_factor = 0.0 # valid range [0.0:1.0]
## Properties of outgoing commands
publish_period: 0.034 # 1/Nominal publish rate [seconds]
low_latency_mode: false # Set this to true to publish as soon as an incoming Twist command is received (publish_period is ignored)
# What type of topic does your robot driver expect?
# Currently supported are std_msgs/Float64MultiArray or trajectory_msgs/JointTrajectory
command_out_type: trajectory_msgs/JointTrajectory
# What to publish? Can save some bandwidth as most robots only require positions or velocities
publish_joint_positions: true
publish_joint_velocities: true
publish_joint_accelerations: false
## Plugins for smoothing outgoing commands
smoothing_filter_plugin_name: "online_signal_smoothing::ButterworthFilterPlugin"
# If is_primary_planning_scene_monitor is set to true, the Servo server's PlanningScene advertises the /get_planning_scene service,
# which other nodes can use as a source for information about the planning environment.
# NOTE: If a different node in your system is responsible for the "primary" planning scene instance (e.g. the MoveGroup node),
# then is_primary_planning_scene_monitor needs to be set to false.
is_primary_planning_scene_monitor: true
## MoveIt properties
move_group_name: dummy2_arm # Often 'manipulator' or 'arm'
planning_frame: base_link # The MoveIt planning frame. Often 'base_link' or 'world'
## Other frames
ee_frame_name: J6_1 # The name of the end effector link, used to return the EE pose
robot_link_command_frame: base_link # commands must be given in the frame of a robot link. Usually either the base or end effector
## Stopping behaviour
incoming_command_timeout: 0.1 # Stop servoing if X seconds elapse without a new command
# If 0, republish commands forever even if the robot is stationary. Otherwise, specify num. to publish.
# Important because ROS may drop some messages and we need the robot to halt reliably.
num_outgoing_halt_msgs_to_publish: 4
## Configure handling of singularities and joint limits
lower_singularity_threshold: 170.0 # Start decelerating when the condition number hits this (close to singularity)
hard_stop_singularity_threshold: 3000.0 # Stop when the condition number hits this
joint_limit_margin: 0.1 # added as a buffer to joint limits [radians]. If moving quickly, make this larger.
leaving_singularity_threshold_multiplier: 2.0 # Multiply the hard stop limit by this when leaving singularity (see https://github.com/ros-planning/moveit2/pull/620)
## Topic names
cartesian_command_in_topic: ~/delta_twist_cmds # Topic for incoming Cartesian twist commands
joint_command_in_topic: ~/delta_joint_cmds # Topic for incoming joint angle commands
joint_topic: /joint_states
status_topic: ~/status # Publish status to this topic
command_out_topic: /dummy2_arm_controller/joint_trajectory # Publish outgoing commands here
## Collision checking for the entire robot body
check_collisions: true # Check collisions?
collision_check_rate: 10.0 # [Hz] Collision-checking can easily bog down a CPU if done too often.
self_collision_proximity_threshold: 0.001 # Start decelerating when a self-collision is this far [m]
scene_collision_proximity_threshold: 0.002 # Start decelerating when a scene collision is this far [m]

9
unilabos/device_mesh/devices/dummy2_robot/config/initial_positions.yaml Normal file
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# Default initial positions for dummy2's ros2_control fake system
initial_positions:
Joint1: 0
Joint2: 0
Joint3: 0
Joint4: 0
Joint5: 0
Joint6: 0

40
unilabos/device_mesh/devices/dummy2_robot/config/joint_limits.yaml Normal file
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# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
# For beginners, we downscale velocity and acceleration limits.
# You can always specify higher scaling factors (<= 1.0) in your motion requests. # Increase the values below to 1.0 to always move at maximum speed.
default_velocity_scaling_factor: 0.1
default_acceleration_scaling_factor: 0.1
# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
joint_limits:
joint_1:
has_velocity_limits: true
max_velocity: 2.0
has_acceleration_limits: false
max_acceleration: 0
joint_2:
has_velocity_limits: true
max_velocity: 2.0
has_acceleration_limits: false
max_acceleration: 0
joint_3:
has_velocity_limits: true
max_velocity: 2.0
has_acceleration_limits: false
max_acceleration: 0
joint_4:
has_velocity_limits: true
max_velocity: 2.0
has_acceleration_limits: false
max_acceleration: 0
joint_5:
has_velocity_limits: true
max_velocity: 2.0
has_acceleration_limits: false
max_acceleration: 0
joint_6:
has_velocity_limits: true
max_velocity: 2.0
has_acceleration_limits: false
max_acceleration: 0

4
unilabos/device_mesh/devices/dummy2_robot/config/kinematics.yaml Normal file
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dummy2_arm:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
kinematics_solver_search_resolution: 0.0050000000000000001
kinematics_solver_timeout: 0.5

60
unilabos/device_mesh/devices/dummy2_robot/config/macro.ros2_control.xacro Normal file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="dummy2_robot_ros2_control" params="device_name mesh_path">
<xacro:property name="initial_positions" value="${load_yaml(mesh_path + '/devices/dummy2_robot/config/initial_positions.yaml')['initial_positions']}"/>
<ros2_control name="${device_name}dummy2" type="system">
<hardware>
<!-- By default, set up controllers for simulation. This won't work on real hardware -->
<plugin>mock_components/GenericSystem</plugin>
</hardware>
<!-- <plugin>mock_components/GenericSystem</plugin> -->
<joint name="${device_name}Joint1">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['Joint1']}</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
<joint name="${device_name}Joint2">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['Joint2']}</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
<joint name="${device_name}Joint3">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['Joint3']}</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
<joint name="${device_name}Joint4">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['Joint4']}</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
<joint name="${device_name}Joint5">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['Joint5']}</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
<joint name="${device_name}Joint6">
<command_interface name="position"/>
<state_interface name="position">
<param name="initial_value">${initial_positions['Joint6']}</param>
</state_interface>
<state_interface name="velocity"/>
</joint>
</ros2_control>
</xacro:macro>
</robot>

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unilabos/device_mesh/devices/dummy2_robot/config/macro.srdf.xacro Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="dummy2_robot_srdf" params="device_name">
<!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
<!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
<!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
<!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
<!--SUBGROUPS: Groups can also be formed by referencing to already defined group names
This is a format for representing semantic information about the robot structure.
A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
-->
<group name="${device_name}dummy2_arm">
<joint name="${device_name}virtual_joint"/>
<joint name="${device_name}Joint1"/>
<joint name="${device_name}Joint2"/>
<joint name="${device_name}Joint3"/>
<joint name="${device_name}Joint4"/>
<joint name="${device_name}Joint5"/>
<joint name="${device_name}Joint6"/>
</group>
<!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
<group_state name="home" group="${device_name}dummy2_arm">
<joint name="${device_name}Joint1" value="0"/>
<joint name="${device_name}Joint2" value="0"/>
<joint name="${device_name}Joint3" value="0"/>
<joint name="${device_name}Joint4" value="0"/>
<joint name="${device_name}Joint5" value="0"/>
<joint name="${device_name}Joint6" value="0"/>
</group_state>
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
<virtual_joint name="${device_name}virtual_joint" type="fixed" parent_frame="world" child_link="${device_name}base_link"/>
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
<disable_collisions link1="${device_name}J1_1" link2="${device_name}J2_1" reason="Adjacent"/>
<disable_collisions link1="${device_name}J1_1" link2="${device_name}J3_1" reason="Never"/>
<disable_collisions link1="${device_name}J1_1" link2="${device_name}J4_1" reason="Never"/>
<disable_collisions link1="${device_name}J1_1" link2="${device_name}base_link" reason="Adjacent"/>
<disable_collisions link1="${device_name}J2_1" link2="${device_name}J3_1" reason="Adjacent"/>
<disable_collisions link1="${device_name}J3_1" link2="${device_name}J4_1" reason="Adjacent"/>
<disable_collisions link1="${device_name}J3_1" link2="${device_name}J5_1" reason="Never"/>
<disable_collisions link1="${device_name}J3_1" link2="${device_name}J6_1" reason="Never"/>
<disable_collisions link1="${device_name}J3_1" link2="${device_name}base_link" reason="Never"/>
<disable_collisions link1="${device_name}J4_1" link2="${device_name}J5_1" reason="Adjacent"/>
<disable_collisions link1="${device_name}J4_1" link2="${device_name}J6_1" reason="Never"/>
<disable_collisions link1="${device_name}J5_1" link2="${device_name}J6_1" reason="Adjacent"/>
</xacro:macro>
</robot>

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unilabos/device_mesh/devices/dummy2_robot/config/materials.xacro Normal file
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<?xml version="1.0" ?>
<robot name="dummy2" xmlns:xacro="http://www.ros.org/wiki/xacro" >
<material name="silver">
<color rgba="0.700 0.700 0.700 1.000"/>
</material>
</robot>

14
unilabos/device_mesh/devices/dummy2_robot/config/move_group.json Normal file
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{
"arm": {
"joint_names": [
"joint_1",
"joint_2",
"joint_3",
"joint_4",
"joint_5",
"joint_6"
],
"base_link_name": "base_link",
"end_effector_name": "J6_1"
}
}

51
unilabos/device_mesh/devices/dummy2_robot/config/moveit.rviz Normal file
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Panels:
- Class: rviz_common/Displays
Name: Displays
Property Tree Widget:
Expanded:
- /MotionPlanning1
- Class: rviz_common/Help
Name: Help
- Class: rviz_common/Views
Name: Views
Visualization Manager:
Displays:
- Class: rviz_default_plugins/Grid
Name: Grid
Value: true
- Class: moveit_rviz_plugin/MotionPlanning
Name: MotionPlanning
Planned Path:
Loop Animation: true
State Display Time: 0.05 s
Trajectory Topic: display_planned_path
Planning Scene Topic: monitored_planning_scene
Robot Description: robot_description
Scene Geometry:
Scene Alpha: 1
Scene Robot:
Robot Alpha: 0.5
Value: true
Global Options:
Fixed Frame: base_link
Tools:
- Class: rviz_default_plugins/Interact
- Class: rviz_default_plugins/MoveCamera
- Class: rviz_default_plugins/Select
Value: true
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 2.0
Focal Point:
X: -0.1
Y: 0.25
Z: 0.30
Name: Current View
Pitch: 0.5
Target Frame: base_link
Yaw: -0.623
Window Geometry:
Height: 975
QMainWindow State: 000000ff00000000fd0000000100000000000002b400000375fc0200000005fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100fffffffb000000100044006900730070006c006100790073010000003d00000123000000c900fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000166000001910000018800fffffffb0000000800480065006c0070000000029a0000006e0000006e00fffffffb0000000a0056006900650077007301000002fd000000b5000000a400ffffff000001f60000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Width: 1200

21
unilabos/device_mesh/devices/dummy2_robot/config/moveit_controllers.yaml Normal file
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# MoveIt uses this configuration for controller management
moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
moveit_simple_controller_manager:
controller_names:
- dummy2_arm_controller
dummy2_arm_controller:
type: FollowJointTrajectory
action_ns: follow_joint_trajectory
default: true
joints:
- Joint1
- Joint2
- Joint3
- Joint4
- Joint5
- Joint6
action_ns: follow_joint_trajectory
default: true

39
unilabos/device_mesh/devices/dummy2_robot/config/physical_parameters.yaml Normal file
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dummy2_robot:
# Physical properties for each link
link_masses:
base_link: 5.0
link_1: 3.0
link_2: 2.5
link_3: 2.0
link_4: 1.5
link_5: 1.0
link_6: 0.5
# Center of mass for each link (relative to joint frame)
link_com:
base_link: [0.0, 0.0, 0.05]
link_1: [0.0, 0.0, 0.05]
link_2: [0.1, 0.0, 0.0]
link_3: [0.08, 0.0, 0.0]
link_4: [0.0, 0.0, 0.05]
link_5: [0.0, 0.0, 0.03]
link_6: [0.0, 0.0, 0.02]
# Moment of inertia matrices
link_inertias:
base_link: [0.02, 0.0, 0.0, 0.02, 0.0, 0.02]
link_1: [0.01, 0.0, 0.0, 0.01, 0.0, 0.01]
link_2: [0.008, 0.0, 0.0, 0.008, 0.0, 0.008]
link_3: [0.006, 0.0, 0.0, 0.006, 0.0, 0.006]
link_4: [0.004, 0.0, 0.0, 0.004, 0.0, 0.004]
link_5: [0.002, 0.0, 0.0, 0.002, 0.0, 0.002]
link_6: [0.001, 0.0, 0.0, 0.001, 0.0, 0.001]
# Motor specifications
motor_specs:
joint_1: { max_torque: 150.0, max_speed: 2.0, gear_ratio: 100 }
joint_2: { max_torque: 150.0, max_speed: 2.0, gear_ratio: 100 }
joint_3: { max_torque: 150.0, max_speed: 2.0, gear_ratio: 100 }
joint_4: { max_torque: 50.0, max_speed: 2.0, gear_ratio: 50 }
joint_5: { max_torque: 50.0, max_speed: 2.0, gear_ratio: 50 }
joint_6: { max_torque: 25.0, max_speed: 2.0, gear_ratio: 25 }

6
unilabos/device_mesh/devices/dummy2_robot/config/pilz_cartesian_limits.yaml Normal file
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# Limits for the Pilz planner
cartesian_limits:
max_trans_vel: 1.0
max_trans_acc: 2.25
max_trans_dec: -5.0
max_rot_vel: 1.57

26
unilabos/device_mesh/devices/dummy2_robot/config/ros2_controllers.yaml Normal file
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# This config file is used by ros2_control
controller_manager:
ros__parameters:
update_rate: 100 # Hz
dummy2_arm_controller:
type: joint_trajectory_controller/JointTrajectoryController
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster
dummy2_arm_controller:
ros__parameters:
joints:
- Joint1
- Joint2
- Joint3
- Joint4
- Joint5
- Joint6
command_interfaces:
- position
state_interfaces:
- position
- velocity

35
unilabos/device_mesh/devices/dummy2_robot/config/visual_parameters.yaml Normal file
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dummy2_robot:
# Visual appearance settings
materials:
base_material:
color: [0.8, 0.8, 0.8, 1.0] # Light gray
metallic: 0.1
roughness: 0.3
link_material:
color: [0.2, 0.2, 0.8, 1.0] # Blue
metallic: 0.3
roughness: 0.2
joint_material:
color: [0.6, 0.6, 0.6, 1.0] # Dark gray
metallic: 0.5
roughness: 0.1
camera_material:
color: [0.1, 0.1, 0.1, 1.0] # Black
metallic: 0.0
roughness: 0.8
# Mesh scaling factors
mesh_scale: [0.001, 0.001, 0.001] # Convert mm to m
# Collision geometry simplification
collision_geometries:
base_link: "cylinder" # radius: 0.08, height: 0.1
link_1: "cylinder" # radius: 0.05, height: 0.15
link_2: "box" # size: [0.2, 0.08, 0.08]
link_3: "box" # size: [0.15, 0.06, 0.06]
link_4: "cylinder" # radius: 0.03, height: 0.1
link_5: "cylinder" # radius: 0.025, height: 0.06
link_6: "cylinder" # radius: 0.02, height: 0.04

237
unilabos/device_mesh/devices/dummy2_robot/dummy2.xacro Normal file
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<?xml version="1.0" ?>
<robot name="dummy2" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find dummy2_description)/urdf/materials.xacro" />
<xacro:include filename="$(find dummy2_description)/urdf/dummy2.trans" />
<xacro:include filename="$(find dummy2_description)/urdf/dummy2.gazebo" />
<link name="world" />
<joint name="world_joint" type="fixed">
<parent link="world" />
<child link = "base_link" />
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
</joint>
<link name="base_link">
<inertial>
<origin xyz="0.00010022425916431473 -6.186605493937309e-05 0.05493640543484716" rpy="0 0 0"/>
<mass value="1.2152141810431654"/>
<inertia ixx="0.002105" iyy="0.002245" izz="0.002436" ixy="-0.0" iyz="-1.1e-05" ixz="0.0"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="J1_1">
<inertial>
<origin xyz="-0.00617659688932347 0.007029599744830012 0.012866826083045027" rpy="0 0 0"/>
<mass value="0.1332774369186824"/>
<inertia ixx="6e-05" iyy="5e-05" izz="8.8e-05" ixy="2.1e-05" iyz="-1.4e-05" ixz="8e-06"/>
</inertial>
<visual>
<origin xyz="-0.0001 0.000289 -0.097579" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.0001 0.000289 -0.097579" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="J2_1">
<inertial>
<origin xyz="0.019335709221765855 0.0019392793940843159 0.07795928103332703" rpy="0 0 0"/>
<mass value="1.9268013917303417"/>
<inertia ixx="0.006165" iyy="0.006538" izz="0.00118" ixy="-3e-06" iyz="4.7e-05" ixz="0.0007"/>
</inertial>
<visual>
<origin xyz="0.011539 -0.034188 -0.12478" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J2_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="0.011539 -0.034188 -0.12478" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J2_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="J3_1">
<inertial>
<origin xyz="-0.010672101243726572 -0.02723871972304964 0.04876701375652198" rpy="0 0 0"/>
<mass value="0.30531962155452225"/>
<inertia ixx="0.00029" iyy="0.000238" izz="0.000191" ixy="-1.3e-05" iyz="4.1e-05" ixz="3e-05"/>
</inertial>
<visual>
<origin xyz="-0.023811 -0.034188 -0.28278" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J3_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.023811 -0.034188 -0.28278" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J3_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="J4_1">
<inertial>
<origin xyz="-0.005237398377441591 0.06002028183461833 0.0005891767740203724" rpy="0 0 0"/>
<mass value="0.14051172121899885"/>
<inertia ixx="0.000245" iyy="7.9e-05" izz="0.00027" ixy="1.6e-05" iyz="-2e-06" ixz="1e-06"/>
</inertial>
<visual>
<origin xyz="-0.010649 -0.038288 -0.345246" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J4_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.010649 -0.038288 -0.345246" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J4_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="J5_1">
<inertial>
<origin xyz="-0.014389813882964664 0.07305218143664277 -0.0009243405950149497" rpy="0 0 0"/>
<mass value="0.7783315754227634"/>
<inertia ixx="0.000879" iyy="0.000339" izz="0.000964" ixy="0.000146" iyz="1e-06" ixz="-5e-06"/>
</inertial>
<visual>
<origin xyz="-0.031949 -0.148289 -0.345246" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J5_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.031949 -0.148289 -0.345246" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J5_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="J6_1">
<inertial>
<origin xyz="3.967160300787087e-07 0.0004995066702210837 1.4402781733924286e-07" rpy="0 0 0"/>
<mass value="0.0020561527568204153"/>
<inertia ixx="0.0" iyy="0.0" izz="0.0" ixy="0.0" iyz="0.0" ixz="0.0"/>
</inertial>
<visual>
<origin xyz="-0.012127 -0.267789 -0.344021" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J6_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.012127 -0.267789 -0.344021" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J6_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="camera">
<inertial>
<origin xyz="-0.0006059984983273845 0.0005864706438700462 0.04601775357664567" rpy="0 0 0"/>
<mass value="0.21961029019655884"/>
<inertia ixx="2.9e-05" iyy="0.000206" izz="0.000198" ixy="-0.0" iyz="2e-06" ixz="-0.0"/>
</inertial>
<visual>
<origin xyz="-0.012661 -0.239774 -0.37985" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/camera_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.012661 -0.239774 -0.37985" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/camera_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<joint name="Joint1" type="revolute">
<origin xyz="0.0001 -0.000289 0.097579" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="J1_1"/>
<axis xyz="-0.0 -0.0 1.0"/>
<limit upper="3.054326" lower="-3.054326" effort="100" velocity="100"/>
</joint>
<joint name="Joint2" type="revolute">
<origin xyz="-0.011639 0.034477 0.027201" rpy="0 0 0"/>
<parent link="J1_1"/>
<child link="J2_1"/>
<axis xyz="1.0 0.0 -0.0"/>
<limit upper="1.308997" lower="-2.007129" effort="100" velocity="100"/>
</joint>
<joint name="Joint3" type="revolute">
<origin xyz="0.03535 0.0 0.158" rpy="0 0 0"/>
<parent link="J2_1"/>
<child link="J3_1"/>
<axis xyz="-1.0 0.0 -0.0"/>
<limit upper="1.570796" lower="-1.047198" effort="100" velocity="100"/>
</joint>
<joint name="Joint4" type="revolute">
<origin xyz="-0.013162 0.0041 0.062466" rpy="0 0 0"/>
<parent link="J3_1"/>
<child link="J4_1"/>
<axis xyz="0.0 1.0 -0.0"/>
<limit upper="3.141593" lower="-3.141593" effort="100" velocity="100"/>
</joint>
<joint name="Joint5" type="revolute">
<origin xyz="0.0213 0.110001 0.0" rpy="0 0 0"/>
<parent link="J4_1"/>
<child link="J5_1"/>
<axis xyz="-1.0 -0.0 -0.0"/>
<limit upper="2.094395" lower="-1.919862" effort="100" velocity="100"/>
</joint>
<joint name="Joint6" type="continuous">
<origin xyz="-0.019822 0.1195 -0.001225" rpy="0 0 0"/>
<parent link="J5_1"/>
<child link="J6_1"/>
<axis xyz="0.0 -1.0 0.0"/>
</joint>
<joint name="camera" type="fixed">
<origin xyz="-0.019988 0.091197 0.024883" rpy="0 0 0"/>
<parent link="J5_1"/>
<child link="camera"/>
<axis xyz="1.0 -0.0 0.0"/>
<limit upper="0.0" lower="0.0" effort="100" velocity="100"/>
</joint>
</robot>

37
unilabos/device_mesh/devices/dummy2_robot/joint_limit.yaml Normal file
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@@ -0,0 +1,37 @@
joint_limits:
joint_1:
effort: 150
velocity: 2.0
lower: !degrees -180
upper: !degrees 180
joint_2:
effort: 150
velocity: 2.0
lower: !degrees -90
upper: !degrees 90
joint_3:
effort: 150
velocity: 2.0
lower: !degrees -90
upper: !degrees 90
joint_4:
effort: 50
velocity: 2.0
lower: !degrees -180
upper: !degrees 180
joint_5:
effort: 50
velocity: 2.0
lower: !degrees -90
upper: !degrees 90
joint_6:
effort: 25
velocity: 2.0
lower: !degrees -180
upper: !degrees 180

249
unilabos/device_mesh/devices/dummy2_robot/macro_device.xacro Normal file
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@@ -0,0 +1,249 @@
<?xml version="1.0" ?>
<robot name="dummy2" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="dummy2_robot" params="mesh_path:='' parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 rx:=0 ry:=0 r:=0">
<xacro:include filename="${mesh_path}/devices/dummy2_robot/config/materials.xacro" />
<xacro:include filename="${mesh_path}/devices/dummy2_robot/config/dummy2.trans" />
<joint name="${station_name}${device_name}base_link_joint" type="fixed">
<origin xyz="${x} ${y} ${z}" rpy="${rx} ${ry} ${r}" />
<parent link="${parent_link}"/>
<child link="${station_name}${device_name}device_link"/>
<axis xyz="0 0 0"/>
</joint>
<link name="${station_name}${device_name}device_link"/>
<joint name="${station_name}${device_name}device_link_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0" />
<parent link="${station_name}${device_name}device_link"/>
<child link="${station_name}${device_name}base_link"/>
<axis xyz="0 0 0"/>
</joint>
<link name="${station_name}${device_name}base_link">
<inertial>
<origin xyz="0.00010022425916431473 -6.186605493937309e-05 0.05493640543484716" rpy="0 0 0"/>
<mass value="1.2152141810431654"/>
<inertia ixx="0.002105" iyy="0.002245" izz="0.002436" ixy="-0.0" iyz="-1.1e-05" ixz="0.0"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/dummy2_robot/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/dummy2_robot/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="${station_name}${device_name}J1_1">
<inertial>
<origin xyz="-0.00617659688932347 0.007029599744830012 0.012866826083045027" rpy="0 0 0"/>
<mass value="0.1332774369186824"/>
<inertia ixx="6e-05" iyy="5e-05" izz="8.8e-05" ixy="2.1e-05" iyz="-1.4e-05" ixz="8e-06"/>
</inertial>
<visual>
<origin xyz="-0.0001 0.000289 -0.097579" rpy="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/dummy2_robot/meshes/J1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.0001 0.000289 -0.097579" rpy="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/dummy2_robot/meshes/J1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="${station_name}${device_name}J2_1">
<inertial>
<origin xyz="0.019335709221765855 0.0019392793940843159 0.07795928103332703" rpy="0 0 0"/>
<mass value="1.9268013917303417"/>
<inertia ixx="0.006165" iyy="0.006538" izz="0.00118" ixy="-3e-06" iyz="4.7e-05" ixz="0.0007"/>
</inertial>
<visual>
<origin xyz="0.011539 -0.034188 -0.12478" rpy="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/dummy2_robot/meshes/J2_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="0.011539 -0.034188 -0.12478" rpy="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/dummy2_robot/meshes/J2_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="${station_name}${device_name}J3_1">
<inertial>
<origin xyz="-0.010672101243726572 -0.02723871972304964 0.04876701375652198" rpy="0 0 0"/>
<mass value="0.30531962155452225"/>
<inertia ixx="0.00029" iyy="0.000238" izz="0.000191" ixy="-1.3e-05" iyz="4.1e-05" ixz="3e-05"/>
</inertial>
<visual>
<origin xyz="-0.023811 -0.034188 -0.28278" rpy="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/dummy2_robot/meshes/J3_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.023811 -0.034188 -0.28278" rpy="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/dummy2_robot/meshes/J3_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="${station_name}${device_name}J4_1">
<inertial>
<origin xyz="-0.005237398377441591 0.06002028183461833 0.0005891767740203724" rpy="0 0 0"/>
<mass value="0.14051172121899885"/>
<inertia ixx="0.000245" iyy="7.9e-05" izz="0.00027" ixy="1.6e-05" iyz="-2e-06" ixz="1e-06"/>
</inertial>
<visual>
<origin xyz="-0.010649 -0.038288 -0.345246" rpy="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/dummy2_robot/meshes/J4_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.010649 -0.038288 -0.345246" rpy="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/dummy2_robot/meshes/J4_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="${station_name}${device_name}J5_1">
<inertial>
<origin xyz="-0.014389813882964664 0.07305218143664277 -0.0009243405950149497" rpy="0 0 0"/>
<mass value="0.7783315754227634"/>
<inertia ixx="0.000879" iyy="0.000339" izz="0.000964" ixy="0.000146" iyz="1e-06" ixz="-5e-06"/>
</inertial>
<visual>
<origin xyz="-0.031949 -0.148289 -0.345246" rpy="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/dummy2_robot/meshes/J5_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.031949 -0.148289 -0.345246" rpy="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/dummy2_robot/meshes/J5_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="${station_name}${device_name}J6_1">
<inertial>
<origin xyz="3.967160300787087e-07 0.0004995066702210837 1.4402781733924286e-07" rpy="0 0 0"/>
<mass value="0.0020561527568204153"/>
<inertia ixx="0.0" iyy="0.0" izz="0.0" ixy="0.0" iyz="0.0" ixz="0.0"/>
</inertial>
<visual>
<origin xyz="-0.012127 -0.267789 -0.344021" rpy="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/dummy2_robot/meshes/J6_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.012127 -0.267789 -0.344021" rpy="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/dummy2_robot/meshes/J6_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="${station_name}${device_name}camera">
<inertial>
<origin xyz="-0.0006059984983273845 0.0005864706438700462 0.04601775357664567" rpy="0 0 0"/>
<mass value="0.21961029019655884"/>
<inertia ixx="2.9e-05" iyy="0.000206" izz="0.000198" ixy="-0.0" iyz="2e-06" ixz="-0.0"/>
</inertial>
<visual>
<origin xyz="-0.012661 -0.239774 -0.37985" rpy="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/dummy2_robot/meshes/camera_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.012661 -0.239774 -0.37985" rpy="0 0 0"/>
<geometry>
<mesh filename="file://${mesh_path}/devices/dummy2_robot/meshes/camera_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<joint name="${station_name}${device_name}Joint1" type="revolute">
<origin xyz="0.0001 -0.000289 0.097579" rpy="0 0 0"/>
<parent link="${station_name}${device_name}base_link"/>
<child link="${station_name}${device_name}J1_1"/>
<axis xyz="-0.0 -0.0 1.0"/>
<limit upper="3.054326" lower="-3.054326" effort="100" velocity="100"/>
</joint>
<joint name="${station_name}${device_name}Joint2" type="revolute">
<origin xyz="-0.011639 0.034477 0.027201" rpy="0 0 0"/>
<parent link="${station_name}${device_name}J1_1"/>
<child link="${station_name}${device_name}J2_1"/>
<axis xyz="1.0 0.0 -0.0"/>
<limit upper="1.308997" lower="-2.007129" effort="100" velocity="100"/>
</joint>
<joint name="${station_name}${device_name}Joint3" type="revolute">
<origin xyz="0.03535 0.0 0.158" rpy="0 0 0"/>
<parent link="${station_name}${device_name}J2_1"/>
<child link="${station_name}${device_name}J3_1"/>
<axis xyz="-1.0 0.0 -0.0"/>
<limit upper="1.570796" lower="-1.047198" effort="100" velocity="100"/>
</joint>
<joint name="${station_name}${device_name}Joint4" type="revolute">
<origin xyz="-0.013162 0.0041 0.062466" rpy="0 0 0"/>
<parent link="${station_name}${device_name}J3_1"/>
<child link="${station_name}${device_name}J4_1"/>
<axis xyz="0.0 1.0 -0.0"/>
<limit upper="3.141593" lower="-3.141593" effort="100" velocity="100"/>
</joint>
<joint name="${station_name}${device_name}Joint5" type="revolute">
<origin xyz="0.0213 0.110001 0.0" rpy="0 0 0"/>
<parent link="${station_name}${device_name}J4_1"/>
<child link="${station_name}${device_name}J5_1"/>
<axis xyz="-1.0 -0.0 -0.0"/>
<limit upper="2.094395" lower="-1.919862" effort="100" velocity="100"/>
</joint>
<joint name="${station_name}${device_name}Joint6" type="continuous">
<origin xyz="-0.019822 0.1195 -0.001225" rpy="0 0 0"/>
<parent link="${station_name}${device_name}J5_1"/>
<child link="${station_name}${device_name}J6_1"/>
<axis xyz="0.0 -1.0 0.0"/>
</joint>
<joint name="${station_name}${device_name}camera" type="fixed">
<origin xyz="-0.019988 0.091197 0.024883" rpy="0 0 0"/>
<parent link="${station_name}${device_name}J5_1"/>
<child link="${station_name}${device_name}camera"/>
<axis xyz="1.0 -0.0 0.0"/>
<limit upper="0.0" lower="0.0" effort="100" velocity="100"/>
</joint>
</xacro:macro>
</robot>

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unilabos/device_mesh/devices/dummy2_robot/meshes/dummy2.xacro Normal file
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<?xml version="1.0" ?>
<robot name="dummy2" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find dummy2_description)/urdf/materials.xacro" />
<xacro:include filename="$(find dummy2_description)/urdf/dummy2.trans" />
<xacro:include filename="$(find dummy2_description)/urdf/dummy2.gazebo" />
<link name="world" />
<joint name="world_joint" type="fixed">
<parent link="world" />
<child link = "base_link" />
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
</joint>
<link name="base_link">
<inertial>
<origin xyz="0.00010022425916431473 -6.186605493937309e-05 0.05493640543484716" rpy="0 0 0"/>
<mass value="1.2152141810431654"/>
<inertia ixx="0.002105" iyy="0.002245" izz="0.002436" ixy="-0.0" iyz="-1.1e-05" ixz="0.0"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="J1_1">
<inertial>
<origin xyz="-0.00617659688932347 0.007029599744830012 0.012866826083045027" rpy="0 0 0"/>
<mass value="0.1332774369186824"/>
<inertia ixx="6e-05" iyy="5e-05" izz="8.8e-05" ixy="2.1e-05" iyz="-1.4e-05" ixz="8e-06"/>
</inertial>
<visual>
<origin xyz="-0.0001 0.000289 -0.097579" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.0001 0.000289 -0.097579" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="J2_1">
<inertial>
<origin xyz="0.019335709221765855 0.0019392793940843159 0.07795928103332703" rpy="0 0 0"/>
<mass value="1.9268013917303417"/>
<inertia ixx="0.006165" iyy="0.006538" izz="0.00118" ixy="-3e-06" iyz="4.7e-05" ixz="0.0007"/>
</inertial>
<visual>
<origin xyz="0.011539 -0.034188 -0.12478" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J2_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="0.011539 -0.034188 -0.12478" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J2_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="J3_1">
<inertial>
<origin xyz="-0.010672101243726572 -0.02723871972304964 0.04876701375652198" rpy="0 0 0"/>
<mass value="0.30531962155452225"/>
<inertia ixx="0.00029" iyy="0.000238" izz="0.000191" ixy="-1.3e-05" iyz="4.1e-05" ixz="3e-05"/>
</inertial>
<visual>
<origin xyz="-0.023811 -0.034188 -0.28278" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J3_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.023811 -0.034188 -0.28278" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J3_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="J4_1">
<inertial>
<origin xyz="-0.005237398377441591 0.06002028183461833 0.0005891767740203724" rpy="0 0 0"/>
<mass value="0.14051172121899885"/>
<inertia ixx="0.000245" iyy="7.9e-05" izz="0.00027" ixy="1.6e-05" iyz="-2e-06" ixz="1e-06"/>
</inertial>
<visual>
<origin xyz="-0.010649 -0.038288 -0.345246" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J4_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.010649 -0.038288 -0.345246" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J4_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="J5_1">
<inertial>
<origin xyz="-0.014389813882964664 0.07305218143664277 -0.0009243405950149497" rpy="0 0 0"/>
<mass value="0.7783315754227634"/>
<inertia ixx="0.000879" iyy="0.000339" izz="0.000964" ixy="0.000146" iyz="1e-06" ixz="-5e-06"/>
</inertial>
<visual>
<origin xyz="-0.031949 -0.148289 -0.345246" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J5_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.031949 -0.148289 -0.345246" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J5_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="J6_1">
<inertial>
<origin xyz="3.967160300787087e-07 0.0004995066702210837 1.4402781733924286e-07" rpy="0 0 0"/>
<mass value="0.0020561527568204153"/>
<inertia ixx="0.0" iyy="0.0" izz="0.0" ixy="0.0" iyz="0.0" ixz="0.0"/>
</inertial>
<visual>
<origin xyz="-0.012127 -0.267789 -0.344021" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J6_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.012127 -0.267789 -0.344021" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J6_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="camera">
<inertial>
<origin xyz="-0.0006059984983273845 0.0005864706438700462 0.04601775357664567" rpy="0 0 0"/>
<mass value="0.21961029019655884"/>
<inertia ixx="2.9e-05" iyy="0.000206" izz="0.000198" ixy="-0.0" iyz="2e-06" ixz="-0.0"/>
</inertial>
<visual>
<origin xyz="-0.012661 -0.239774 -0.37985" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/camera_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.012661 -0.239774 -0.37985" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/camera_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<joint name="Joint1" type="revolute">
<origin xyz="0.0001 -0.000289 0.097579" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="J1_1"/>
<axis xyz="-0.0 -0.0 1.0"/>
<limit upper="3.054326" lower="-3.054326" effort="100" velocity="100"/>
</joint>
<joint name="Joint2" type="revolute">
<origin xyz="-0.011639 0.034477 0.027201" rpy="0 0 0"/>
<parent link="J1_1"/>
<child link="J2_1"/>
<axis xyz="1.0 0.0 -0.0"/>
<limit upper="1.308997" lower="-2.007129" effort="100" velocity="100"/>
</joint>
<joint name="Joint3" type="revolute">
<origin xyz="0.03535 0.0 0.158" rpy="0 0 0"/>
<parent link="J2_1"/>
<child link="J3_1"/>
<axis xyz="-1.0 0.0 -0.0"/>
<limit upper="1.570796" lower="-1.047198" effort="100" velocity="100"/>
</joint>
<joint name="Joint4" type="revolute">
<origin xyz="-0.013162 0.0041 0.062466" rpy="0 0 0"/>
<parent link="J3_1"/>
<child link="J4_1"/>
<axis xyz="0.0 1.0 -0.0"/>
<limit upper="3.141593" lower="-3.141593" effort="100" velocity="100"/>
</joint>
<joint name="Joint5" type="revolute">
<origin xyz="0.0213 0.110001 0.0" rpy="0 0 0"/>
<parent link="J4_1"/>
<child link="J5_1"/>
<axis xyz="-1.0 -0.0 -0.0"/>
<limit upper="2.094395" lower="-1.919862" effort="100" velocity="100"/>
</joint>
<joint name="Joint6" type="continuous">
<origin xyz="-0.019822 0.1195 -0.001225" rpy="0 0 0"/>
<parent link="J5_1"/>
<child link="J6_1"/>
<axis xyz="0.0 -1.0 0.0"/>
</joint>
<joint name="camera" type="fixed">
<origin xyz="-0.019988 0.091197 0.024883" rpy="0 0 0"/>
<parent link="J5_1"/>
<child link="camera"/>
<axis xyz="1.0 -0.0 0.0"/>
<limit upper="0.0" lower="0.0" effort="100" velocity="100"/>
</joint>
</robot>

0
unilabos/device_mesh/devices/liquid_transform_xyz/meshes/base_link.STL Normal file → Executable file
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0
unilabos/device_mesh/devices/liquid_transform_xyz/meshes/x_link.STL Normal file → Executable file
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0
unilabos/device_mesh/devices/liquid_transform_xyz/meshes/y_link.STL Normal file → Executable file
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0
unilabos/device_mesh/devices/liquid_transform_xyz/meshes/z_link.STL Normal file → Executable file
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44
unilabos/device_mesh/resource_visalization.py
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@@ -14,6 +14,7 @@ from launch_ros.parameter_descriptions import ParameterFile
from unilabos.registry.registry import lab_registry
from ament_index_python.packages import get_package_share_directory
def get_pattern_matches(folder, pattern):
"""Given all the files in the folder, find those that match the pattern.
@@ -51,7 +52,7 @@ class ResourceVisualization:
self.launch_description = LaunchDescription()
self.resource_dict = resource
self.resource_model = {}
self.resource_type = ['deck', 'plate', 'container']
self.resource_type = ['deck', 'plate', 'container', 'tip_rack']
self.mesh_path = Path(__file__).parent.absolute()
self.enable_rviz = enable_rviz
registry = lab_registry
@@ -128,9 +129,9 @@ class ResourceVisualization:
# if node["parent"] is not None:
# new_dev.set("station_name", node["parent"]+'_')
new_dev.set("x",str(float(node["position"]["x"])/1000))
new_dev.set("y",str(float(node["position"]["y"])/1000))
new_dev.set("z",str(float(node["position"]["z"])/1000))
new_dev.set("x",str(float(node["position"]["position"]["x"])/1000))
new_dev.set("y",str(float(node["position"]["position"]["y"])/1000))
new_dev.set("z",str(float(node["position"]["position"]["z"])/1000))
if "rotation" in node["config"]:
new_dev.set("rx",str(float(node["config"]["rotation"]["x"])))
new_dev.set("ry",str(float(node["config"]["rotation"]["y"])))
@@ -140,7 +141,7 @@ class ResourceVisualization:
new_dev.set(key, str(value))
# 添加ros2_controller
if node['class'].startswith('moveit.'):
if node['class'].find('moveit.')!= -1:
new_include_controller = etree.SubElement(self.root, f"{{{xacro_uri}}}include")
new_include_controller.set("filename", f"{str(self.mesh_path)}/devices/{model_config['mesh']}/config/macro.ros2_control.xacro")
new_controller = etree.SubElement(self.root, f"{{{xacro_uri}}}{model_config['mesh']}_ros2_control")
@@ -203,7 +204,24 @@ class ResourceVisualization:
Returns:
LaunchDescription: launch描述对象
"""
moveit_configs_utils_path = Path(get_package_share_directory("moveit_configs_utils"))
# 检查ROS 2环境变量
if "AMENT_PREFIX_PATH" not in os.environ:
raise OSError(
"ROS 2环境未正确设置。需要设置 AMENT_PREFIX_PATH 环境变量。\n"
"请确保：\n"
"1. 已安装ROS 2 (推荐使用 ros-humble-desktop-full)\n"
"2. 已激活Conda环境: conda activate unilab\n"
"3. 或手动source ROS 2 setup文件: source /opt/ros/humble/setup.bash\n"
"4. 或者使用 --backend simple 参数跳过ROS依赖"
)
try:
moveit_configs_utils_path = Path(get_package_share_directory("moveit_configs_utils"))
except Exception as e:
raise OSError(
f"无法找到moveit_configs_utils包。请确保ROS 2和MoveIt 2已正确安装。\n"
f"原始错误: {e}"
)
default_folder = moveit_configs_utils_path / "default_configs"
planning_pattern = re.compile("^(.*)_planning.yaml$")
pipelines = []
@@ -264,7 +282,8 @@ class ResourceVisualization:
parameters=[
{"robot_description": robot_description},
ros2_controllers,
]
],
env=dict(os.environ)
)
)
for controller in self.moveit_controllers_yaml['moveit_simple_controller_manager']['controller_names']:
@@ -274,6 +293,7 @@ class ResourceVisualization:
executable="spawner",
arguments=[f"{controller}", "--controller-manager", f"controller_manager"],
output="screen",
env=dict(os.environ)
)
)
controllers.append(
@@ -282,6 +302,7 @@ class ResourceVisualization:
executable="spawner",
arguments=["joint_state_broadcaster", "--controller-manager", f"controller_manager"],
output="screen",
env=dict(os.environ)
)
)
for i in controllers:
@@ -300,7 +321,8 @@ class ResourceVisualization:
'use_sim_time': False
},
# kinematics_dict
]
],
env=dict(os.environ)
)
@@ -331,7 +353,8 @@ class ResourceVisualization:
package='moveit_ros_move_group',
executable='move_group',
output='screen',
parameters=moveit_params
parameters=moveit_params,
env=dict(os.environ)
)
@@ -354,7 +377,8 @@ class ResourceVisualization:
robot_description_planning,
planning_pipelines,
]
],
env=dict(os.environ)
)
self.launch_description.add_action(rviz_node)

BIN
unilabos/device_mesh/resources/bottle/meshes/bottle.stl Normal file
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11
unilabos/device_mesh/resources/bottle/modal.xacro Normal file
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@@ -0,0 +1,11 @@
<?xml version="1.0" ?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="bottle">
<link name='bottle'>
<visual name='visual'>
<geometry>
<mesh filename="meshes/bottle.stl"/>
</geometry>
<material name="clay" />
</visual>
</link>
</robot>

BIN
unilabos/device_mesh/resources/bottle_container/meshes/bottle_container.stl Normal file
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11
unilabos/device_mesh/resources/bottle_container/modal.xacro Normal file
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@@ -0,0 +1,11 @@
<?xml version="1.0" ?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="bottle_container">
<link name='bottle_container'>
<visual name='visual'>
<geometry>
<mesh filename="meshes/bottle_container.stl"/>
</geometry>
<material name="clay" />
</visual>
</link>
</robot>

BIN
unilabos/device_mesh/resources/plate_96/meshes/plate_96.stl Normal file
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11
unilabos/device_mesh/resources/plate_96/modal.xacro Normal file
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@@ -0,0 +1,11 @@
<?xml version="1.0" ?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="plate_96">
<link name='plate_96'>
<visual name='visual'>
<geometry>
<mesh filename="meshes/plate_96.stl"/>
</geometry>
<material name="clay" />
</visual>
</link>
</robot>

BIN
unilabos/device_mesh/resources/tip/meshes/tip.stl Normal file
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11
unilabos/device_mesh/resources/tip/modal.xacro Normal file
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@@ -0,0 +1,11 @@
<?xml version="1.0" ?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="tip">
<link name='tip'>
<visual name='visual'>
<geometry>
<mesh filename="meshes/tip.stl"/>
</geometry>
<material name="clay" />
</visual>
</link>
</robot>

BIN
unilabos/device_mesh/resources/tiprack_box/meshes/tiprack_box.stl Normal file
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11
unilabos/device_mesh/resources/tiprack_box/modal.xacro Normal file
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@@ -0,0 +1,11 @@
<?xml version="1.0" ?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="tiprack_box">
<link name='tiprack_box'>
<visual name='visual'>
<geometry>
<mesh filename="meshes/tiprack_box.stl"/>
</geometry>
<material name="clay" />
</visual>
</link>
</robot>

BIN
unilabos/device_mesh/resources/tube/meshes/tube.stl Normal file
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11
unilabos/device_mesh/resources/tube/modal.xacro Normal file
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@@ -0,0 +1,11 @@
<?xml version="1.0" ?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="tube">
<link name='tube'>
<visual name='visual'>
<geometry>
<mesh filename="meshes/tube.stl"/>
</geometry>
<material name="clay" />
</visual>
</link>
</robot>

BIN
unilabos/device_mesh/resources/tube_container/meshes/tube_container.stl Normal file
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11
unilabos/device_mesh/resources/tube_container/modal.xacro Normal file
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@@ -0,0 +1,11 @@
<?xml version="1.0" ?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="tube_container">
<link name='tube_container'>
<visual name='visual'>
<geometry>
<mesh filename="meshes/tube_container.stl"/>
</geometry>
<material name="clay" />
</visual>
</link>
</robot>

20
unilabos/device_mesh/view_robot.rviz
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@@ -5,11 +5,13 @@ Panels:
Property Tree Widget:
Expanded:
- /TF1/Tree1
- /PlanningScene1
- /PlanningScene1/Scene Geometry1
- /MotionPlanning1/Scene Geometry1
- /MotionPlanning1/Scene Robot1
- /MotionPlanning1/Planning Request1
Splitter Ratio: 0.5016146302223206
Tree Height: 1112
Tree Height: 563
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
@@ -91,7 +93,7 @@ Visualization Manager:
Planning Scene Topic: /monitored_planning_scene
Robot Description: robot_description
Scene Geometry:
Scene Alpha: 0.8999999761581421
Scene Alpha: 1
Scene Color: 50; 230; 50
Scene Display Time: 0.009999999776482582
Show Scene Geometry: true
@@ -567,25 +569,25 @@ Visualization Manager:
Pitch: 0.4297958016395569
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.3525616228580475
Yaw: 0.36756160855293274
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 2032
Height: 1088
Hide Left Dock: false
Hide Right Dock: true
MotionPlanning:
collapsed: true
collapsed: false
MotionPlanning - Trajectory Slider:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000400000000000003a30000079bfc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000027000004c60000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000007a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000004f9000002c9000002b800ffffff000000010000010f00000387fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000003870000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000bc50000079b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
QMainWindow State: 000000ff00000000fd0000000400000000000003a30000040bfc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000001700000271000000ca00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004200fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000028e000001940000018900ffffff000000010000010f00000387fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b00000387000000a600fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004110000040b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
Selection:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: true
Width: 3956
X: 140
Y: 54
Width: 1978
X: 70
Y: 27

9
unilabos/devices/liquid_handling/laiyu/backend/__init__.py Normal file
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@@ -0,0 +1,9 @@
"""
LaiYu液体处理设备后端模块
提供设备后端接口和实现
"""
from .laiyu_backend import LaiYuLiquidBackend, create_laiyu_backend
__all__ = ['LaiYuLiquidBackend', 'create_laiyu_backend']

334
unilabos/devices/liquid_handling/laiyu/backend/laiyu_backend.py Normal file
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@@ -0,0 +1,334 @@
"""
LaiYu液体处理设备后端实现
提供设备的后端接口和控制逻辑
"""
import logging
from typing import Dict, Any, Optional, List
from abc import ABC, abstractmethod
# 尝试导入PyLabRobot后端
try:
from pylabrobot.liquid_handling.backends import LiquidHandlerBackend
PYLABROBOT_AVAILABLE = True
except ImportError:
PYLABROBOT_AVAILABLE = False
# 创建模拟后端基类
class LiquidHandlerBackend:
def __init__(self, name: str):
self.name = name
self.is_connected = False
def connect(self):
"""连接设备"""
pass
def disconnect(self):
"""断开连接"""
pass
class LaiYuLiquidBackend(LiquidHandlerBackend):
"""LaiYu液体处理设备后端"""
def __init__(self, name: str = "LaiYu_Liquid_Backend"):
"""
初始化LaiYu液体处理设备后端
Args:
name: 后端名称
"""
if PYLABROBOT_AVAILABLE:
# PyLabRobot 的 LiquidHandlerBackend 不接受参数
super().__init__()
else:
# 模拟版本接受 name 参数
super().__init__(name)
self.name = name
self.logger = logging.getLogger(__name__)
self.is_connected = False
self.device_info = {
"name": "LaiYu液体处理设备",
"version": "1.0.0",
"manufacturer": "LaiYu",
"model": "LaiYu_Liquid_Handler"
}
def connect(self) -> bool:
"""
连接到LaiYu液体处理设备
Returns:
bool: 连接是否成功
"""
try:
self.logger.info("正在连接到LaiYu液体处理设备...")
# 这里应该实现实际的设备连接逻辑
# 目前返回模拟连接成功
self.is_connected = True
self.logger.info("成功连接到LaiYu液体处理设备")
return True
except Exception as e:
self.logger.error(f"连接LaiYu液体处理设备失败: {e}")
self.is_connected = False
return False
def disconnect(self) -> bool:
"""
断开与LaiYu液体处理设备的连接
Returns:
bool: 断开连接是否成功
"""
try:
self.logger.info("正在断开与LaiYu液体处理设备的连接...")
# 这里应该实现实际的设备断开连接逻辑
self.is_connected = False
self.logger.info("成功断开与LaiYu液体处理设备的连接")
return True
except Exception as e:
self.logger.error(f"断开LaiYu液体处理设备连接失败: {e}")
return False
def is_device_connected(self) -> bool:
"""
检查设备是否已连接
Returns:
bool: 设备是否已连接
"""
return self.is_connected
def get_device_info(self) -> Dict[str, Any]:
"""
获取设备信息
Returns:
Dict[str, Any]: 设备信息字典
"""
return self.device_info.copy()
def home_device(self) -> bool:
"""
设备归零操作
Returns:
bool: 归零是否成功
"""
if not self.is_connected:
self.logger.error("设备未连接，无法执行归零操作")
return False
try:
self.logger.info("正在执行设备归零操作...")
# 这里应该实现实际的设备归零逻辑
self.logger.info("设备归零操作完成")
return True
except Exception as e:
self.logger.error(f"设备归零操作失败: {e}")
return False
def aspirate(self, volume: float, location: Dict[str, Any]) -> bool:
"""
吸液操作
Args:
volume: 吸液体积 (微升)
location: 吸液位置信息
Returns:
bool: 吸液是否成功
"""
if not self.is_connected:
self.logger.error("设备未连接，无法执行吸液操作")
return False
try:
self.logger.info(f"正在执行吸液操作: 体积={volume}μL, 位置={location}")
# 这里应该实现实际的吸液逻辑
self.logger.info("吸液操作完成")
return True
except Exception as e:
self.logger.error(f"吸液操作失败: {e}")
return False
def dispense(self, volume: float, location: Dict[str, Any]) -> bool:
"""
排液操作
Args:
volume: 排液体积 (微升)
location: 排液位置信息
Returns:
bool: 排液是否成功
"""
if not self.is_connected:
self.logger.error("设备未连接，无法执行排液操作")
return False
try:
self.logger.info(f"正在执行排液操作: 体积={volume}μL, 位置={location}")
# 这里应该实现实际的排液逻辑
self.logger.info("排液操作完成")
return True
except Exception as e:
self.logger.error(f"排液操作失败: {e}")
return False
def pick_up_tip(self, location: Dict[str, Any]) -> bool:
"""
取枪头操作
Args:
location: 枪头位置信息
Returns:
bool: 取枪头是否成功
"""
if not self.is_connected:
self.logger.error("设备未连接，无法执行取枪头操作")
return False
try:
self.logger.info(f"正在执行取枪头操作: 位置={location}")
# 这里应该实现实际的取枪头逻辑
self.logger.info("取枪头操作完成")
return True
except Exception as e:
self.logger.error(f"取枪头操作失败: {e}")
return False
def drop_tip(self, location: Dict[str, Any]) -> bool:
"""
丢弃枪头操作
Args:
location: 丢弃位置信息
Returns:
bool: 丢弃枪头是否成功
"""
if not self.is_connected:
self.logger.error("设备未连接，无法执行丢弃枪头操作")
return False
try:
self.logger.info(f"正在执行丢弃枪头操作: 位置={location}")
# 这里应该实现实际的丢弃枪头逻辑
self.logger.info("丢弃枪头操作完成")
return True
except Exception as e:
self.logger.error(f"丢弃枪头操作失败: {e}")
return False
def move_to(self, location: Dict[str, Any]) -> bool:
"""
移动到指定位置
Args:
location: 目标位置信息
Returns:
bool: 移动是否成功
"""
if not self.is_connected:
self.logger.error("设备未连接，无法执行移动操作")
return False
try:
self.logger.info(f"正在移动到位置: {location}")
# 这里应该实现实际的移动逻辑
self.logger.info("移动操作完成")
return True
except Exception as e:
self.logger.error(f"移动操作失败: {e}")
return False
def get_status(self) -> Dict[str, Any]:
"""
获取设备状态
Returns:
Dict[str, Any]: 设备状态信息
"""
return {
"connected": self.is_connected,
"device_info": self.device_info,
"status": "ready" if self.is_connected else "disconnected"
}
# PyLabRobot 抽象方法实现
def stop(self):
"""停止所有操作"""
self.logger.info("停止所有操作")
pass
@property
def num_channels(self) -> int:
"""返回通道数量"""
return 1 # 单通道移液器
def can_pick_up_tip(self, tip_rack, tip_position) -> bool:
"""检查是否可以拾取吸头"""
return True # 简化实现，总是返回True
def pick_up_tips(self, tip_rack, tip_positions):
"""拾取多个吸头"""
self.logger.info(f"拾取吸头: {tip_positions}")
pass
def drop_tips(self, tip_rack, tip_positions):
"""丢弃多个吸头"""
self.logger.info(f"丢弃吸头: {tip_positions}")
pass
def pick_up_tips96(self, tip_rack):
"""拾取96个吸头"""
self.logger.info("拾取96个吸头")
pass
def drop_tips96(self, tip_rack):
"""丢弃96个吸头"""
self.logger.info("丢弃96个吸头")
pass
def aspirate96(self, volume, plate, well_positions):
"""96通道吸液"""
self.logger.info(f"96通道吸液: 体积={volume}")
pass
def dispense96(self, volume, plate, well_positions):
"""96通道排液"""
self.logger.info(f"96通道排液: 体积={volume}")
pass
def pick_up_resource(self, resource, location):
"""拾取资源"""
self.logger.info(f"拾取资源: {resource}")
pass
def drop_resource(self, resource, location):
"""放置资源"""
self.logger.info(f"放置资源: {resource}")
pass
def move_picked_up_resource(self, resource, location):
"""移动已拾取的资源"""
self.logger.info(f"移动资源: {resource} 到 {location}")
pass
def create_laiyu_backend(name: str = "LaiYu_Liquid_Backend") -> LaiYuLiquidBackend:
"""
创建LaiYu液体处理设备后端实例
Args:
name: 后端名称
Returns:
LaiYuLiquidBackend: 后端实例
"""
return LaiYuLiquidBackend(name)

385
unilabos/devices/liquid_handling/laiyu/backend/laiyu_v_backend.py Normal file
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import json
from typing import List, Optional, Union
from pylabrobot.liquid_handling.backends.backend import (
LiquidHandlerBackend,
)
from pylabrobot.liquid_handling.standard import (
Drop,
DropTipRack,
MultiHeadAspirationContainer,
MultiHeadAspirationPlate,
MultiHeadDispenseContainer,
MultiHeadDispensePlate,
Pickup,
PickupTipRack,
ResourceDrop,
ResourceMove,
ResourcePickup,
SingleChannelAspiration,
SingleChannelDispense,
)
from pylabrobot.resources import Resource, Tip
import rclpy
from rclpy.node import Node
from sensor_msgs.msg import JointState
import time
from rclpy.action import ActionClient
from unilabos_msgs.action import SendCmd
import re
from unilabos.devices.ros_dev.liquid_handler_joint_publisher import JointStatePublisher
from unilabos.devices.liquid_handling.laiyu.controllers.pipette_controller import PipetteController, TipStatus
class UniLiquidHandlerLaiyuBackend(LiquidHandlerBackend):
"""Chatter box backend for device-free testing. Prints out all operations."""
_pip_length = 5
_vol_length = 8
_resource_length = 20
_offset_length = 16
_flow_rate_length = 10
_blowout_length = 10
_lld_z_length = 10
_kwargs_length = 15
_tip_type_length = 12
_max_volume_length = 16
_fitting_depth_length = 20
_tip_length_length = 16
# _pickup_method_length = 20
_filter_length = 10
def __init__(self, num_channels: int = 8 , tip_length: float = 0 , total_height: float = 310, port: str = "/dev/ttyUSB0"):
"""Initialize a chatter box backend."""
super().__init__()
self._num_channels = num_channels
self.tip_length = tip_length
self.total_height = total_height
# rclpy.init()
if not rclpy.ok():
rclpy.init()
self.joint_state_publisher = None
self.hardware_interface = PipetteController(port=port)
async def setup(self):
# self.joint_state_publisher = JointStatePublisher()
# self.hardware_interface.xyz_controller.connect_device()
# self.hardware_interface.xyz_controller.home_all_axes()
await super().setup()
self.hardware_interface.connect()
self.hardware_interface.initialize()
print("Setting up the liquid handler.")
async def stop(self):
print("Stopping the liquid handler.")
def serialize(self) -> dict:
return {**super().serialize(), "num_channels": self.num_channels}
def pipette_aspirate(self, volume: float, flow_rate: float):
self.hardware_interface.pipette.set_max_speed(flow_rate)
res = self.hardware_interface.pipette.aspirate(volume=volume)
if not res:
self.hardware_interface.logger.error("吸取失败，当前体积: {self.hardware_interface.current_volume}")
return
self.hardware_interface.current_volume += volume
def pipette_dispense(self, volume: float, flow_rate: float):
self.hardware_interface.pipette.set_max_speed(flow_rate)
res = self.hardware_interface.pipette.dispense(volume=volume)
if not res:
self.hardware_interface.logger.error("排液失败，当前体积: {self.hardware_interface.current_volume}")
return
self.hardware_interface.current_volume -= volume
@property
def num_channels(self) -> int:
return self._num_channels
async def assigned_resource_callback(self, resource: Resource):
print(f"Resource {resource.name} was assigned to the liquid handler.")
async def unassigned_resource_callback(self, name: str):
print(f"Resource {name} was unassigned from the liquid handler.")
async def pick_up_tips(self, ops: List[Pickup], use_channels: List[int], **backend_kwargs):
print("Picking up tips:")
# print(ops.tip)
header = (
f"{'pip#':<{UniLiquidHandlerLaiyuBackend._pip_length}} "
f"{'resource':<{UniLiquidHandlerLaiyuBackend._resource_length}} "
f"{'offset':<{UniLiquidHandlerLaiyuBackend._offset_length}} "
f"{'tip type':<{UniLiquidHandlerLaiyuBackend._tip_type_length}} "
f"{'max volume (µL)':<{UniLiquidHandlerLaiyuBackend._max_volume_length}} "
f"{'fitting depth (mm)':<{UniLiquidHandlerLaiyuBackend._fitting_depth_length}} "
f"{'tip length (mm)':<{UniLiquidHandlerLaiyuBackend._tip_length_length}} "
# f"{'pickup method':<{ChatterboxBackend._pickup_method_length}} "
f"{'filter':<{UniLiquidHandlerLaiyuBackend._filter_length}}"
)
# print(header)
for op, channel in zip(ops, use_channels):
offset = f"{round(op.offset.x, 1)},{round(op.offset.y, 1)},{round(op.offset.z, 1)}"
row = (
f" p{channel}: "
f"{op.resource.name[-30:]:<{UniLiquidHandlerLaiyuBackend._resource_length}} "
f"{offset:<{UniLiquidHandlerLaiyuBackend._offset_length}} "
f"{op.tip.__class__.__name__:<{UniLiquidHandlerLaiyuBackend._tip_type_length}} "
f"{op.tip.maximal_volume:<{UniLiquidHandlerLaiyuBackend._max_volume_length}} "
f"{op.tip.fitting_depth:<{UniLiquidHandlerLaiyuBackend._fitting_depth_length}} "
f"{op.tip.total_tip_length:<{UniLiquidHandlerLaiyuBackend._tip_length_length}} "
# f"{str(op.tip.pickup_method)[-20:]:<{ChatterboxBackend._pickup_method_length}} "
f"{'Yes' if op.tip.has_filter else 'No':<{UniLiquidHandlerLaiyuBackend._filter_length}}"
)
# print(row)
# print(op.resource.get_absolute_location())
self.tip_length = ops[0].tip.total_tip_length
coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
offset_xyz = ops[0].offset
x = coordinate.x + offset_xyz.x
y = coordinate.y + offset_xyz.y
z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z
# print("moving")
self.hardware_interface._update_tip_status()
if self.hardware_interface.tip_status == TipStatus.TIP_ATTACHED:
print("已有枪头，无需重复拾取")
return
self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=100)
self.hardware_interface.xyz_controller.move_to_work_coord_safe(z=self.hardware_interface.xyz_controller.machine_config.safe_z_height,speed=100)
# self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "pick",channels=use_channels)
# goback()
async def drop_tips(self, ops: List[Drop], use_channels: List[int], **backend_kwargs):
print("Dropping tips:")
header = (
f"{'pip#':<{UniLiquidHandlerLaiyuBackend._pip_length}} "
f"{'resource':<{UniLiquidHandlerLaiyuBackend._resource_length}} "
f"{'offset':<{UniLiquidHandlerLaiyuBackend._offset_length}} "
f"{'tip type':<{UniLiquidHandlerLaiyuBackend._tip_type_length}} "
f"{'max volume (µL)':<{UniLiquidHandlerLaiyuBackend._max_volume_length}} "
f"{'fitting depth (mm)':<{UniLiquidHandlerLaiyuBackend._fitting_depth_length}} "
f"{'tip length (mm)':<{UniLiquidHandlerLaiyuBackend._tip_length_length}} "
# f"{'pickup method':<{ChatterboxBackend._pickup_method_length}} "
f"{'filter':<{UniLiquidHandlerLaiyuBackend._filter_length}}"
)
# print(header)
for op, channel in zip(ops, use_channels):
offset = f"{round(op.offset.x, 1)},{round(op.offset.y, 1)},{round(op.offset.z, 1)}"
row = (
f" p{channel}: "
f"{op.resource.name[-30:]:<{UniLiquidHandlerLaiyuBackend._resource_length}} "
f"{offset:<{UniLiquidHandlerLaiyuBackend._offset_length}} "
f"{op.tip.__class__.__name__:<{UniLiquidHandlerLaiyuBackend._tip_type_length}} "
f"{op.tip.maximal_volume:<{UniLiquidHandlerLaiyuBackend._max_volume_length}} "
f"{op.tip.fitting_depth:<{UniLiquidHandlerLaiyuBackend._fitting_depth_length}} "
f"{op.tip.total_tip_length:<{UniLiquidHandlerLaiyuBackend._tip_length_length}} "
# f"{str(op.tip.pickup_method)[-20:]:<{ChatterboxBackend._pickup_method_length}} "
f"{'Yes' if op.tip.has_filter else 'No':<{UniLiquidHandlerLaiyuBackend._filter_length}}"
)
# print(row)
coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
offset_xyz = ops[0].offset
x = coordinate.x + offset_xyz.x
y = coordinate.y + offset_xyz.y
z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z -20
# print(x, y, z)
# print("moving")
self.hardware_interface._update_tip_status()
if self.hardware_interface.tip_status == TipStatus.NO_TIP:
print("无枪头，无需丢弃")
return
self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z)
self.hardware_interface.eject_tip
self.hardware_interface.xyz_controller.move_to_work_coord_safe(z=self.hardware_interface.xyz_controller.machine_config.safe_z_height)
async def aspirate(
self,
ops: List[SingleChannelAspiration],
use_channels: List[int],
**backend_kwargs,
):
print("Aspirating:")
header = (
f"{'pip#':<{UniLiquidHandlerLaiyuBackend._pip_length}} "
f"{'vol(ul)':<{UniLiquidHandlerLaiyuBackend._vol_length}} "
f"{'resource':<{UniLiquidHandlerLaiyuBackend._resource_length}} "
f"{'offset':<{UniLiquidHandlerLaiyuBackend._offset_length}} "
f"{'flow rate':<{UniLiquidHandlerLaiyuBackend._flow_rate_length}} "
f"{'blowout':<{UniLiquidHandlerLaiyuBackend._blowout_length}} "
f"{'lld_z':<{UniLiquidHandlerLaiyuBackend._lld_z_length}} "
# f"{'liquids':<20}" # TODO: add liquids
)
for key in backend_kwargs:
header += f"{key:<{UniLiquidHandlerLaiyuBackend._kwargs_length}} "[-16:]
# print(header)
for o, p in zip(ops, use_channels):
offset = f"{round(o.offset.x, 1)},{round(o.offset.y, 1)},{round(o.offset.z, 1)}"
row = (
f" p{p}: "
f"{o.volume:<{UniLiquidHandlerLaiyuBackend._vol_length}} "
f"{o.resource.name[-20:]:<{UniLiquidHandlerLaiyuBackend._resource_length}} "
f"{offset:<{UniLiquidHandlerLaiyuBackend._offset_length}} "
f"{str(o.flow_rate):<{UniLiquidHandlerLaiyuBackend._flow_rate_length}} "
f"{str(o.blow_out_air_volume):<{UniLiquidHandlerLaiyuBackend._blowout_length}} "
f"{str(o.liquid_height):<{UniLiquidHandlerLaiyuBackend._lld_z_length}} "
# f"{o.liquids if o.liquids is not None else 'none'}"
)
for key, value in backend_kwargs.items():
if isinstance(value, list) and all(isinstance(v, bool) for v in value):
value = "".join("T" if v else "F" for v in value)
if isinstance(value, list):
value = "".join(map(str, value))
row += f" {value:<15}"
# print(row)
coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
offset_xyz = ops[0].offset
x = coordinate.x + offset_xyz.x
y = coordinate.y + offset_xyz.y
z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z
# print(x, y, z)
# print("moving")
# 判断枪头是否存在
self.hardware_interface._update_tip_status()
if not self.hardware_interface.tip_status == TipStatus.TIP_ATTACHED:
print("无枪头，无法吸液")
return
# 判断吸液量是否超过枪头容量
flow_rate = backend_kwargs["flow_rate"] if "flow_rate" in backend_kwargs else 500
blow_out_air_volume = backend_kwargs["blow_out_air_volume"] if "blow_out_air_volume" in backend_kwargs else 0
if self.hardware_interface.current_volume + ops[0].volume + blow_out_air_volume > self.hardware_interface.max_volume:
self.hardware_interface.logger.error(f"吸液量超过枪头容量: {self.hardware_interface.current_volume + ops[0].volume} > {self.hardware_interface.max_volume}")
return
# 移动到吸液位置
self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z)
self.pipette_aspirate(volume=ops[0].volume, flow_rate=flow_rate)
self.hardware_interface.xyz_controller.move_to_work_coord_safe(z=self.hardware_interface.xyz_controller.machine_config.safe_z_height)
if blow_out_air_volume >0:
self.pipette_aspirate(volume=blow_out_air_volume, flow_rate=flow_rate)
async def dispense(
self,
ops: List[SingleChannelDispense],
use_channels: List[int],
**backend_kwargs,
):
# print("Dispensing:")
header = (
f"{'pip#':<{UniLiquidHandlerLaiyuBackend._pip_length}} "
f"{'vol(ul)':<{UniLiquidHandlerLaiyuBackend._vol_length}} "
f"{'resource':<{UniLiquidHandlerLaiyuBackend._resource_length}} "
f"{'offset':<{UniLiquidHandlerLaiyuBackend._offset_length}} "
f"{'flow rate':<{UniLiquidHandlerLaiyuBackend._flow_rate_length}} "
f"{'blowout':<{UniLiquidHandlerLaiyuBackend._blowout_length}} "
f"{'lld_z':<{UniLiquidHandlerLaiyuBackend._lld_z_length}} "
# f"{'liquids':<20}" # TODO: add liquids
)
for key in backend_kwargs:
header += f"{key:<{UniLiquidHandlerLaiyuBackend._kwargs_length}} "[-16:]
# print(header)
for o, p in zip(ops, use_channels):
offset = f"{round(o.offset.x, 1)},{round(o.offset.y, 1)},{round(o.offset.z, 1)}"
row = (
f" p{p}: "
f"{o.volume:<{UniLiquidHandlerLaiyuBackend._vol_length}} "
f"{o.resource.name[-20:]:<{UniLiquidHandlerLaiyuBackend._resource_length}} "
f"{offset:<{UniLiquidHandlerLaiyuBackend._offset_length}} "
f"{str(o.flow_rate):<{UniLiquidHandlerLaiyuBackend._flow_rate_length}} "
f"{str(o.blow_out_air_volume):<{UniLiquidHandlerLaiyuBackend._blowout_length}} "
f"{str(o.liquid_height):<{UniLiquidHandlerLaiyuBackend._lld_z_length}} "
# f"{o.liquids if o.liquids is not None else 'none'}"
)
for key, value in backend_kwargs.items():
if isinstance(value, list) and all(isinstance(v, bool) for v in value):
value = "".join("T" if v else "F" for v in value)
if isinstance(value, list):
value = "".join(map(str, value))
row += f" {value:<{UniLiquidHandlerLaiyuBackend._kwargs_length}}"
# print(row)
coordinate = ops[0].resource.get_absolute_location(x="c",y="c")
offset_xyz = ops[0].offset
x = coordinate.x + offset_xyz.x
y = coordinate.y + offset_xyz.y
z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z
# print(x, y, z)
# print("moving")
# 判断枪头是否存在
self.hardware_interface._update_tip_status()
if not self.hardware_interface.tip_status == TipStatus.TIP_ATTACHED:
print("无枪头，无法排液")
return
# 判断排液量是否超过枪头容量
flow_rate = backend_kwargs["flow_rate"] if "flow_rate" in backend_kwargs else 500
blow_out_air_volume = backend_kwargs["blow_out_air_volume"] if "blow_out_air_volume" in backend_kwargs else 0
if self.hardware_interface.current_volume - ops[0].volume - blow_out_air_volume < 0:
self.hardware_interface.logger.error(f"排液量超过枪头容量: {self.hardware_interface.current_volume - ops[0].volume - blow_out_air_volume} < 0")
return
# 移动到排液位置
self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z)
self.pipette_dispense(volume=ops[0].volume, flow_rate=flow_rate)
self.hardware_interface.xyz_controller.move_to_work_coord_safe(z=self.hardware_interface.xyz_controller.machine_config.safe_z_height)
if blow_out_air_volume > 0:
self.pipette_dispense(volume=blow_out_air_volume, flow_rate=flow_rate)
# self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "",channels=use_channels)
async def pick_up_tips96(self, pickup: PickupTipRack, **backend_kwargs):
print(f"Picking up tips from {pickup.resource.name}.")
async def drop_tips96(self, drop: DropTipRack, **backend_kwargs):
print(f"Dropping tips to {drop.resource.name}.")
async def aspirate96(
self, aspiration: Union[MultiHeadAspirationPlate, MultiHeadAspirationContainer]
):
if isinstance(aspiration, MultiHeadAspirationPlate):
resource = aspiration.wells[0].parent
else:
resource = aspiration.container
print(f"Aspirating {aspiration.volume} from {resource}.")
async def dispense96(self, dispense: Union[MultiHeadDispensePlate, MultiHeadDispenseContainer]):
if isinstance(dispense, MultiHeadDispensePlate):
resource = dispense.wells[0].parent
else:
resource = dispense.container
print(f"Dispensing {dispense.volume} to {resource}.")
async def pick_up_resource(self, pickup: ResourcePickup):
print(f"Picking up resource: {pickup}")
async def move_picked_up_resource(self, move: ResourceMove):
print(f"Moving picked up resource: {move}")
async def drop_resource(self, drop: ResourceDrop):
print(f"Dropping resource: {drop}")
def can_pick_up_tip(self, channel_idx: int, tip: Tip) -> bool:
return True

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unilabos/devices/liquid_handling/laiyu/config/deckconfig.json Normal file
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unilabos/devices/liquid_handling/laiyu/controllers/__init__.py Normal file
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"""
LaiYu_Liquid 控制器模块
该模块包含了LaiYu_Liquid液体处理工作站的高级控制器：
- 移液器控制器：提供液体处理的高级接口
- XYZ运动控制器：提供三轴运动的高级接口
"""
# 移液器控制器导入
from .pipette_controller import PipetteController
# XYZ运动控制器导入
from .xyz_controller import XYZController
__all__ = [
# 移液器控制器
"PipetteController",
# XYZ运动控制器
"XYZController",
]
__version__ = "1.0.0"
__author__ = "LaiYu_Liquid Controller Team"
__description__ = "LaiYu_Liquid 高级控制器集合"

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unilabos/devices/liquid_handling/laiyu/controllers/coordinate_origin.json Normal file
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{
"machine_origin_steps": {
"x": -198.43,
"y": -94.25,
"z": -0.73
},
"work_origin_steps": {
"x": 59.39,
"y": 216.99,
"z": 2.0
},
"is_homed": true,
"timestamp": "2025-10-29T20:34:11.749055"
}

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unilabos/devices/liquid_handling/laiyu/controllers/pipette_controller.py Normal file
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unilabos/devices/liquid_handling/laiyu/controllers/xyz_controller.py Normal file
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unilabos/devices/liquid_handling/laiyu/core/LaiYu_Liquid.py Normal file
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"""
LaiYu_Liquid 液体处理工作站主要集成文件
该模块实现了 LaiYu_Liquid 与 UniLabOS 系统的集成，提供标准化的液体处理接口。
主要包含：
- LaiYuLiquidBackend: 硬件通信后端
- LaiYuLiquid: 主要接口类
- 相关的异常类和容器类
"""
import asyncio
import logging
import time
from typing import List, Optional, Dict, Any, Union, Tuple
from dataclasses import dataclass
from abc import ABC, abstractmethod
# 基础导入
try:
from pylabrobot.resources import Deck, Plate, TipRack, Tip, Resource, Well
PYLABROBOT_AVAILABLE = True
except ImportError:
# 如果 pylabrobot 不可用，创建基础的模拟类
PYLABROBOT_AVAILABLE = False
class Resource:
def __init__(self, name: str):
self.name = name
class Deck(Resource):
pass
class Plate(Resource):
pass
class TipRack(Resource):
pass
class Tip(Resource):
pass
class Well(Resource):
pass
# LaiYu_Liquid 控制器导入
try:
from .controllers.pipette_controller import (
PipetteController, TipStatus, LiquidClass, LiquidParameters
)
from .controllers.xyz_controller import (
XYZController, MachineConfig, CoordinateOrigin, MotorAxis
)
CONTROLLERS_AVAILABLE = True
except ImportError:
CONTROLLERS_AVAILABLE = False
# 创建模拟的控制器类
class PipetteController:
def __init__(self, *args, **kwargs):
pass
def connect(self):
return True
def initialize(self):
return True
class XYZController:
def __init__(self, *args, **kwargs):
pass
def connect_device(self):
return True
logger = logging.getLogger(__name__)
class LaiYuLiquidError(RuntimeError):
"""LaiYu_Liquid 设备异常"""
pass
@dataclass
class LaiYuLiquidConfig:
"""LaiYu_Liquid 设备配置"""
port: str = "/dev/cu.usbserial-3130" # RS485转USB端口
address: int = 1 # 设备地址
baudrate: int = 9600 # 波特率
timeout: float = 5.0 # 通信超时时间
# 工作台尺寸
deck_width: float = 340.0 # 工作台宽度 (mm)
deck_height: float = 250.0 # 工作台高度 (mm)
deck_depth: float = 160.0 # 工作台深度 (mm)
# 移液参数
max_volume: float = 1000.0 # 最大体积 (μL)
min_volume: float = 0.1 # 最小体积 (μL)
# 运动参数
max_speed: float = 100.0 # 最大速度 (mm/s)
acceleration: float = 50.0 # 加速度 (mm/s²)
# 安全参数
safe_height: float = 50.0 # 安全高度 (mm)
tip_pickup_depth: float = 10.0 # 吸头拾取深度 (mm)
liquid_detection: bool = True # 液面检测
# 取枪头相关参数
tip_pickup_speed: int = 30 # 取枪头时的移动速度 (rpm)
tip_pickup_acceleration: int = 500 # 取枪头时的加速度 (rpm/s)
tip_approach_height: float = 5.0 # 接近枪头时的高度 (mm)
tip_pickup_force_depth: float = 2.0 # 强制插入深度 (mm)
tip_pickup_retract_height: float = 20.0 # 取枪头后的回退高度 (mm)
# 丢弃枪头相关参数
tip_drop_height: float = 10.0 # 丢弃枪头时的高度 (mm)
tip_drop_speed: int = 50 # 丢弃枪头时的移动速度 (rpm)
trash_position: Tuple[float, float, float] = (300.0, 200.0, 0.0) # 垃圾桶位置 (mm)
# 安全范围配置
deck_width: float = 300.0 # 工作台宽度 (mm)
deck_height: float = 200.0 # 工作台高度 (mm)
deck_depth: float = 100.0 # 工作台深度 (mm)
safe_height: float = 50.0 # 安全高度 (mm)
position_validation: bool = True # 启用位置验证
emergency_stop_enabled: bool = True # 启用紧急停止
class LaiYuLiquidDeck:
"""LaiYu_Liquid 工作台管理"""
def __init__(self, config: LaiYuLiquidConfig):
self.config = config
self.resources: Dict[str, Resource] = {}
self.positions: Dict[str, Tuple[float, float, float]] = {}
def add_resource(self, name: str, resource: Resource, position: Tuple[float, float, float]):
"""添加资源到工作台"""
self.resources[name] = resource
self.positions[name] = position
def get_resource(self, name: str) -> Optional[Resource]:
"""获取资源"""
return self.resources.get(name)
def get_position(self, name: str) -> Optional[Tuple[float, float, float]]:
"""获取资源位置"""
return self.positions.get(name)
def list_resources(self) -> List[str]:
"""列出所有资源"""
return list(self.resources.keys())
class LaiYuLiquidContainer:
"""LaiYu_Liquid 容器类"""
def __init__(self, name: str, size_x: float = 0, size_y: float = 0, size_z: float = 0, container_type: str = "", volume: float = 0.0, max_volume: float = 1000.0, lid_height: float = 0.0):
self.name = name
self.size_x = size_x
self.size_y = size_y
self.size_z = size_z
self.lid_height = lid_height
self.container_type = container_type
self.volume = volume
self.max_volume = max_volume
self.last_updated = time.time()
self.child_resources = {} # 存储子资源
@property
def is_empty(self) -> bool:
return self.volume <= 0.0
@property
def is_full(self) -> bool:
return self.volume >= self.max_volume
@property
def available_volume(self) -> float:
return max(0.0, self.max_volume - self.volume)
def add_volume(self, volume: float) -> bool:
"""添加体积"""
if self.volume + volume <= self.max_volume:
self.volume += volume
self.last_updated = time.time()
return True
return False
def remove_volume(self, volume: float) -> bool:
"""移除体积"""
if self.volume >= volume:
self.volume -= volume
self.last_updated = time.time()
return True
return False
def assign_child_resource(self, resource, location=None):
"""分配子资源 - 与 PyLabRobot 资源管理系统兼容"""
if hasattr(resource, 'name'):
self.child_resources[resource.name] = {
'resource': resource,
'location': location
}
class LaiYuLiquidTipRack:
"""LaiYu_Liquid 吸头架类"""
def __init__(self, name: str, size_x: float = 0, size_y: float = 0, size_z: float = 0, tip_count: int = 96, tip_volume: float = 1000.0):
self.name = name
self.size_x = size_x
self.size_y = size_y
self.size_z = size_z
self.tip_count = tip_count
self.tip_volume = tip_volume
self.tips_available = [True] * tip_count
self.child_resources = {} # 存储子资源
@property
def available_tips(self) -> int:
return sum(self.tips_available)
@property
def is_empty(self) -> bool:
return self.available_tips == 0
def pick_tip(self, position: int) -> bool:
"""拾取吸头"""
if 0 <= position < self.tip_count and self.tips_available[position]:
self.tips_available[position] = False
return True
return False
def has_tip(self, position: int) -> bool:
"""检查位置是否有吸头"""
if 0 <= position < self.tip_count:
return self.tips_available[position]
return False
def assign_child_resource(self, resource, location=None):
"""分配子资源到指定位置"""
self.child_resources[resource.name] = {
'resource': resource,
'location': location
}
def get_module_info():
"""获取模块信息"""
return {
"name": "LaiYu_Liquid",
"version": "1.0.0",
"description": "LaiYu液体处理工作站模块，提供移液器控制、XYZ轴控制和资源管理功能",
"author": "UniLabOS Team",
"capabilities": [
"移液器控制",
"XYZ轴运动控制",
"吸头架管理",
"板和容器管理",
"资源位置管理"
],
"dependencies": {
"required": ["serial"],
"optional": ["pylabrobot"]
}
}
class LaiYuLiquidBackend:
"""LaiYu_Liquid 硬件通信后端"""
def __init__(self, config: LaiYuLiquidConfig, deck: Optional['LaiYuLiquidDeck'] = None):
self.config = config
self.deck = deck # 工作台引用，用于获取资源位置信息
self.pipette_controller = None
self.xyz_controller = None
self.is_connected = False
self.is_initialized = False
# 状态跟踪
self.current_position = (0.0, 0.0, 0.0)
self.tip_attached = False
self.current_volume = 0.0
def _validate_position(self, x: float, y: float, z: float) -> bool:
"""验证位置是否在安全范围内"""
try:
# 检查X轴范围
if not (0 <= x <= self.config.deck_width):
logger.error(f"X轴位置 {x:.2f}mm 超出范围 [0, {self.config.deck_width}]")
return False
# 检查Y轴范围
if not (0 <= y <= self.config.deck_height):
logger.error(f"Y轴位置 {y:.2f}mm 超出范围 [0, {self.config.deck_height}]")
return False
# 检查Z轴范围（负值表示向下，0为工作台表面）
if not (-self.config.deck_depth <= z <= self.config.safe_height):
logger.error(f"Z轴位置 {z:.2f}mm 超出安全范围 [{-self.config.deck_depth}, {self.config.safe_height}]")
return False
return True
except Exception as e:
logger.error(f"位置验证失败: {e}")
return False
def _check_hardware_ready(self) -> bool:
"""检查硬件是否准备就绪"""
if not self.is_connected:
logger.error("设备未连接")
return False
if CONTROLLERS_AVAILABLE:
if self.xyz_controller is None:
logger.error("XYZ控制器未初始化")
return False
return True
async def emergency_stop(self) -> bool:
"""紧急停止所有运动"""
try:
logger.warning("执行紧急停止")
if CONTROLLERS_AVAILABLE and self.xyz_controller:
# 停止XYZ控制器
await self.xyz_controller.stop_all_motion()
logger.info("XYZ控制器已停止")
if self.pipette_controller:
# 停止移液器控制器
await self.pipette_controller.stop()
logger.info("移液器控制器已停止")
return True
except Exception as e:
logger.error(f"紧急停止失败: {e}")
return False
async def move_to_safe_position(self) -> bool:
"""移动到安全位置"""
try:
if not self._check_hardware_ready():
return False
safe_position = (
self.config.deck_width / 2, # 工作台中心X
self.config.deck_height / 2, # 工作台中心Y
self.config.safe_height # 安全高度Z
)
if not self._validate_position(*safe_position):
logger.error("安全位置无效")
return False
if CONTROLLERS_AVAILABLE and self.xyz_controller:
await self.xyz_controller.move_to_work_coord(*safe_position)
self.current_position = safe_position
logger.info(f"已移动到安全位置: {safe_position}")
return True
else:
# 模拟模式
self.current_position = safe_position
logger.info("模拟移动到安全位置")
return True
except Exception as e:
logger.error(f"移动到安全位置失败: {e}")
return False
async def setup(self) -> bool:
"""设置硬件连接"""
try:
if CONTROLLERS_AVAILABLE:
# 初始化移液器控制器
self.pipette_controller = PipetteController(
port=self.config.port,
address=self.config.address
)
# 初始化XYZ控制器
machine_config = MachineConfig()
self.xyz_controller = XYZController(
port=self.config.port,
baudrate=self.config.baudrate,
machine_config=machine_config
)
# 连接设备
pipette_connected = await asyncio.to_thread(self.pipette_controller.connect)
xyz_connected = await asyncio.to_thread(self.xyz_controller.connect_device)
if pipette_connected and xyz_connected:
self.is_connected = True
logger.info("LaiYu_Liquid 硬件连接成功")
return True
else:
logger.error("LaiYu_Liquid 硬件连接失败")
return False
else:
# 模拟模式
logger.info("LaiYu_Liquid 运行在模拟模式")
self.is_connected = True
return True
except Exception as e:
logger.error(f"LaiYu_Liquid 设置失败: {e}")
return False
async def stop(self):
"""停止设备"""
try:
if self.pipette_controller and hasattr(self.pipette_controller, 'disconnect'):
await asyncio.to_thread(self.pipette_controller.disconnect)
if self.xyz_controller and hasattr(self.xyz_controller, 'disconnect'):
await asyncio.to_thread(self.xyz_controller.disconnect)
self.is_connected = False
self.is_initialized = False
logger.info("LaiYu_Liquid 已停止")
except Exception as e:
logger.error(f"LaiYu_Liquid 停止失败: {e}")
async def move_to(self, x: float, y: float, z: float) -> bool:
"""移动到指定位置"""
try:
if not self.is_connected:
raise LaiYuLiquidError("设备未连接")
# 模拟移动
await asyncio.sleep(0.1) # 模拟移动时间
self.current_position = (x, y, z)
logger.debug(f"移动到位置: ({x}, {y}, {z})")
return True
except Exception as e:
logger.error(f"移动失败: {e}")
return False
async def pick_up_tip(self, tip_rack: str, position: int) -> bool:
"""拾取吸头 - 包含真正的Z轴下降控制"""
try:
# 硬件准备检查
if not self._check_hardware_ready():
return False
if self.tip_attached:
logger.warning("已有吸头附着，无法拾取新吸头")
return False
logger.info(f"开始从 {tip_rack} 位置 {position} 拾取吸头")
# 获取枪头架位置信息
if self.deck is None:
logger.error("工作台未初始化")
return False
tip_position = self.deck.get_position(tip_rack)
if tip_position is None:
logger.error(f"未找到枪头架 {tip_rack} 的位置信息")
return False
# 计算具体枪头位置（这里简化处理，实际应根据position计算偏移）
tip_x, tip_y, tip_z = tip_position
# 验证所有关键位置的安全性
safe_z = tip_z + self.config.tip_approach_height
pickup_z = tip_z - self.config.tip_pickup_force_depth
retract_z = tip_z + self.config.tip_pickup_retract_height
if not (self._validate_position(tip_x, tip_y, safe_z) and
self._validate_position(tip_x, tip_y, pickup_z) and
self._validate_position(tip_x, tip_y, retract_z)):
logger.error("枪头拾取位置超出安全范围")
return False
if CONTROLLERS_AVAILABLE and self.xyz_controller:
# 真实硬件控制流程
logger.info("使用真实XYZ控制器进行枪头拾取")
try:
# 1. 移动到枪头上方的安全位置
safe_z = tip_z + self.config.tip_approach_height
logger.info(f"移动到枪头上方安全位置: ({tip_x:.2f}, {tip_y:.2f}, {safe_z:.2f})")
move_success = await asyncio.to_thread(
self.xyz_controller.move_to_work_coord,
tip_x, tip_y, safe_z
)
if not move_success:
logger.error("移动到枪头上方失败")
return False
# 2. Z轴下降到枪头位置
pickup_z = tip_z - self.config.tip_pickup_force_depth
logger.info(f"Z轴下降到枪头拾取位置: {pickup_z:.2f}mm")
z_down_success = await asyncio.to_thread(
self.xyz_controller.move_to_work_coord,
tip_x, tip_y, pickup_z
)
if not z_down_success:
logger.error("Z轴下降到枪头位置失败")
return False
# 3. 等待一小段时间确保枪头牢固附着
await asyncio.sleep(0.2)
# 4. Z轴上升到回退高度
retract_z = tip_z + self.config.tip_pickup_retract_height
logger.info(f"Z轴上升到回退高度: {retract_z:.2f}mm")
z_up_success = await asyncio.to_thread(
self.xyz_controller.move_to_work_coord,
tip_x, tip_y, retract_z
)
if not z_up_success:
logger.error("Z轴上升失败")
return False
# 5. 更新当前位置
self.current_position = (tip_x, tip_y, retract_z)
except Exception as move_error:
logger.error(f"枪头拾取过程中发生错误: {move_error}")
# 尝试移动到安全位置
if self.config.emergency_stop_enabled:
await self.emergency_stop()
await self.move_to_safe_position()
return False
else:
# 模拟模式
logger.info("模拟模式：执行枪头拾取动作")
await asyncio.sleep(1.0) # 模拟整个拾取过程的时间
self.current_position = (tip_x, tip_y, tip_z + self.config.tip_pickup_retract_height)
# 6. 标记枪头已附着
self.tip_attached = True
logger.info("吸头拾取成功")
return True
except Exception as e:
logger.error(f"拾取吸头失败: {e}")
return False
async def drop_tip(self, location: str = "trash") -> bool:
"""丢弃吸头 - 包含真正的Z轴控制"""
try:
# 硬件准备检查
if not self._check_hardware_ready():
return False
if not self.tip_attached:
logger.warning("没有吸头附着，无需丢弃")
return True
logger.info(f"开始丢弃吸头到 {location}")
# 确定丢弃位置
if location == "trash":
# 使用配置中的垃圾桶位置
drop_x, drop_y, drop_z = self.config.trash_position
else:
# 尝试从deck获取指定位置
if self.deck is None:
logger.error("工作台未初始化")
return False
drop_position = self.deck.get_position(location)
if drop_position is None:
logger.error(f"未找到丢弃位置 {location} 的信息")
return False
drop_x, drop_y, drop_z = drop_position
# 验证丢弃位置的安全性
safe_z = drop_z + self.config.safe_height
drop_height_z = drop_z + self.config.tip_drop_height
if not (self._validate_position(drop_x, drop_y, safe_z) and
self._validate_position(drop_x, drop_y, drop_height_z)):
logger.error("枪头丢弃位置超出安全范围")
return False
if CONTROLLERS_AVAILABLE and self.xyz_controller:
# 真实硬件控制流程
logger.info("使用真实XYZ控制器进行枪头丢弃")
try:
# 1. 移动到丢弃位置上方的安全高度
safe_z = drop_z + self.config.tip_drop_height
logger.info(f"移动到丢弃位置上方: ({drop_x:.2f}, {drop_y:.2f}, {safe_z:.2f})")
move_success = await asyncio.to_thread(
self.xyz_controller.move_to_work_coord,
drop_x, drop_y, safe_z
)
if not move_success:
logger.error("移动到丢弃位置上方失败")
return False
# 2. Z轴下降到丢弃高度
logger.info(f"Z轴下降到丢弃高度: {drop_z:.2f}mm")
z_down_success = await asyncio.to_thread(
self.xyz_controller.move_to_work_coord,
drop_x, drop_y, drop_z
)
if not z_down_success:
logger.error("Z轴下降到丢弃位置失败")
return False
# 3. 执行枪头弹出动作（如果有移液器控制器）
if self.pipette_controller:
try:
# 发送弹出枪头命令
await asyncio.to_thread(self.pipette_controller.eject_tip)
logger.info("执行枪头弹出命令")
except Exception as e:
logger.warning(f"枪头弹出命令失败: {e}")
# 4. 等待一小段时间确保枪头完全脱离
await asyncio.sleep(0.3)
# 5. Z轴上升到安全高度
logger.info(f"Z轴上升到安全高度: {safe_z:.2f}mm")
z_up_success = await asyncio.to_thread(
self.xyz_controller.move_to_work_coord,
drop_x, drop_y, safe_z
)
if not z_up_success:
logger.error("Z轴上升失败")
return False
# 6. 更新当前位置
self.current_position = (drop_x, drop_y, safe_z)
except Exception as drop_error:
logger.error(f"枪头丢弃过程中发生错误: {drop_error}")
# 尝试移动到安全位置
if self.config.emergency_stop_enabled:
await self.emergency_stop()
await self.move_to_safe_position()
return False
else:
# 模拟模式
logger.info("模拟模式：执行枪头丢弃动作")
await asyncio.sleep(0.8) # 模拟整个丢弃过程的时间
self.current_position = (drop_x, drop_y, drop_z + self.config.tip_drop_height)
# 7. 标记枪头已脱离，清空体积
self.tip_attached = False
self.current_volume = 0.0
logger.info("吸头丢弃成功")
return True
except Exception as e:
logger.error(f"丢弃吸头失败: {e}")
return False
async def aspirate(self, volume: float, location: str) -> bool:
"""吸取液体"""
try:
if not self.is_connected:
raise LaiYuLiquidError("设备未连接")
if not self.tip_attached:
raise LaiYuLiquidError("没有吸头附着")
if volume <= 0 or volume > self.config.max_volume:
raise LaiYuLiquidError(f"体积超出范围: {volume}")
# 模拟吸取
await asyncio.sleep(0.3)
self.current_volume += volume
logger.debug(f"从 {location} 吸取 {volume} μL")
return True
except Exception as e:
logger.error(f"吸取失败: {e}")
return False
async def dispense(self, volume: float, location: str) -> bool:
"""分配液体"""
try:
if not self.is_connected:
raise LaiYuLiquidError("设备未连接")
if not self.tip_attached:
raise LaiYuLiquidError("没有吸头附着")
if volume <= 0 or volume > self.current_volume:
raise LaiYuLiquidError(f"分配体积无效: {volume}")
# 模拟分配
await asyncio.sleep(0.3)
self.current_volume -= volume
logger.debug(f"向 {location} 分配 {volume} μL")
return True
except Exception as e:
logger.error(f"分配失败: {e}")
return False
class LaiYuLiquid:
"""LaiYu_Liquid 主要接口类"""
def __init__(self, config: Optional[LaiYuLiquidConfig] = None, **kwargs):
# 如果传入了关键字参数，创建配置对象
if kwargs and config is None:
# 从kwargs中提取配置参数
config_params = {}
for key, value in kwargs.items():
if hasattr(LaiYuLiquidConfig, key):
config_params[key] = value
self.config = LaiYuLiquidConfig(**config_params)
else:
self.config = config or LaiYuLiquidConfig()
# 先创建deck，然后传递给backend
self.deck = LaiYuLiquidDeck(self.config)
self.backend = LaiYuLiquidBackend(self.config, self.deck)
self.is_setup = False
@property
def current_position(self) -> Tuple[float, float, float]:
"""获取当前位置"""
return self.backend.current_position
@property
def current_volume(self) -> float:
"""获取当前体积"""
return self.backend.current_volume
@property
def is_connected(self) -> bool:
"""获取连接状态"""
return self.backend.is_connected
@property
def is_initialized(self) -> bool:
"""获取初始化状态"""
return self.backend.is_initialized
@property
def tip_attached(self) -> bool:
"""获取吸头附着状态"""
return self.backend.tip_attached
async def setup(self) -> bool:
"""设置液体处理器"""
try:
success = await self.backend.setup()
if success:
self.is_setup = True
logger.info("LaiYu_Liquid 设置完成")
return success
except Exception as e:
logger.error(f"LaiYu_Liquid 设置失败: {e}")
return False
async def stop(self):
"""停止液体处理器"""
await self.backend.stop()
self.is_setup = False
async def transfer(self, source: str, target: str, volume: float,
tip_rack: str = "tip_rack_1", tip_position: int = 0) -> bool:
"""液体转移"""
try:
if not self.is_setup:
raise LaiYuLiquidError("设备未设置")
# 获取源和目标位置
source_pos = self.deck.get_position(source)
target_pos = self.deck.get_position(target)
tip_pos = self.deck.get_position(tip_rack)
if not all([source_pos, target_pos, tip_pos]):
raise LaiYuLiquidError("位置信息不完整")
# 执行转移步骤
steps = [
("移动到吸头架", self.backend.move_to(*tip_pos)),
("拾取吸头", self.backend.pick_up_tip(tip_rack, tip_position)),
("移动到源位置", self.backend.move_to(*source_pos)),
("吸取液体", self.backend.aspirate(volume, source)),
("移动到目标位置", self.backend.move_to(*target_pos)),
("分配液体", self.backend.dispense(volume, target)),
("丢弃吸头", self.backend.drop_tip())
]
for step_name, step_coro in steps:
logger.debug(f"执行步骤: {step_name}")
success = await step_coro
if not success:
raise LaiYuLiquidError(f"步骤失败: {step_name}")
logger.info(f"液体转移完成: {source} -> {target}, {volume} μL")
return True
except Exception as e:
logger.error(f"液体转移失败: {e}")
return False
def add_resource(self, name: str, resource_type: str, position: Tuple[float, float, float]):
"""添加资源到工作台"""
if resource_type == "plate":
resource = Plate(name)
elif resource_type == "tip_rack":
resource = TipRack(name)
else:
resource = Resource(name)
self.deck.add_resource(name, resource, position)
def get_status(self) -> Dict[str, Any]:
"""获取设备状态"""
return {
"connected": self.backend.is_connected,
"setup": self.is_setup,
"current_position": self.backend.current_position,
"tip_attached": self.backend.tip_attached,
"current_volume": self.backend.current_volume,
"resources": self.deck.list_resources()
}
def create_quick_setup() -> LaiYuLiquidDeck:
"""
创建快速设置的LaiYu液体处理工作站
Returns:
LaiYuLiquidDeck: 配置好的工作台实例
"""
# 创建默认配置
config = LaiYuLiquidConfig()
# 创建工作台
deck = LaiYuLiquidDeck(config)
# 导入资源创建函数
try:
from .laiyu_liquid_res import (
create_tip_rack_1000ul,
create_tip_rack_200ul,
create_96_well_plate,
create_waste_container
)
# 添加基本资源
tip_rack_1000 = create_tip_rack_1000ul("tip_rack_1000")
tip_rack_200 = create_tip_rack_200ul("tip_rack_200")
plate_96 = create_96_well_plate("plate_96")
waste = create_waste_container("waste")
# 添加到工作台
deck.add_resource("tip_rack_1000", tip_rack_1000, (50, 50, 0))
deck.add_resource("tip_rack_200", tip_rack_200, (150, 50, 0))
deck.add_resource("plate_96", plate_96, (250, 50, 0))
deck.add_resource("waste", waste, (50, 150, 0))
except ImportError:
# 如果资源模块不可用，创建空的工作台
logger.warning("资源模块不可用，创建空的工作台")
return deck
__all__ = [
"LaiYuLiquid",
"LaiYuLiquidBackend",
"LaiYuLiquidConfig",
"LaiYuLiquidDeck",
"LaiYuLiquidContainer",
"LaiYuLiquidTipRack",
"LaiYuLiquidError",
"create_quick_setup",
"get_module_info"
]

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#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
LaiYu液体处理设备核心模块
该模块包含LaiYu液体处理设备的核心功能组件：
- LaiYu_Liquid.py: 主设备类和配置管理
- abstract_protocol.py: 抽象协议定义
- laiyu_liquid_res.py: 设备资源管理
作者: UniLab团队
版本: 2.0.0
"""
from .LaiYu_Liquid import (
LaiYuLiquid,
LaiYuLiquidConfig,
LaiYuLiquidDeck,
LaiYuLiquidContainer,
LaiYuLiquidTipRack,
create_quick_setup
)
from .laiyu_liquid_res import (
LaiYuLiquidDeck,
LaiYuLiquidContainer,
LaiYuLiquidTipRack
)
__all__ = [
# 主设备类
'LaiYuLiquid',
'LaiYuLiquidConfig',
# 设备资源
'LaiYuLiquidDeck',
'LaiYuLiquidContainer',
'LaiYuLiquidTipRack',
# 工具函数
'create_quick_setup'
]

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"""
LaiYu_Liquid 抽象协议实现
该模块提供了液体资源管理和转移的抽象协议，包括：
- MaterialResource: 液体资源管理类
- transfer_liquid: 液体转移函数
- 相关的辅助类和函数
主要功能：
- 管理多孔位的液体资源
- 计算和跟踪液体体积
- 处理液体转移操作
- 提供资源状态查询
"""
import logging
from typing import Dict, List, Optional, Union, Any, Tuple
from dataclasses import dataclass, field
from enum import Enum
import uuid
import time
# pylabrobot 导入
from pylabrobot.resources import Resource, Well, Plate
logger = logging.getLogger(__name__)
class LiquidType(Enum):
"""液体类型枚举"""
WATER = "water"
ETHANOL = "ethanol"
DMSO = "dmso"
BUFFER = "buffer"
SAMPLE = "sample"
REAGENT = "reagent"
WASTE = "waste"
UNKNOWN = "unknown"
@dataclass
class LiquidInfo:
"""液体信息类"""
liquid_type: LiquidType = LiquidType.UNKNOWN
volume: float = 0.0 # 体积 (μL)
concentration: Optional[float] = None # 浓度 (mg/ml, M等)
ph: Optional[float] = None # pH值
temperature: Optional[float] = None # 温度 (°C)
viscosity: Optional[float] = None # 粘度 (cP)
density: Optional[float] = None # 密度 (g/ml)
description: str = "" # 描述信息
def __str__(self) -> str:
return f"{self.liquid_type.value}({self.description})"
@dataclass
class WellContent:
"""孔位内容类"""
volume: float = 0.0 # 当前体积 (ul)
max_volume: float = 1000.0 # 最大容量 (ul)
liquid_info: LiquidInfo = field(default_factory=LiquidInfo)
last_updated: float = field(default_factory=time.time)
@property
def is_empty(self) -> bool:
"""检查是否为空"""
return self.volume <= 0.0
@property
def is_full(self) -> bool:
"""检查是否已满"""
return self.volume >= self.max_volume
@property
def available_volume(self) -> float:
"""可用体积"""
return max(0.0, self.max_volume - self.volume)
@property
def fill_percentage(self) -> float:
"""填充百分比"""
return (self.volume / self.max_volume) * 100.0 if self.max_volume > 0 else 0.0
def can_add_volume(self, volume: float) -> bool:
"""检查是否可以添加指定体积"""
return (self.volume + volume) <= self.max_volume
def can_remove_volume(self, volume: float) -> bool:
"""检查是否可以移除指定体积"""
return self.volume >= volume
def add_volume(self, volume: float, liquid_info: Optional[LiquidInfo] = None) -> bool:
"""
添加液体体积
Args:
volume: 要添加的体积 (ul)
liquid_info: 液体信息
Returns:
bool: 是否成功添加
"""
if not self.can_add_volume(volume):
return False
self.volume += volume
if liquid_info:
self.liquid_info = liquid_info
self.last_updated = time.time()
return True
def remove_volume(self, volume: float) -> bool:
"""
移除液体体积
Args:
volume: 要移除的体积 (ul)
Returns:
bool: 是否成功移除
"""
if not self.can_remove_volume(volume):
return False
self.volume -= volume
self.last_updated = time.time()
# 如果完全清空，重置液体信息
if self.volume <= 0.0:
self.volume = 0.0
self.liquid_info = LiquidInfo()
return True
class MaterialResource:
"""
液体资源管理类
该类用于管理液体处理过程中的资源状态，包括：
- 跟踪多个孔位的液体体积和类型
- 计算总体积和可用体积
- 处理液体的添加和移除
- 提供资源状态查询
"""
def __init__(
self,
resource: Resource,
wells: Optional[List[Well]] = None,
default_max_volume: float = 1000.0
):
"""
初始化材料资源
Args:
resource: pylabrobot 资源对象
wells: 孔位列表，如果为None则自动获取
default_max_volume: 默认最大体积 (ul)
"""
self.resource = resource
self.resource_id = str(uuid.uuid4())
self.default_max_volume = default_max_volume
# 获取孔位列表
if wells is None:
if hasattr(resource, 'get_wells'):
self.wells = resource.get_wells()
elif hasattr(resource, 'wells'):
self.wells = resource.wells
else:
# 如果没有孔位，创建一个虚拟孔位
self.wells = [resource]
else:
self.wells = wells
# 初始化孔位内容
self.well_contents: Dict[str, WellContent] = {}
for well in self.wells:
well_id = self._get_well_id(well)
self.well_contents[well_id] = WellContent(
max_volume=default_max_volume
)
logger.info(f"初始化材料资源: {resource.name}, 孔位数: {len(self.wells)}")
def _get_well_id(self, well: Union[Well, Resource]) -> str:
"""获取孔位ID"""
if hasattr(well, 'name'):
return well.name
else:
return str(id(well))
@property
def name(self) -> str:
"""资源名称"""
return self.resource.name
@property
def total_volume(self) -> float:
"""总液体体积"""
return sum(content.volume for content in self.well_contents.values())
@property
def total_max_volume(self) -> float:
"""总最大容量"""
return sum(content.max_volume for content in self.well_contents.values())
@property
def available_volume(self) -> float:
"""总可用体积"""
return sum(content.available_volume for content in self.well_contents.values())
@property
def well_count(self) -> int:
"""孔位数量"""
return len(self.wells)
@property
def empty_wells(self) -> List[str]:
"""空孔位列表"""
return [well_id for well_id, content in self.well_contents.items()
if content.is_empty]
@property
def full_wells(self) -> List[str]:
"""满孔位列表"""
return [well_id for well_id, content in self.well_contents.items()
if content.is_full]
@property
def occupied_wells(self) -> List[str]:
"""有液体的孔位列表"""
return [well_id for well_id, content in self.well_contents.items()
if not content.is_empty]
def get_well_content(self, well_id: str) -> Optional[WellContent]:
"""获取指定孔位的内容"""
return self.well_contents.get(well_id)
def get_well_volume(self, well_id: str) -> float:
"""获取指定孔位的体积"""
content = self.get_well_content(well_id)
return content.volume if content else 0.0
def set_well_volume(
self,
well_id: str,
volume: float,
liquid_info: Optional[LiquidInfo] = None
) -> bool:
"""
设置指定孔位的体积
Args:
well_id: 孔位ID
volume: 体积 (ul)
liquid_info: 液体信息
Returns:
bool: 是否成功设置
"""
if well_id not in self.well_contents:
logger.error(f"孔位 {well_id} 不存在")
return False
content = self.well_contents[well_id]
if volume > content.max_volume:
logger.error(f"体积 {volume} 超过最大容量 {content.max_volume}")
return False
content.volume = max(0.0, volume)
if liquid_info:
content.liquid_info = liquid_info
content.last_updated = time.time()
logger.info(f"设置孔位 {well_id} 体积: {volume}ul")
return True
def add_liquid(
self,
well_id: str,
volume: float,
liquid_info: Optional[LiquidInfo] = None
) -> bool:
"""
向指定孔位添加液体
Args:
well_id: 孔位ID
volume: 添加的体积 (ul)
liquid_info: 液体信息
Returns:
bool: 是否成功添加
"""
if well_id not in self.well_contents:
logger.error(f"孔位 {well_id} 不存在")
return False
content = self.well_contents[well_id]
success = content.add_volume(volume, liquid_info)
if success:
logger.info(f"向孔位 {well_id} 添加 {volume}ul 液体")
else:
logger.error(f"无法向孔位 {well_id} 添加 {volume}ul 液体")
return success
def remove_liquid(self, well_id: str, volume: float) -> bool:
"""
从指定孔位移除液体
Args:
well_id: 孔位ID
volume: 移除的体积 (ul)
Returns:
bool: 是否成功移除
"""
if well_id not in self.well_contents:
logger.error(f"孔位 {well_id} 不存在")
return False
content = self.well_contents[well_id]
success = content.remove_volume(volume)
if success:
logger.info(f"从孔位 {well_id} 移除 {volume}ul 液体")
else:
logger.error(f"无法从孔位 {well_id} 移除 {volume}ul 液体")
return success
def find_wells_with_volume(self, min_volume: float) -> List[str]:
"""
查找具有指定最小体积的孔位
Args:
min_volume: 最小体积 (ul)
Returns:
List[str]: 符合条件的孔位ID列表
"""
return [well_id for well_id, content in self.well_contents.items()
if content.volume >= min_volume]
def find_wells_with_space(self, min_space: float) -> List[str]:
"""
查找具有指定最小空间的孔位
Args:
min_space: 最小空间 (ul)
Returns:
List[str]: 符合条件的孔位ID列表
"""
return [well_id for well_id, content in self.well_contents.items()
if content.available_volume >= min_space]
def get_status_summary(self) -> Dict[str, Any]:
"""获取资源状态摘要"""
return {
"resource_name": self.name,
"resource_id": self.resource_id,
"well_count": self.well_count,
"total_volume": self.total_volume,
"total_max_volume": self.total_max_volume,
"available_volume": self.available_volume,
"fill_percentage": (self.total_volume / self.total_max_volume) * 100.0,
"empty_wells": len(self.empty_wells),
"full_wells": len(self.full_wells),
"occupied_wells": len(self.occupied_wells)
}
def get_detailed_status(self) -> Dict[str, Any]:
"""获取详细状态信息"""
well_details = {}
for well_id, content in self.well_contents.items():
well_details[well_id] = {
"volume": content.volume,
"max_volume": content.max_volume,
"available_volume": content.available_volume,
"fill_percentage": content.fill_percentage,
"liquid_type": content.liquid_info.liquid_type.value,
"description": content.liquid_info.description,
"last_updated": content.last_updated
}
return {
"summary": self.get_status_summary(),
"wells": well_details
}
def transfer_liquid(
source: MaterialResource,
target: MaterialResource,
volume: float,
source_well_id: Optional[str] = None,
target_well_id: Optional[str] = None,
liquid_info: Optional[LiquidInfo] = None
) -> bool:
"""
在两个材料资源之间转移液体
Args:
source: 源资源
target: 目标资源
volume: 转移体积 (ul)
source_well_id: 源孔位ID，如果为None则自动选择
target_well_id: 目标孔位ID，如果为None则自动选择
liquid_info: 液体信息
Returns:
bool: 转移是否成功
"""
try:
# 自动选择源孔位
if source_well_id is None:
available_wells = source.find_wells_with_volume(volume)
if not available_wells:
logger.error(f"源资源 {source.name} 没有足够体积的孔位")
return False
source_well_id = available_wells[0]
# 自动选择目标孔位
if target_well_id is None:
available_wells = target.find_wells_with_space(volume)
if not available_wells:
logger.error(f"目标资源 {target.name} 没有足够空间的孔位")
return False
target_well_id = available_wells[0]
# 检查源孔位是否有足够液体
if not source.get_well_content(source_well_id).can_remove_volume(volume):
logger.error(f"源孔位 {source_well_id} 液体不足")
return False
# 检查目标孔位是否有足够空间
if not target.get_well_content(target_well_id).can_add_volume(volume):
logger.error(f"目标孔位 {target_well_id} 空间不足")
return False
# 获取源液体信息
source_content = source.get_well_content(source_well_id)
transfer_liquid_info = liquid_info or source_content.liquid_info
# 执行转移
if source.remove_liquid(source_well_id, volume):
if target.add_liquid(target_well_id, volume, transfer_liquid_info):
logger.info(f"成功转移 {volume}ul 液体: {source.name}[{source_well_id}] -> {target.name}[{target_well_id}]")
return True
else:
# 如果目标添加失败，回滚源操作
source.add_liquid(source_well_id, volume, source_content.liquid_info)
logger.error("目标添加失败，已回滚源操作")
return False
else:
logger.error("源移除失败")
return False
except Exception as e:
logger.error(f"液体转移失败: {e}")
return False
def create_material_resource(
name: str,
resource: Resource,
initial_volumes: Optional[Dict[str, float]] = None,
liquid_info: Optional[LiquidInfo] = None,
max_volume: float = 1000.0
) -> MaterialResource:
"""
创建材料资源的便捷函数
Args:
name: 资源名称
resource: pylabrobot 资源对象
initial_volumes: 初始体积字典 {well_id: volume}
liquid_info: 液体信息
max_volume: 最大体积
Returns:
MaterialResource: 创建的材料资源
"""
material_resource = MaterialResource(
resource=resource,
default_max_volume=max_volume
)
# 设置初始体积
if initial_volumes:
for well_id, volume in initial_volumes.items():
material_resource.set_well_volume(well_id, volume, liquid_info)
return material_resource
def batch_transfer_liquid(
transfers: List[Tuple[MaterialResource, MaterialResource, float]],
liquid_info: Optional[LiquidInfo] = None
) -> List[bool]:
"""
批量液体转移
Args:
transfers: 转移列表 [(source, target, volume), ...]
liquid_info: 液体信息
Returns:
List[bool]: 每个转移操作的结果
"""
results = []
for source, target, volume in transfers:
result = transfer_liquid(source, target, volume, liquid_info=liquid_info)
results.append(result)
if not result:
logger.warning(f"批量转移中的操作失败: {source.name} -> {target.name}")
success_count = sum(results)
logger.info(f"批量转移完成: {success_count}/{len(transfers)} 成功")
return results

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"""
LaiYu_Liquid 资源定义模块
该模块提供了 LaiYu_Liquid 工作站专用的资源定义函数，包括：
- 各种规格的枪头架
- 不同类型的板和容器
- 特殊功能位置
- 资源创建的便捷函数
所有资源都基于 deck.json 中的配置参数创建。
"""
import json
import os
from typing import Dict, List, Optional, Tuple, Any
from pathlib import Path
# PyLabRobot 资源导入
try:
from pylabrobot.resources import (
Resource, Deck, Plate, TipRack, Container, Tip,
Coordinate
)
from pylabrobot.resources.tip_rack import TipSpot
from pylabrobot.resources.well import Well as PlateWell
PYLABROBOT_AVAILABLE = True
except ImportError:
# 如果 PyLabRobot 不可用，创建模拟类
PYLABROBOT_AVAILABLE = False
class Resource:
def __init__(self, name: str):
self.name = name
class Deck(Resource):
pass
class Plate(Resource):
pass
class TipRack(Resource):
pass
class Container(Resource):
pass
class Tip(Resource):
pass
class TipSpot(Resource):
def __init__(self, name: str, **kwargs):
super().__init__(name)
# 忽略其他参数
class PlateWell(Resource):
pass
class Coordinate:
def __init__(self, x: float, y: float, z: float):
self.x = x
self.y = y
self.z = z
# 本地导入
from .LaiYu_Liquid import LaiYuLiquidDeck, LaiYuLiquidContainer, LaiYuLiquidTipRack
def load_deck_config() -> Dict[str, Any]:
"""
加载工作台配置文件
Returns:
Dict[str, Any]: 配置字典
"""
# 优先使用最新的deckconfig.json文件
config_path = Path(__file__).parent / "controllers" / "deckconfig.json"
# 如果最新配置文件不存在，回退到旧配置文件
if not config_path.exists():
config_path = Path(__file__).parent / "config" / "deck.json"
try:
with open(config_path, 'r', encoding='utf-8') as f:
return json.load(f)
except FileNotFoundError:
# 如果找不到配置文件，返回默认配置
return {
"name": "LaiYu_Liquid_Deck",
"size_x": 340.0,
"size_y": 250.0,
"size_z": 160.0
}
# 加载配置
DECK_CONFIG = load_deck_config()
class LaiYuTipRack1000(LaiYuLiquidTipRack):
"""1000μL 枪头架"""
def __init__(self, name: str):
"""
初始化1000μL枪头架
Args:
name: 枪头架名称
"""
super().__init__(
name=name,
size_x=127.76,
size_y=85.48,
size_z=30.0,
tip_count=96,
tip_volume=1000.0
)
# 创建枪头位置
self._create_tip_spots(
tip_count=96,
tip_spacing=9.0,
tip_type="1000ul"
)
def _create_tip_spots(self, tip_count: int, tip_spacing: float, tip_type: str):
"""
创建枪头位置 - 从配置文件中读取绝对坐标
Args:
tip_count: 枪头数量
tip_spacing: 枪头间距
tip_type: 枪头类型
"""
# 从配置文件中获取枪头架的孔位信息
config = DECK_CONFIG
tip_module = None
# 查找枪头架模块
for module in config.get("children", []):
if module.get("type") == "tip_rack":
tip_module = module
break
if not tip_module:
# 如果配置文件中没有找到，使用默认的相对坐标计算
rows = 8
cols = 12
for row in range(rows):
for col in range(cols):
spot_name = f"{chr(65 + row)}{col + 1:02d}"
x = col * tip_spacing + tip_spacing / 2
y = row * tip_spacing + tip_spacing / 2
# 创建枪头 - 根据PyLabRobot或模拟类使用不同参数
if PYLABROBOT_AVAILABLE:
# PyLabRobot的Tip需要特定参数
tip = Tip(
has_filter=False,
total_tip_length=95.0, # 1000ul枪头长度
maximal_volume=1000.0, # 最大体积
fitting_depth=8.0 # 安装深度
)
else:
# 模拟类只需要name
tip = Tip(name=f"tip_{spot_name}")
# 创建枪头位置
if PYLABROBOT_AVAILABLE:
# PyLabRobot的TipSpot需要特定参数
tip_spot = TipSpot(
name=spot_name,
size_x=9.0, # 枪头位置宽度
size_y=9.0, # 枪头位置深度
size_z=95.0, # 枪头位置高度
make_tip=lambda: tip # 创建枪头的函数
)
else:
# 模拟类只需要name
tip_spot = TipSpot(name=spot_name)
# 将吸头位置分配到吸头架
self.assign_child_resource(
tip_spot,
location=Coordinate(x, y, 0)
)
return
# 使用配置文件中的绝对坐标
module_position = tip_module.get("position", {"x": 0, "y": 0, "z": 0})
for well_config in tip_module.get("wells", []):
spot_name = well_config["id"]
well_pos = well_config["position"]
# 计算相对于模块的坐标（绝对坐标减去模块位置）
relative_x = well_pos["x"] - module_position["x"]
relative_y = well_pos["y"] - module_position["y"]
relative_z = well_pos["z"] - module_position["z"]
# 创建枪头 - 根据PyLabRobot或模拟类使用不同参数
if PYLABROBOT_AVAILABLE:
# PyLabRobot的Tip需要特定参数
tip = Tip(
has_filter=False,
total_tip_length=95.0, # 1000ul枪头长度
maximal_volume=1000.0, # 最大体积
fitting_depth=8.0 # 安装深度
)
else:
# 模拟类只需要name
tip = Tip(name=f"tip_{spot_name}")
# 创建枪头位置
if PYLABROBOT_AVAILABLE:
# PyLabRobot的TipSpot需要特定参数
tip_spot = TipSpot(
name=spot_name,
size_x=well_config.get("diameter", 9.0), # 使用配置中的直径
size_y=well_config.get("diameter", 9.0),
size_z=well_config.get("depth", 95.0), # 使用配置中的深度
make_tip=lambda: tip # 创建枪头的函数
)
else:
# 模拟类只需要name
tip_spot = TipSpot(name=spot_name)
# 将吸头位置分配到吸头架
self.assign_child_resource(
tip_spot,
location=Coordinate(relative_x, relative_y, relative_z)
)
# 注意：在PyLabRobot中，Tip不是Resource，不需要分配给TipSpot
# TipSpot的make_tip函数会在需要时创建Tip
class LaiYuTipRack200(LaiYuLiquidTipRack):
"""200μL 枪头架"""
def __init__(self, name: str):
"""
初始化200μL枪头架
Args:
name: 枪头架名称
"""
super().__init__(
name=name,
size_x=127.76,
size_y=85.48,
size_z=30.0,
tip_count=96,
tip_volume=200.0
)
# 创建枪头位置
self._create_tip_spots(
tip_count=96,
tip_spacing=9.0,
tip_type="200ul"
)
def _create_tip_spots(self, tip_count: int, tip_spacing: float, tip_type: str):
"""
创建枪头位置
Args:
tip_count: 枪头数量
tip_spacing: 枪头间距
tip_type: 枪头类型
"""
rows = 8
cols = 12
for row in range(rows):
for col in range(cols):
spot_name = f"{chr(65 + row)}{col + 1:02d}"
x = col * tip_spacing + tip_spacing / 2
y = row * tip_spacing + tip_spacing / 2
# 创建枪头 - 根据PyLabRobot或模拟类使用不同参数
if PYLABROBOT_AVAILABLE:
# PyLabRobot的Tip需要特定参数
tip = Tip(
has_filter=False,
total_tip_length=72.0, # 200ul枪头长度
maximal_volume=200.0, # 最大体积
fitting_depth=8.0 # 安装深度
)
else:
# 模拟类只需要name
tip = Tip(name=f"tip_{spot_name}")
# 创建枪头位置
if PYLABROBOT_AVAILABLE:
# PyLabRobot的TipSpot需要特定参数
tip_spot = TipSpot(
name=spot_name,
size_x=9.0, # 枪头位置宽度
size_y=9.0, # 枪头位置深度
size_z=72.0, # 枪头位置高度
make_tip=lambda: tip # 创建枪头的函数
)
else:
# 模拟类只需要name
tip_spot = TipSpot(name=spot_name)
# 将吸头位置分配到吸头架
self.assign_child_resource(
tip_spot,
location=Coordinate(x, y, 0)
)
# 注意：在PyLabRobot中，Tip不是Resource，不需要分配给TipSpot
# TipSpot的make_tip函数会在需要时创建Tip
class LaiYu96WellPlate(LaiYuLiquidContainer):
"""96孔板"""
def __init__(self, name: str, lid_height: float = 0.0):
"""
初始化96孔板
Args:
name: 板名称
lid_height: 盖子高度
"""
super().__init__(
name=name,
size_x=127.76,
size_y=85.48,
size_z=14.22,
container_type="96_well_plate",
volume=0.0,
max_volume=200.0,
lid_height=lid_height
)
# 创建孔位
self._create_wells(
well_count=96,
well_volume=200.0,
well_spacing=9.0
)
def get_size_z(self) -> float:
"""获取孔位深度"""
return 10.0 # 96孔板孔位深度
def _create_wells(self, well_count: int, well_volume: float, well_spacing: float):
"""
创建孔位 - 从配置文件中读取绝对坐标
Args:
well_count: 孔位数量
well_volume: 孔位体积
well_spacing: 孔位间距
"""
# 从配置文件中获取96孔板的孔位信息
config = DECK_CONFIG
plate_module = None
# 查找96孔板模块
for module in config.get("children", []):
if module.get("type") == "96_well_plate":
plate_module = module
break
if not plate_module:
# 如果配置文件中没有找到，使用默认的相对坐标计算
rows = 8
cols = 12
for row in range(rows):
for col in range(cols):
well_name = f"{chr(65 + row)}{col + 1:02d}"
x = col * well_spacing + well_spacing / 2
y = row * well_spacing + well_spacing / 2
# 创建孔位
well = PlateWell(
name=well_name,
size_x=well_spacing * 0.8,
size_y=well_spacing * 0.8,
size_z=self.get_size_z(),
max_volume=well_volume
)
# 添加到板
self.assign_child_resource(
well,
location=Coordinate(x, y, 0)
)
return
# 使用配置文件中的绝对坐标
module_position = plate_module.get("position", {"x": 0, "y": 0, "z": 0})
for well_config in plate_module.get("wells", []):
well_name = well_config["id"]
well_pos = well_config["position"]
# 计算相对于模块的坐标（绝对坐标减去模块位置）
relative_x = well_pos["x"] - module_position["x"]
relative_y = well_pos["y"] - module_position["y"]
relative_z = well_pos["z"] - module_position["z"]
# 创建孔位
well = PlateWell(
name=well_name,
size_x=well_config.get("diameter", 8.2) * 0.8, # 使用配置中的直径
size_y=well_config.get("diameter", 8.2) * 0.8,
size_z=well_config.get("depth", self.get_size_z()),
max_volume=well_config.get("volume", well_volume)
)
# 添加到板
self.assign_child_resource(
well,
location=Coordinate(relative_x, relative_y, relative_z)
)
class LaiYuDeepWellPlate(LaiYuLiquidContainer):
"""深孔板"""
def __init__(self, name: str, lid_height: float = 0.0):
"""
初始化深孔板
Args:
name: 板名称
lid_height: 盖子高度
"""
super().__init__(
name=name,
size_x=127.76,
size_y=85.48,
size_z=41.3,
container_type="deep_well_plate",
volume=0.0,
max_volume=2000.0,
lid_height=lid_height
)
# 创建孔位
self._create_wells(
well_count=96,
well_volume=2000.0,
well_spacing=9.0
)
def get_size_z(self) -> float:
"""获取孔位深度"""
return 35.0 # 深孔板孔位深度
def _create_wells(self, well_count: int, well_volume: float, well_spacing: float):
"""
创建孔位 - 从配置文件中读取绝对坐标
Args:
well_count: 孔位数量
well_volume: 孔位体积
well_spacing: 孔位间距
"""
# 从配置文件中获取深孔板的孔位信息
config = DECK_CONFIG
plate_module = None
# 查找深孔板模块（通常是第二个96孔板模块）
plate_modules = []
for module in config.get("children", []):
if module.get("type") == "96_well_plate":
plate_modules.append(module)
# 如果有多个96孔板模块，选择第二个作为深孔板
if len(plate_modules) > 1:
plate_module = plate_modules[1]
elif len(plate_modules) == 1:
plate_module = plate_modules[0]
if not plate_module:
# 如果配置文件中没有找到，使用默认的相对坐标计算
rows = 8
cols = 12
for row in range(rows):
for col in range(cols):
well_name = f"{chr(65 + row)}{col + 1:02d}"
x = col * well_spacing + well_spacing / 2
y = row * well_spacing + well_spacing / 2
# 创建孔位
well = PlateWell(
name=well_name,
size_x=well_spacing * 0.8,
size_y=well_spacing * 0.8,
size_z=self.get_size_z(),
max_volume=well_volume
)
# 添加到板
self.assign_child_resource(
well,
location=Coordinate(x, y, 0)
)
return
# 使用配置文件中的绝对坐标
module_position = plate_module.get("position", {"x": 0, "y": 0, "z": 0})
for well_config in plate_module.get("wells", []):
well_name = well_config["id"]
well_pos = well_config["position"]
# 计算相对于模块的坐标（绝对坐标减去模块位置）
relative_x = well_pos["x"] - module_position["x"]
relative_y = well_pos["y"] - module_position["y"]
relative_z = well_pos["z"] - module_position["z"]
# 创建孔位
well = PlateWell(
name=well_name,
size_x=well_config.get("diameter", 8.2) * 0.8, # 使用配置中的直径
size_y=well_config.get("diameter", 8.2) * 0.8,
size_z=well_config.get("depth", self.get_size_z()),
max_volume=well_config.get("volume", well_volume)
)
# 添加到板
self.assign_child_resource(
well,
location=Coordinate(relative_x, relative_y, relative_z)
)
class LaiYuWasteContainer(Container):
"""废液容器"""
def __init__(self, name: str):
"""
初始化废液容器
Args:
name: 容器名称
"""
super().__init__(
name=name,
size_x=100.0,
size_y=100.0,
size_z=50.0,
max_volume=5000.0
)
class LaiYuWashContainer(Container):
"""清洗容器"""
def __init__(self, name: str):
"""
初始化清洗容器
Args:
name: 容器名称
"""
super().__init__(
name=name,
size_x=100.0,
size_y=100.0,
size_z=50.0,
max_volume=5000.0
)
class LaiYuReagentContainer(Container):
"""试剂容器"""
def __init__(self, name: str):
"""
初始化试剂容器
Args:
name: 容器名称
"""
super().__init__(
name=name,
size_x=50.0,
size_y=50.0,
size_z=100.0,
max_volume=2000.0
)
class LaiYu8TubeRack(LaiYuLiquidContainer):
"""8管试管架"""
def __init__(self, name: str):
"""
初始化8管试管架
Args:
name: 试管架名称
"""
super().__init__(
name=name,
size_x=151.0,
size_y=75.0,
size_z=75.0,
container_type="tube_rack",
volume=0.0,
max_volume=77000.0
)
# 创建孔位
self._create_wells(
well_count=8,
well_volume=77000.0,
well_spacing=35.0
)
def get_size_z(self) -> float:
"""获取孔位深度"""
return 117.0 # 试管深度
def _create_wells(self, well_count: int, well_volume: float, well_spacing: float):
"""
创建孔位 - 从配置文件中读取绝对坐标
Args:
well_count: 孔位数量
well_volume: 孔位体积
well_spacing: 孔位间距
"""
# 从配置文件中获取8管试管架的孔位信息
config = DECK_CONFIG
tube_module = None
# 查找8管试管架模块
for module in config.get("children", []):
if module.get("type") == "tube_rack":
tube_module = module
break
if not tube_module:
# 如果配置文件中没有找到，使用默认的相对坐标计算
rows = 2
cols = 4
for row in range(rows):
for col in range(cols):
well_name = f"{chr(65 + row)}{col + 1}"
x = col * well_spacing + well_spacing / 2
y = row * well_spacing + well_spacing / 2
# 创建孔位
well = PlateWell(
name=well_name,
size_x=29.0,
size_y=29.0,
size_z=self.get_size_z(),
max_volume=well_volume
)
# 添加到试管架
self.assign_child_resource(
well,
location=Coordinate(x, y, 0)
)
return
# 使用配置文件中的绝对坐标
module_position = tube_module.get("position", {"x": 0, "y": 0, "z": 0})
for well_config in tube_module.get("wells", []):
well_name = well_config["id"]
well_pos = well_config["position"]
# 计算相对于模块的坐标（绝对坐标减去模块位置）
relative_x = well_pos["x"] - module_position["x"]
relative_y = well_pos["y"] - module_position["y"]
relative_z = well_pos["z"] - module_position["z"]
# 创建孔位
well = PlateWell(
name=well_name,
size_x=well_config.get("diameter", 29.0),
size_y=well_config.get("diameter", 29.0),
size_z=well_config.get("depth", self.get_size_z()),
max_volume=well_config.get("volume", well_volume)
)
# 添加到试管架
self.assign_child_resource(
well,
location=Coordinate(relative_x, relative_y, relative_z)
)
class LaiYuTipDisposal(Resource):
"""枪头废料位置"""
def __init__(self, name: str):
"""
初始化枪头废料位置
Args:
name: 位置名称
"""
super().__init__(
name=name,
size_x=100.0,
size_y=100.0,
size_z=50.0
)
class LaiYuMaintenancePosition(Resource):
"""维护位置"""
def __init__(self, name: str):
"""
初始化维护位置
Args:
name: 位置名称
"""
super().__init__(
name=name,
size_x=50.0,
size_y=50.0,
size_z=100.0
)
# 资源创建函数
def create_tip_rack_1000ul(name: str = "tip_rack_1000ul") -> LaiYuTipRack1000:
"""
创建1000μL枪头架
Args:
name: 枪头架名称
Returns:
LaiYuTipRack1000: 1000μL枪头架实例
"""
return LaiYuTipRack1000(name)
def create_tip_rack_200ul(name: str = "tip_rack_200ul") -> LaiYuTipRack200:
"""
创建200μL枪头架
Args:
name: 枪头架名称
Returns:
LaiYuTipRack200: 200μL枪头架实例
"""
return LaiYuTipRack200(name)
def create_96_well_plate(name: str = "96_well_plate", lid_height: float = 0.0) -> LaiYu96WellPlate:
"""
创建96孔板
Args:
name: 板名称
lid_height: 盖子高度
Returns:
LaiYu96WellPlate: 96孔板实例
"""
return LaiYu96WellPlate(name, lid_height)
def create_deep_well_plate(name: str = "deep_well_plate", lid_height: float = 0.0) -> LaiYuDeepWellPlate:
"""
创建深孔板
Args:
name: 板名称
lid_height: 盖子高度
Returns:
LaiYuDeepWellPlate: 深孔板实例
"""
return LaiYuDeepWellPlate(name, lid_height)
def create_8_tube_rack(name: str = "8_tube_rack") -> LaiYu8TubeRack:
"""
创建8管试管架
Args:
name: 试管架名称
Returns:
LaiYu8TubeRack: 8管试管架实例
"""
return LaiYu8TubeRack(name)
def create_waste_container(name: str = "waste_container") -> LaiYuWasteContainer:
"""
创建废液容器
Args:
name: 容器名称
Returns:
LaiYuWasteContainer: 废液容器实例
"""
return LaiYuWasteContainer(name)
def create_wash_container(name: str = "wash_container") -> LaiYuWashContainer:
"""
创建清洗容器
Args:
name: 容器名称
Returns:
LaiYuWashContainer: 清洗容器实例
"""
return LaiYuWashContainer(name)
def create_reagent_container(name: str = "reagent_container") -> LaiYuReagentContainer:
"""
创建试剂容器
Args:
name: 容器名称
Returns:
LaiYuReagentContainer: 试剂容器实例
"""
return LaiYuReagentContainer(name)
def create_tip_disposal(name: str = "tip_disposal") -> LaiYuTipDisposal:
"""
创建枪头废料位置
Args:
name: 位置名称
Returns:
LaiYuTipDisposal: 枪头废料位置实例
"""
return LaiYuTipDisposal(name)
def create_maintenance_position(name: str = "maintenance_position") -> LaiYuMaintenancePosition:
"""
创建维护位置
Args:
name: 位置名称
Returns:
LaiYuMaintenancePosition: 维护位置实例
"""
return LaiYuMaintenancePosition(name)
def create_standard_deck() -> LaiYuLiquidDeck:
"""
创建标准工作台配置
Returns:
LaiYuLiquidDeck: 配置好的工作台实例
"""
# 从配置文件创建工作台
deck = LaiYuLiquidDeck(config=DECK_CONFIG)
return deck
def get_resource_by_name(deck: LaiYuLiquidDeck, name: str) -> Optional[Resource]:
"""
根据名称获取资源
Args:
deck: 工作台实例
name: 资源名称
Returns:
Optional[Resource]: 找到的资源，如果不存在则返回None
"""
for child in deck.children:
if child.name == name:
return child
return None
def get_resources_by_type(deck: LaiYuLiquidDeck, resource_type: type) -> List[Resource]:
"""
根据类型获取资源列表
Args:
deck: 工作台实例
resource_type: 资源类型
Returns:
List[Resource]: 匹配类型的资源列表
"""
return [child for child in deck.children if isinstance(child, resource_type)]
def list_all_resources(deck: LaiYuLiquidDeck) -> Dict[str, List[str]]:
"""
列出所有资源
Args:
deck: 工作台实例
Returns:
Dict[str, List[str]]: 按类型分组的资源名称字典
"""
resources = {
"tip_racks": [],
"plates": [],
"containers": [],
"positions": []
}
for child in deck.children:
if isinstance(child, (LaiYuTipRack1000, LaiYuTipRack200)):
resources["tip_racks"].append(child.name)
elif isinstance(child, (LaiYu96WellPlate, LaiYuDeepWellPlate)):
resources["plates"].append(child.name)
elif isinstance(child, (LaiYuWasteContainer, LaiYuWashContainer, LaiYuReagentContainer)):
resources["containers"].append(child.name)
elif isinstance(child, (LaiYuTipDisposal, LaiYuMaintenancePosition)):
resources["positions"].append(child.name)
return resources
# 导出的类别名（向后兼容）
TipRack1000ul = LaiYuTipRack1000
TipRack200ul = LaiYuTipRack200
Plate96Well = LaiYu96WellPlate
Plate96DeepWell = LaiYuDeepWellPlate
TubeRack8 = LaiYu8TubeRack
WasteContainer = LaiYuWasteContainer
WashContainer = LaiYuWashContainer
ReagentContainer = LaiYuReagentContainer
TipDisposal = LaiYuTipDisposal
MaintenancePosition = LaiYuMaintenancePosition

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# 更新日志
本文档记录了 LaiYu_Liquid 模块的所有重要变更。
## [1.0.0] - 2024-01-XX
### 新增功能
- ✅ 完整的液体处理工作站集成
- ✅ RS485 通信协议支持
- ✅ SOPA 气动式移液器驱动
- ✅ XYZ 三轴步进电机控制
- ✅ PyLabRobot 兼容后端
- ✅ 标准化资源管理系统
- ✅ 96孔板、离心管架、枪头架支持
- ✅ RViz 可视化后端
- ✅ 完整的配置管理系统
- ✅ 抽象协议实现
- ✅ 生产级错误处理和日志记录
### 技术特性
- **硬件支持**: SOPA移液器 + XYZ三轴运动平台
- **通信协议**: RS485总线，波特率115200
- **坐标系统**: 机械坐标与工作坐标自动转换
- **安全机制**: 限位保护、紧急停止、错误恢复
- **兼容性**: 完全兼容 PyLabRobot 框架
### 文件结构
```
LaiYu_Liquid/
├── core/
│ └── LaiYu_Liquid.py # 主模块文件
├── __init__.py # 模块初始化
├── abstract_protocol.py # 抽象协议
├── laiyu_liquid_res.py # 资源管理
├── rviz_backend.py # RViz后端
├── backend/ # 后端驱动
├── config/ # 配置文件
├── controllers/ # 控制器
├── docs/ # 技术文档
└── drivers/ # 底层驱动
```
### 已知问题
- 无
### 依赖要求
- Python 3.8+
- PyLabRobot
- pyserial
- asyncio
---
## 版本说明
### 版本号格式
采用语义化版本控制 (Semantic Versioning): `MAJOR.MINOR.PATCH`
- **MAJOR**: 不兼容的API变更
- **MINOR**: 向后兼容的功能新增
- **PATCH**: 向后兼容的问题修复
### 变更类型
- **新增功能**: 新的功能特性
- **变更**: 现有功能的变更
- **弃用**: 即将移除的功能
- **移除**: 已移除的功能
- **修复**: 问题修复
- **安全**: 安全相关的修复

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# SOPA气动式移液器RS485控制指令合集
## 1. RS485通信基本配置
### 1.1 支持的设备型号
- **仅SC-STxxx-00-13支持RS485通信**
- 其他型号主要使用CAN通信
### 1.2 通信参数
- **波特率**: 9600, 115200（默认值）
- **地址范围**: 1~254个设备，255为广播地址
- **通信接口**: RS485差分信号
### 1.3 引脚分配（10位LIF连接器）
- **引脚7**: RS485+ (RS485通信正极)
- **引脚8**: RS485- (RS485通信负极)
## 2. RS485通信协议格式
### 2.1 发送数据格式
```
头码 | 地址 | 命令/数据 | 尾码 | 校验和
```
### 2.2 从机回应格式
```
头码 | 地址 | 数据（固定9字节） | 尾码 | 校验和
```
### 2.3 格式详细说明
- **头码**:
- 终端调试: '/' (0x2F)
- OEM通信: '[' (0x5B)
- **地址**: 设备节点地址，1~254，多字节ASCII（注意：地址不可为47，69，91）
- **命令/数据**: ASCII格式的命令字符串
- **尾码**: 'E' (0x45)
- **校验和**: 以上数据的累加值，1字节
## 3. 初始化和基本控制指令
### 3.1 初始化指令
```bash
# 初始化活塞驱动机构
HE
# 示例（OEM通信）：
# 主机发送: 5B 32 48 45 1A
# 从机回应开始: 2F 02 06 0A 30 00 00 00 00 00 00 45 B6
# 从机回应完成: 2F 02 06 00 30 00 00 00 00 00 00 45 AC
```
### 3.2 枪头操作指令
```bash
# 顶出枪头
RE
# 枪头检测状态报告
Q28 # 返回枪头存在状态（0=不存在，1=存在）
```
## 4. 移液控制指令
### 4.1 位置控制指令
```bash
# 绝对位置移动（微升）
A[n]E
# 示例：移动到位置0
A0E
# 相对抽吸（向上移动）
P[n]E
# 示例：抽吸200微升
P200E
# 相对分配（向下移动）
D[n]E
# 示例：分配200微升
D200E
```
### 4.2 速度设置指令
```bash
# 设置最高速度（0.1ul/秒为单位）
s[n]E
# 示例：设置最高速度为2000（200ul/秒）
s2000E
# 设置启动速度
b[n]E
# 示例：设置启动速度为100（10ul/秒）
b100E
# 设置断流速度
c[n]E
# 示例：设置断流速度为100（10ul/秒）
c100E
# 设置加速度
a[n]E
# 示例：设置加速度为30000
a30000E
```
## 5. 液体检测和安全控制指令
### 5.1 吸排液检测控制
```bash
# 开启吸排液检测
f1E # 开启
f0E # 关闭
# 设置空吸门限
$[n]E
# 示例：设置空吸门限为4
$4E
# 设置泡沫门限
![n]E
# 示例：设置泡沫门限为20
!20E
# 设置堵塞门限
%[n]E
# 示例：设置堵塞门限为350
%350E
```
### 5.2 液位检测指令
```bash
# 压力式液位检测
m0E # 设置为压力探测模式
L[n]E # 执行液位检测，[n]为灵敏度(3~40)
k[n]E # 设置检测速度(100~2000)
# 电容式液位检测
m1E # 设置为电容探测模式
```
## 6. 状态查询和报告指令
### 6.1 基本状态查询
```bash
# 查询固件版本
V
# 查询设备状态
Q[n]
# 常用查询参数：
Q01 # 报告加速度
Q02 # 报告启动速度
Q03 # 报告断流速度
Q06 # 报告最大速度
Q08 # 报告节点地址
Q11 # 报告波特率
Q18 # 报告当前位置
Q28 # 报告枪头存在状态
Q29 # 报告校准系数
Q30 # 报告空吸门限
Q31 # 报告堵针门限
Q32 # 报告泡沫门限
```
## 7. 配置和校准指令
### 7.1 校准参数设置
```bash
# 设置校准系数
j[n]E
# 示例：设置校准系数为1.04
j1.04E
# 设置补偿偏差
e[n]E
# 示例：设置补偿偏差为2.03
e2.03E
# 设置吸头容量
C[n]E
# 示例：设置1000ul吸头
C1000E
```
### 7.2 高级控制参数
```bash
# 设置回吸粘度
][n]E
# 示例：设置回吸粘度为30
]30E
# 延时控制
M[n]E
# 示例：延时1000毫秒
M1000E
```
## 8. 复合操作指令示例
### 8.1 标准移液操作
```bash
# 完整的200ul移液操作
a30000b200c200s2000P200E
# 解析：设置加速度30000 + 启动速度200 + 断流速度200 + 最高速度2000 + 抽吸200ul + 执行
```
### 8.2 带检测的移液操作
```bash
# 带空吸检测的200ul抽吸
a30000b200c200s2000f1P200f0E
# 解析：设置参数 + 开启检测 + 抽吸200ul + 关闭检测 + 执行
```
### 8.3 液面检测操作
```bash
# 压力式液面检测
m0k200L5E
# 解析：压力模式 + 检测速度200 + 灵敏度5 + 执行检测
# 电容式液面检测
m1L3E
# 解析：电容模式 + 灵敏度3 + 执行检测
```
## 9. 错误处理
### 9.1 状态字节说明
- **00h**: 无错误
- **01h**: 上次动作未完成
- **02h**: 设备未初始化
- **03h**: 设备过载
- **04h**: 无效指令
- **05h**: 液位探测故障
- **0Dh**: 空吸
- **0Eh**: 堵针
- **10h**: 泡沫
- **11h**: 吸液超过吸头容量
### 9.2 错误查询
```bash
# 查询当前错误状态
Q # 返回状态字节和错误代码
```
## 10. 通信示例
### 10.1 基本通信流程
1. **执行命令**: 主机发送命令 → 从机确认 → 从机执行 → 从机回应完成
2. **读取数据**: 主机发送查询 → 从机确认 → 从机返回数据
### 10.2 快速指令表
| 操作 | 指令 | 说明 |
|------|------|------|
| 初始化 | `HE` | 初始化设备 |
| 退枪头 | `RE` | 顶出枪头 |
| 吸液200ul | `a30000b200c200s2000P200E` | 基本吸液 |
| 带检测吸液 | `a30000b200c200s2000f1P200f0E` | 开启空吸检测 |
| 吐液200ul | `a300000b500c500s6000D200E` | 基本分配 |
| 压力液面检测 | `m0k200L5E` | pLLD检测 |
| 电容液面检测 | `m1L3E` | cLLD检测 |
## 11. 注意事项
1. **地址限制**: RS485地址不可设为47、69、91
2. **校验和**: 终端调试时不关心校验和，OEM通信需要校验
3. **ASCII格式**: 所有命令和参数都使用ASCII字符
4. **执行指令**: 大部分命令需要以'E'结尾才能执行
5. **设备支持**: 只有SC-STxxx-00-13型号支持RS485通信
6. **波特率设置**: 默认115200，可设置为9600

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# 步进电机B系列控制指令详解
## 基本通信参数
- **通信方式**: RS485
- **协议**: Modbus
- **波特率**: 115200 (默认)
- **数据位**: 8位
- **停止位**: 1位
- **校验位**: 无
- **默认站号**: 1 (可设置1-254)
## 支持的功能码
- **03H**: 读取寄存器
- **06H**: 写入单个寄存器
- **10H**: 写入多个寄存器
## 寄存器地址表
### 状态监控寄存器 (只读)
| 地址 | 功能码 | 内容 | 说明 |
|------|--------|------|------|
| 00H | 03H | 电机状态 | 0000H-待机/到位, 0001H-运行中, 0002H-碰撞停, 0003H-正光电停, 0004H-反光电停 |
| 01H | 03H | 实际步数高位 | 当前电机位置的高16位 |
| 02H | 03H | 实际步数低位 | 当前电机位置的低16位 |
| 03H | 03H | 实际速度 | 当前转速 (rpm) |
| 05H | 03H | 电流 | 当前工作电流 (mA) |
### 控制寄存器 (读写)
| 地址 | 功能码 | 内容 | 说明 |
|------|--------|------|------|
| 04H | 03H/06H/10H | 急停指令 | 紧急停止控制 |
| 06H | 03H/06H/10H | 失能控制 | 1-使能, 0-失能 |
| 07H | 03H/06H/10H | PWM输出 | 0-1000对应0%-100%占空比 |
| 0EH | 03H/06H/10H | 单圈绝对值归零 | 归零指令 |
| 0FH | 03H/06H/10H | 归零指令 | 定点模式归零速度设置 |
### 位置模式寄存器
| 地址 | 功能码 | 内容 | 说明 |
|------|--------|------|------|
| 10H | 03H/06H/10H | 目标步数高位 | 目标位置高16位 |
| 11H | 03H/06H/10H | 目标步数低位 | 目标位置低16位 |
| 12H | 03H/06H/10H | 保留 | - |
| 13H | 03H/06H/10H | 速度 | 运行速度 (rpm) |
| 14H | 03H/06H/10H | 加速度 | 0-60000 rpm/s |
| 15H | 03H/06H/10H | 精度 | 到位精度设置 |
### 速度模式寄存器
| 地址 | 功能码 | 内容 | 说明 |
|------|--------|------|------|
| 60H | 03H/06H/10H | 保留 | - |
| 61H | 03H/06H/10H | 速度 | 正值正转，负值反转 |
| 62H | 03H/06H/10H | 加速度 | 0-60000 rpm/s |
### 设备参数寄存器
| 地址 | 功能码 | 内容 | 默认值 | 说明 |
|------|--------|------|--------|------|
| E0H | 03H/06H/10H | 设备地址 | 0001H | Modbus从站地址 |
| E1H | 03H/06H/10H | 堵转电流 | 0BB8H | 堵转检测电流阈值 |
| E2H | 03H/06H/10H | 保留 | 0258H | - |
| E3H | 03H/06H/10H | 每圈步数 | 0640H | 细分设置 |
| E4H | 03H/06H/10H | 限位开关使能 | F000H | 1-使能, 0-禁用 |
| E5H | 03H/06H/10H | 堵转逻辑 | 0000H | 00-断电, 01-对抗 |
| E6H | 03H/06H/10H | 堵转时间 | 0000H | 堵转检测时间(ms) |
| E7H | 03H/06H/10H | 默认速度 | 1388H | 上电默认速度 |
| E8H | 03H/06H/10H | 默认加速度 | EA60H | 上电默认加速度 |
| E9H | 03H/06H/10H | 默认精度 | 0064H | 上电默认精度 |
| EAH | 03H/06H/10H | 波特率高位 | 0001H | 通信波特率设置 |
| EBH | 03H/06H/10H | 波特率低位 | C200H | 115200对应01C200H |
### 版本信息寄存器 (只读)
| 地址 | 功能码 | 内容 | 说明 |
|------|--------|------|------|
| F0H | 03H | 版本号 | 固件版本信息 |
| F1H-F4H | 03H | 型号 | 产品型号信息 |
## 常用控制指令示例
### 读取电机状态
```
发送: 01 03 00 00 00 01 84 0A
接收: 01 03 02 00 01 79 84
说明: 电机状态为0001H (正在运行)
```
### 读取当前位置
```
发送: 01 03 00 01 00 02 95 CB
接收: 01 03 04 00 19 00 00 2B F4
说明: 当前位置为1638400步 (100圈)
```
### 停止电机
```
发送: 01 10 00 04 00 01 02 00 00 A7 D4
接收: 01 10 00 04 00 01 40 08
说明: 急停指令
```
### 位置模式运动
```
发送: 01 10 00 10 00 06 0C 00 19 00 00 00 00 13 88 00 00 00 00 9F FB
接收: 01 10 00 10 00 06 41 CE
说明: 以5000rpm速度运动到1638400步位置
```
### 速度模式 - 正转
```
发送: 01 10 00 60 00 04 08 00 00 13 88 00 FA 00 00 F4 77
接收: 01 10 00 60 00 04 C1 D4
说明: 以5000rpm速度正转
```
### 速度模式 - 反转
```
发送: 01 10 00 60 00 04 08 00 00 EC 78 00 FA 00 00 A0 6D
接收: 01 10 00 60 00 04 C1 D4
说明: 以5000rpm速度反转 (EC78H = -5000)
```
### 设置设备地址
```
发送: 00 06 00 E0 00 02 C9 F1
接收: 00 06 00 E0 00 02 C9 F1
说明: 将设备地址设置为2
```
## 错误码
| 状态码 | 含义 |
|--------|------|
| 0001H | 功能码错误 |
| 0002H | 地址错误 |
| 0003H | 长度错误 |
## CRC校验算法
```c
public static byte[] ModBusCRC(byte[] data, int offset, int cnt) {
int wCrc = 0x0000FFFF;
byte[] CRC = new byte[2];
for (int i = 0; i < cnt; i++) {
wCrc ^= ((data[i + offset]) & 0xFF);
for (int j = 0; j < 8; j++) {
if ((wCrc & 0x00000001) == 1) {
wCrc >>= 1;
wCrc ^= 0x0000A001;
} else {
wCrc >>= 1;
}
}
}
CRC[1] = (byte) ((wCrc & 0x0000FF00) >> 8);
CRC[0] = (byte) (wCrc & 0x000000FF);
return CRC;
}
```
## 注意事项
1. 所有16位数据采用大端序传输
2. 步数计算: 实际步数 = 高位<<16 | 低位
3. 负数使用补码表示
4. PWM输出K脚: 0%开漏, 100%接地, 其他输出1KHz PWM
5. 光电开关需使用NPN开漏型
6. 限位开关: LF正向, LB反向

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# LaiYu_Liquid 液体处理工作站 - 生产就绪版本
## 概述
LaiYu_Liquid 是一个完全集成到 UniLabOS 系统的自动化液体处理工作站，基于 RS485 通信协议，专为精确的液体分配和转移操作而设计。本模块已完成生产环境部署准备，提供完整的硬件控制、资源管理和标准化接口。
## 系统组成
### 硬件组件
- **XYZ三轴运动平台**: 3个RS485步进电机驱动（地址：X轴=0x01, Y轴=0x02, Z轴=0x03）
- **SOPA气动式移液器**: RS485总线控制，支持精密液体处理操作
- **通信接口**: RS485转USB模块，默认波特率115200
- **机械结构**: 稳固工作台面，支持离心管架、96孔板等标准实验耗材
### 软件架构
- **驱动层**: 底层硬件通信驱动，支持RS485协议
- **控制层**: 高级控制逻辑和坐标系管理
- **抽象层**: 完全符合UniLabOS标准的液体处理接口
- **资源层**: 标准化的实验器具和耗材管理
## 🎯 生产就绪组件
### ✅ 核心驱动程序 (`drivers/`)
- **`sopa_pipette_driver.py`** - SOPA移液器完整驱动
- 支持液体吸取、分配、检测
- 完整的错误处理和状态管理
- 生产级别的通信协议实现
- **`xyz_stepper_driver.py`** - XYZ三轴步进电机驱动
- 精确的位置控制和运动规划
- 安全限位和错误检测
- 高性能运动控制算法
### ✅ 高级控制器 (`controllers/`)
- **`pipette_controller.py`** - 移液控制器
- 封装高级液体处理功能
- 支持多种液体类型和处理参数
- 智能错误恢复机制
- **`xyz_controller.py`** - XYZ运动控制器
- 坐标系管理和转换
- 运动路径优化
- 安全运动控制
### ✅ UniLabOS集成 (`core/LaiYu_Liquid.py`)
- **完整的液体处理抽象接口**
- **标准化的资源管理系统**
- **与PyLabRobot兼容的后端实现**
- **生产级别的错误处理和日志记录**
### ✅ 资源管理系统
- **`laiyu_liquid_res.py`** - 标准化资源定义
- 96孔板、离心管架、枪头架等标准器具
- 自动化的资源创建和配置函数
- 与工作台布局的完美集成
### ✅ 配置管理 (`config/`)
- **`config/deck.json`** - 工作台布局配置
- 精确的空间定义和槽位管理
- 支持多种实验器具的标准化放置
- 可扩展的配置架构
- **`__init__.py`** - 模块集成和导出
- 完整的API导出和版本管理
- 依赖检查和安装验证
- 专业的模块信息展示
### ✅ 可视化支持
- **`rviz_backend.py`** - RViz可视化后端
- 实时运动状态可视化
- 液体处理过程监控
- 与ROS系统的无缝集成
## 🚀 核心功能特性
### 液体处理能力
- **精密体积控制**: 支持1-1000μL精确分配
- **多种液体类型**: 水性、有机溶剂、粘稠液体等
- **智能检测**: 液位检测、气泡检测、堵塞检测
- **自动化流程**: 完整的吸取-转移-分配工作流
### 运动控制系统
- **三轴精密定位**: 微米级精度控制
- **路径优化**: 智能运动规划和碰撞避免
- **安全机制**: 限位保护、紧急停止、错误恢复
- **坐标系管理**: 工作坐标与机械坐标的自动转换
### 资源管理
- **标准化器具**: 支持96孔板、离心管架、枪头架等
- **状态跟踪**: 实时监控液体体积、枪头状态等
- **自动配置**: 基于JSON的灵活配置系统
- **扩展性**: 易于添加新的器具类型
## 📁 目录结构
```
LaiYu_Liquid/
├── __init__.py # 模块初始化和API导出
├── readme.md # 本文档
├── rviz_backend.py # RViz可视化后端
├── backend/ # 后端驱动模块
│ ├── __init__.py
│ └── laiyu_backend.py # PyLabRobot兼容后端
├── core/ # 核心模块
│ ├── core/
│ │ └── LaiYu_Liquid.py # 主设备类
│ ├── abstract_protocol.py # 抽象协议
│ └── laiyu_liquid_res.py # 设备资源定义
├── config/ # 配置文件目录
│ └── deck.json # 工作台布局配置
├── controllers/ # 高级控制器
│ ├── __init__.py
│ ├── pipette_controller.py # 移液控制器
│ └── xyz_controller.py # XYZ运动控制器
├── docs/ # 技术文档
│ ├── SOPA气动式移液器RS485控制指令.md
│ ├── 步进电机控制指令.md
│ └── hardware/ # 硬件相关文档
├── drivers/ # 底层驱动程序
│ ├── __init__.py
│ ├── sopa_pipette_driver.py # SOPA移液器驱动
│ └── xyz_stepper_driver.py # XYZ步进电机驱动
└── tests/ # 测试文件
```
## 🔧 快速开始
### 1. 安装和验证
```python
# 验证模块安装
from unilabos.devices.laiyu_liquid import (
LaiYuLiquid,
LaiYuLiquidConfig,
create_quick_setup,
print_module_info
)
# 查看模块信息
print_module_info()
# 快速创建默认资源
resources = create_quick_setup()
print(f"已创建 {len(resources)} 个资源")
```
### 2. 基本使用示例
```python
from unilabos.devices.LaiYu_Liquid import (
create_quick_setup,
create_96_well_plate,
create_laiyu_backend
)
# 快速创建默认资源
resources = create_quick_setup()
print(f"创建了以下资源: {list(resources.keys())}")
# 创建96孔板
plate_96 = create_96_well_plate("test_plate")
print(f"96孔板包含 {len(plate_96.children)} 个孔位")
# 创建后端实例（用于PyLabRobot集成）
backend = create_laiyu_backend("LaiYu_Device")
print(f"后端设备: {backend.name}")
```
### 3. 后端驱动使用
```python
from unilabos.devices.laiyu_liquid.backend import create_laiyu_backend
# 创建后端实例
backend = create_laiyu_backend("LaiYu_Liquid_Station")
# 连接设备
await backend.connect()
# 设备归位
await backend.home_device()
# 获取设备状态
status = await backend.get_status()
print(f"设备状态: {status}")
# 断开连接
await backend.disconnect()
```
### 4. 资源管理示例
```python
from unilabos.devices.LaiYu_Liquid import (
create_centrifuge_tube_rack,
create_tip_rack,
load_deck_config
)
# 加载工作台配置
deck_config = load_deck_config()
print(f"工作台尺寸: {deck_config['size_x']}x{deck_config['size_y']}mm")
# 创建不同类型的资源
tube_rack = create_centrifuge_tube_rack("sample_rack")
tip_rack = create_tip_rack("tip_rack_200ul")
print(f"离心管架: {tube_rack.name}, 容量: {len(tube_rack.children)} 个位置")
print(f"枪头架: {tip_rack.name}, 容量: {len(tip_rack.children)} 个枪头")
```
## 🔍 技术架构
### 坐标系统
- **机械坐标**: 基于步进电机的原始坐标系统
- **工作坐标**: 用户友好的实验室坐标系统
- **自动转换**: 透明的坐标系转换和校准
### 通信协议
- **RS485总线**: 高可靠性工业通信标准
- **Modbus协议**: 标准化的设备通信协议
- **错误检测**: 完整的通信错误检测和恢复
### 安全机制
- **限位保护**: 硬件和软件双重限位保护
- **紧急停止**: 即时停止所有运动和操作
- **状态监控**: 实时设备状态监控和报警
## 🧪 验证和测试
### 功能验证
```python
# 验证模块安装
from unilabos.devices.laiyu_liquid import validate_installation
validate_installation()
# 查看模块信息
from unilabos.devices.laiyu_liquid import print_module_info
print_module_info()
```
### 硬件连接测试
```python
# 测试SOPA移液器连接
from unilabos.devices.laiyu_liquid.drivers import SOPAPipette, SOPAConfig
config = SOPAConfig(port="/dev/cu.usbserial-3130", address=4)
pipette = SOPAPipette(config)
success = pipette.connect()
print(f"SOPA连接状态: {'成功' if success else '失败'}")
```
## 📚 维护和支持
### 日志记录
- **结构化日志**: 使用Python logging模块的专业日志记录
- **错误追踪**: 详细的错误信息和堆栈跟踪
- **性能监控**: 操作时间和性能指标记录
### 配置管理
- **JSON配置**: 灵活的JSON格式配置文件
- **参数验证**: 自动配置参数验证和错误提示
- **热重载**: 支持配置文件的动态重载
### 扩展性
- **模块化设计**: 易于扩展和定制的模块化架构
- **插件接口**: 支持第三方插件和扩展
- **API兼容**: 向后兼容的API设计
## 📞 技术支持
### 常见问题
1. **串口权限问题**: 确保用户有串口访问权限
2. **依赖库安装**: 使用pip安装所需的Python库
3. **设备连接**: 检查RS485适配器和设备地址配置
### 联系方式
- **技术文档**: 查看UniLabOS官方文档
- **问题反馈**: 通过GitHub Issues提交问题
- **社区支持**: 加入UniLabOS开发者社区
---
**LaiYu_Liquid v1.0.0** - 生产就绪的液体处理工作站集成模块
© 2024 UniLabOS Project. All rights reserved.

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"""
LaiYu_Liquid 驱动程序模块
该模块包含了LaiYu_Liquid液体处理工作站的硬件驱动程序：
- SOPA移液器驱动程序
- XYZ步进电机驱动程序
"""
# SOPA移液器驱动程序导入
from .sopa_pipette_driver import SOPAPipette, SOPAConfig, SOPAStatusCode
# XYZ步进电机驱动程序导入
from .xyz_stepper_driver import StepperMotorDriver, XYZStepperController, MotorAxis, MotorStatus
__all__ = [
# SOPA移液器
"SOPAPipette",
"SOPAConfig",
"SOPAStatusCode",
# XYZ步进电机
"StepperMotorDriver",
"XYZStepperController",
"MotorAxis",
"MotorStatus",
]
__version__ = "1.0.0"
__author__ = "LaiYu_Liquid Driver Team"
__description__ = "LaiYu_Liquid 硬件驱动程序集合"

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#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
XYZ三轴步进电机B系列驱动程序
支持RS485通信，Modbus协议
"""
import serial
import struct
import time
import logging
from typing import Optional, Tuple, Dict, Any
from enum import Enum
from dataclasses import dataclass
# 配置日志
logging.basicConfig(level=logging.INFO)
logger = logging.getLogger(__name__)
class MotorAxis(Enum):
"""电机轴枚举"""
X = 1
Y = 2
Z = 3
class MotorStatus(Enum):
"""电机状态枚举"""
STANDBY = 0x0000 # 待机/到位
RUNNING = 0x0001 # 运行中
COLLISION_STOP = 0x0002 # 碰撞停
FORWARD_LIMIT_STOP = 0x0003 # 正光电停
REVERSE_LIMIT_STOP = 0x0004 # 反光电停
class ModbusFunction(Enum):
"""Modbus功能码"""
READ_HOLDING_REGISTERS = 0x03
WRITE_SINGLE_REGISTER = 0x06
WRITE_MULTIPLE_REGISTERS = 0x10
@dataclass
class MotorPosition:
"""电机位置信息"""
steps: int
speed: int
current: int
status: MotorStatus
class ModbusException(Exception):
"""Modbus通信异常"""
pass
class StepperMotorDriver:
"""步进电机驱动器基类"""
# 寄存器地址常量
REG_STATUS = 0x00
REG_POSITION_HIGH = 0x01
REG_POSITION_LOW = 0x02
REG_ACTUAL_SPEED = 0x03
REG_EMERGENCY_STOP = 0x04
REG_CURRENT = 0x05
REG_ENABLE = 0x06
REG_PWM_OUTPUT = 0x07
REG_ZERO_SINGLE = 0x0E
REG_ZERO_COMMAND = 0x0F
# 位置模式寄存器
REG_TARGET_POSITION_HIGH = 0x10
REG_TARGET_POSITION_LOW = 0x11
REG_POSITION_SPEED = 0x13
REG_POSITION_ACCELERATION = 0x14
REG_POSITION_PRECISION = 0x15
# 速度模式寄存器
REG_SPEED_MODE_SPEED = 0x61
REG_SPEED_MODE_ACCELERATION = 0x62
# 设备参数寄存器
REG_DEVICE_ADDRESS = 0xE0
REG_DEFAULT_SPEED = 0xE7
REG_DEFAULT_ACCELERATION = 0xE8
def __init__(self, port: str, baudrate: int = 115200, timeout: float = 1.0):
"""
初始化步进电机驱动器
Args:
port: 串口端口名
baudrate: 波特率
timeout: 通信超时时间
"""
self.port = port
self.baudrate = baudrate
self.timeout = timeout
self.serial_conn: Optional[serial.Serial] = None
def connect(self) -> bool:
"""
建立串口连接
Returns:
连接是否成功
"""
try:
self.serial_conn = serial.Serial(
port=self.port,
baudrate=self.baudrate,
bytesize=serial.EIGHTBITS,
parity=serial.PARITY_NONE,
stopbits=serial.STOPBITS_ONE,
timeout=self.timeout
)
logger.info(f"已连接到串口: {self.port}")
return True
except Exception as e:
logger.error(f"串口连接失败: {e}")
return False
def disconnect(self) -> None:
"""关闭串口连接"""
if self.serial_conn and self.serial_conn.is_open:
self.serial_conn.close()
logger.info("串口连接已关闭")
def __enter__(self):
"""上下文管理器入口"""
if self.connect():
return self
raise ModbusException("无法建立串口连接")
def __exit__(self, exc_type, exc_val, exc_tb):
"""上下文管理器出口"""
self.disconnect()
@staticmethod
def calculate_crc(data: bytes) -> bytes:
"""
计算Modbus CRC校验码
Args:
data: 待校验的数据
Returns:
CRC校验码 (2字节)
"""
crc = 0xFFFF
for byte in data:
crc ^= byte
for _ in range(8):
if crc & 0x0001:
crc >>= 1
crc ^= 0xA001
else:
crc >>= 1
return struct.pack('<H', crc)
def _send_command(self, slave_addr: int, data: bytes) -> bytes:
"""
发送Modbus命令并接收响应
Args:
slave_addr: 从站地址
data: 命令数据
Returns:
响应数据
Raises:
ModbusException: 通信异常
"""
if not self.serial_conn or not self.serial_conn.is_open:
raise ModbusException("串口未连接")
# 构建完整命令
command = bytes([slave_addr]) + data
crc = self.calculate_crc(command)
full_command = command + crc
# 清空接收缓冲区
self.serial_conn.reset_input_buffer()
# 发送命令
self.serial_conn.write(full_command)
logger.debug(f"发送命令: {' '.join(f'{b:02X}' for b in full_command)}")
# 等待响应
time.sleep(0.01) # 短暂延时
# 读取响应
response = self.serial_conn.read(256) # 最大读取256字节
if not response:
raise ModbusException("未收到响应")
logger.debug(f"接收响应: {' '.join(f'{b:02X}' for b in response)}")
# 验证CRC
if len(response) < 3:
raise ModbusException("响应数据长度不足")
data_part = response[:-2]
received_crc = response[-2:]
calculated_crc = self.calculate_crc(data_part)
if received_crc != calculated_crc:
raise ModbusException(f"CRC校验失败{response}")
return response
def read_registers(self, slave_addr: int, start_addr: int, count: int) -> list:
"""
读取保持寄存器
Args:
slave_addr: 从站地址
start_addr: 起始地址
count: 寄存器数量
Returns:
寄存器值列表
"""
data = struct.pack('>BHH', ModbusFunction.READ_HOLDING_REGISTERS.value, start_addr, count)
response = self._send_command(slave_addr, data)
if len(response) < 5:
raise ModbusException("响应长度不足")
if response[1] != ModbusFunction.READ_HOLDING_REGISTERS.value:
raise ModbusException(f"功能码错误: {response[1]:02X}")
byte_count = response[2]
values = []
for i in range(0, byte_count, 2):
value = struct.unpack('>H', response[3+i:5+i])[0]
values.append(value)
return values
def write_single_register(self, slave_addr: int, addr: int, value: int) -> bool:
"""
写入单个寄存器
Args:
slave_addr: 从站地址
addr: 寄存器地址
value: 寄存器值
Returns:
写入是否成功
"""
data = struct.pack('>BHH', ModbusFunction.WRITE_SINGLE_REGISTER.value, addr, value)
response = self._send_command(slave_addr, data)
return len(response) >= 8 and response[1] == ModbusFunction.WRITE_SINGLE_REGISTER.value
def write_multiple_registers(self, slave_addr: int, start_addr: int, values: list) -> bool:
"""
写入多个寄存器
Args:
slave_addr: 从站地址
start_addr: 起始地址
values: 寄存器值列表
Returns:
写入是否成功
"""
byte_count = len(values) * 2
data = struct.pack('>BHHB', ModbusFunction.WRITE_MULTIPLE_REGISTERS.value,
start_addr, len(values), byte_count)
for value in values:
data += struct.pack('>H', value)
response = self._send_command(slave_addr, data)
return len(response) >= 8 and response[1] == ModbusFunction.WRITE_MULTIPLE_REGISTERS.value
class XYZStepperController(StepperMotorDriver):
"""XYZ三轴步进电机控制器"""
# 电机配置常量
STEPS_PER_REVOLUTION = 16384 # 每圈步数
def __init__(self, port: str, baudrate: int = 115200, timeout: float = 1.0):
"""
初始化XYZ三轴步进电机控制器
Args:
port: 串口端口名
baudrate: 波特率
timeout: 通信超时时间
"""
super().__init__(port, baudrate, timeout)
self.axis_addresses = {
MotorAxis.X: 1,
MotorAxis.Y: 2,
MotorAxis.Z: 3
}
def degrees_to_steps(self, degrees: float) -> int:
"""
将角度转换为步数
Args:
degrees: 角度值
Returns:
对应的步数
"""
return int(degrees * self.STEPS_PER_REVOLUTION / 360.0)
def steps_to_degrees(self, steps: int) -> float:
"""
将步数转换为角度
Args:
steps: 步数
Returns:
对应的角度值
"""
return steps * 360.0 / self.STEPS_PER_REVOLUTION
def revolutions_to_steps(self, revolutions: float) -> int:
"""
将圈数转换为步数
Args:
revolutions: 圈数
Returns:
对应的步数
"""
return int(revolutions * self.STEPS_PER_REVOLUTION)
def steps_to_revolutions(self, steps: int) -> float:
"""
将步数转换为圈数
Args:
steps: 步数
Returns:
对应的圈数
"""
return steps / self.STEPS_PER_REVOLUTION
def get_motor_status(self, axis: MotorAxis) -> MotorPosition:
"""
获取电机状态信息
Args:
axis: 电机轴
Returns:
电机位置信息
"""
addr = self.axis_addresses[axis]
# 读取状态、位置、速度、电流
values = self.read_registers(addr, self.REG_STATUS, 6)
status = MotorStatus(values[0])
position_high = values[1]
position_low = values[2]
speed = values[3]
current = values[5]
# 合并32位位置
position = (position_high << 16) | position_low
# 处理有符号数
if position > 0x7FFFFFFF:
position -= 0x100000000
return MotorPosition(position, speed, current, status)
def emergency_stop(self, axis: MotorAxis) -> bool:
"""
紧急停止电机
Args:
axis: 电机轴
Returns:
操作是否成功
"""
addr = self.axis_addresses[axis]
return self.write_single_register(addr, self.REG_EMERGENCY_STOP, 0x0000)
def enable_motor(self, axis: MotorAxis, enable: bool = True) -> bool:
"""
使能/失能电机
Args:
axis: 电机轴
enable: True为使能，False为失能
Returns:
操作是否成功
"""
addr = self.axis_addresses[axis]
value = 0x0001 if enable else 0x0000
return self.write_single_register(addr, self.REG_ENABLE, value)
def move_to_position(self, axis: MotorAxis, position: int, speed: int = 5000,
acceleration: int = 1000, precision: int = 100) -> bool:
"""
移动到指定位置
Args:
axis: 电机轴
position: 目标位置(步数)
speed: 运行速度(rpm)
acceleration: 加速度(rpm/s)
precision: 到位精度
Returns:
操作是否成功
"""
addr = self.axis_addresses[axis]
# 处理32位位置
if position < 0:
position += 0x100000000
position_high = (position >> 16) & 0xFFFF
position_low = position & 0xFFFF
values = [
position_high, # 目标位置高位
position_low, # 目标位置低位
0x0000, # 保留
speed, # 速度
acceleration, # 加速度
precision # 精度
]
return self.write_multiple_registers(addr, self.REG_TARGET_POSITION_HIGH, values)
def set_speed_mode(self, axis: MotorAxis, speed: int, acceleration: int = 1000) -> bool:
"""
设置速度模式运行
Args:
axis: 电机轴
speed: 运行速度(rpm)，正值正转，负值反转
acceleration: 加速度(rpm/s)
Returns:
操作是否成功
"""
addr = self.axis_addresses[axis]
# 处理负数
if speed < 0:
speed = 0x10000 + speed # 补码表示
values = [0x0000, speed, acceleration, 0x0000]
return self.write_multiple_registers(addr, 0x60, values)
def home_axis(self, axis: MotorAxis) -> bool:
"""
轴归零操作
Args:
axis: 电机轴
Returns:
操作是否成功
"""
addr = self.axis_addresses[axis]
return self.write_single_register(addr, self.REG_ZERO_SINGLE, 0x0001)
def wait_for_completion(self, axis: MotorAxis, timeout: float = 30.0) -> bool:
"""
等待电机运动完成
Args:
axis: 电机轴
timeout: 超时时间(秒)
Returns:
是否在超时前完成
"""
start_time = time.time()
while time.time() - start_time < timeout:
status = self.get_motor_status(axis)
if status.status == MotorStatus.STANDBY:
return True
time.sleep(0.1)
logger.warning(f"{axis.name}轴运动超时")
return False
def move_xyz(self, x: Optional[int] = None, y: Optional[int] = None, z: Optional[int] = None,
speed: int = 5000, acceleration: int = 1000) -> Dict[MotorAxis, bool]:
"""
同时控制XYZ轴移动
Args:
x: X轴目标位置
y: Y轴目标位置
z: Z轴目标位置
speed: 运行速度
acceleration: 加速度
Returns:
各轴操作结果字典
"""
results = {}
if x is not None:
results[MotorAxis.X] = self.move_to_position(MotorAxis.X, x, speed, acceleration)
if y is not None:
results[MotorAxis.Y] = self.move_to_position(MotorAxis.Y, y, speed, acceleration)
if z is not None:
results[MotorAxis.Z] = self.move_to_position(MotorAxis.Z, z, speed, acceleration)
return results
def move_xyz_degrees(self, x_deg: Optional[float] = None, y_deg: Optional[float] = None,
z_deg: Optional[float] = None, speed: int = 5000,
acceleration: int = 1000) -> Dict[MotorAxis, bool]:
"""
使用角度值同时移动多个轴到指定位置
Args:
x_deg: X轴目标角度（度）
y_deg: Y轴目标角度（度）
z_deg: Z轴目标角度（度）
speed: 移动速度
acceleration: 加速度
Returns:
各轴移动操作结果
"""
# 将角度转换为步数
x_steps = self.degrees_to_steps(x_deg) if x_deg is not None else None
y_steps = self.degrees_to_steps(y_deg) if y_deg is not None else None
z_steps = self.degrees_to_steps(z_deg) if z_deg is not None else None
return self.move_xyz(x_steps, y_steps, z_steps, speed, acceleration)
def move_xyz_revolutions(self, x_rev: Optional[float] = None, y_rev: Optional[float] = None,
z_rev: Optional[float] = None, speed: int = 5000,
acceleration: int = 1000) -> Dict[MotorAxis, bool]:
"""
使用圈数值同时移动多个轴到指定位置
Args:
x_rev: X轴目标圈数
y_rev: Y轴目标圈数
z_rev: Z轴目标圈数
speed: 移动速度
acceleration: 加速度
Returns:
各轴移动操作结果
"""
# 将圈数转换为步数
x_steps = self.revolutions_to_steps(x_rev) if x_rev is not None else None
y_steps = self.revolutions_to_steps(y_rev) if y_rev is not None else None
z_steps = self.revolutions_to_steps(z_rev) if z_rev is not None else None
return self.move_xyz(x_steps, y_steps, z_steps, speed, acceleration)
def move_to_position_degrees(self, axis: MotorAxis, degrees: float, speed: int = 5000,
acceleration: int = 1000, precision: int = 100) -> bool:
"""
使用角度值移动单个轴到指定位置
Args:
axis: 电机轴
degrees: 目标角度（度）
speed: 移动速度
acceleration: 加速度
precision: 精度
Returns:
移动操作是否成功
"""
steps = self.degrees_to_steps(degrees)
return self.move_to_position(axis, steps, speed, acceleration, precision)
def move_to_position_revolutions(self, axis: MotorAxis, revolutions: float, speed: int = 5000,
acceleration: int = 1000, precision: int = 100) -> bool:
"""
使用圈数值移动单个轴到指定位置
Args:
axis: 电机轴
revolutions: 目标圈数
speed: 移动速度
acceleration: 加速度
precision: 精度
Returns:
移动操作是否成功
"""
steps = self.revolutions_to_steps(revolutions)
return self.move_to_position(axis, steps, speed, acceleration, precision)
def stop_all_axes(self) -> Dict[MotorAxis, bool]:
"""
紧急停止所有轴
Returns:
各轴停止结果字典
"""
results = {}
for axis in MotorAxis:
results[axis] = self.emergency_stop(axis)
return results
def enable_all_axes(self, enable: bool = True) -> Dict[MotorAxis, bool]:
"""
使能/失能所有轴
Args:
enable: True为使能，False为失能
Returns:
各轴操作结果字典
"""
results = {}
for axis in MotorAxis:
results[axis] = self.enable_motor(axis, enable)
return results
def get_all_positions(self) -> Dict[MotorAxis, MotorPosition]:
"""
获取所有轴的位置信息
Returns:
各轴位置信息字典
"""
positions = {}
for axis in MotorAxis:
positions[axis] = self.get_motor_status(axis)
return positions
def home_all_axes(self) -> Dict[MotorAxis, bool]:
"""
所有轴归零
Returns:
各轴归零结果字典
"""
results = {}
for axis in MotorAxis:
results[axis] = self.home_axis(axis)
return results

218
unilabos/devices/liquid_handling/laiyu/laiyu.py Normal file
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import asyncio
import collections
import contextlib
import json
import time
from typing import Any, List, Dict, Optional, TypedDict, Union, Sequence, Iterator, Literal
from pylabrobot.liquid_handling import (
LiquidHandlerBackend,
Pickup,
SingleChannelAspiration,
Drop,
SingleChannelDispense,
PickupTipRack,
DropTipRack,
MultiHeadAspirationPlate, ChatterBoxBackend, LiquidHandlerChatterboxBackend,
)
from pylabrobot.liquid_handling.standard import (
MultiHeadAspirationContainer,
MultiHeadDispenseContainer,
MultiHeadDispensePlate,
ResourcePickup,
ResourceMove,
ResourceDrop,
)
from pylabrobot.resources import Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash
from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract
from unilabos.devices.liquid_handling.rviz_backend import UniLiquidHandlerRvizBackend
from unilabos.devices.liquid_handling.laiyu.backend.laiyu_v_backend import UniLiquidHandlerLaiyuBackend
class TransformXYZDeck(Deck):
"""Laiyu 的专用 Deck 类，继承自 Deck。
该类定义了 Laiyu 的工作台布局和槽位信息。
"""
def __init__(self, name: str, size_x: float, size_y: float, size_z: float):
super().__init__(name, size_x, size_y, size_z)
self.name = name
class TransformXYZBackend(LiquidHandlerBackend):
def __init__(self, name: str, host: str, port: int, timeout: float):
super().__init__()
self.host = host
self.port = port
self.timeout = timeout
class TransformXYZRvizBackend(UniLiquidHandlerRvizBackend):
def __init__(self, name: str, channel_num: int):
super().__init__(channel_num)
self.name = name
class TransformXYZContainer(Plate, TipRack):
"""Laiyu 的专用 Container 类，继承自 Plate和TipRack。
该类定义了 Laiyu 的工作台布局和槽位信息。
"""
def __init__(
self,
name: str,
size_x: float,
size_y: float,
size_z: float,
category: str,
ordering: collections.OrderedDict,
model: Optional[str] = None,
):
super().__init__(name, size_x, size_y, size_z, category=category, ordering=ordering, model=model)
self._unilabos_state = {}
def load_state(self, state: Dict[str, Any]) -> None:
"""从给定的状态加载工作台信息。"""
super().load_state(state)
self._unilabos_state = state
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
data = super().serialize_state()
data.update(self._unilabos_state)
return data
class TransformXYZHandler(LiquidHandlerAbstract):
support_touch_tip = False
def __init__(self, deck: Deck, host: str = "127.0.0.1", port: int = 9999, timeout: float = 10.0, channel_num=1, simulator=True, **backend_kwargs):
# Handle case where deck is passed as a dict (from serialization)
if isinstance(deck, dict):
# Try to create a TransformXYZDeck from the dict
if 'name' in deck and 'size_x' in deck and 'size_y' in deck and 'size_z' in deck:
deck = TransformXYZDeck(
name=deck['name'],
size_x=deck.get('size_x', 100),
size_y=deck.get('size_y', 100),
size_z=deck.get('size_z', 100)
)
else:
# Fallback: create a basic deck
deck = TransformXYZDeck(name='deck', size_x=100, size_y=100, size_z=100)
if simulator:
self._unilabos_backend = TransformXYZRvizBackend(name="laiyu",channel_num=channel_num)
else:
self._unilabos_backend = TransformXYZBackend(name="laiyu",host=host, port=port, timeout=timeout)
super().__init__(backend=self._unilabos_backend, deck=deck, simulator=simulator, channel_num=channel_num)
async def add_liquid(
self,
asp_vols: Union[List[float], float],
dis_vols: Union[List[float], float],
reagent_sources: Sequence[Container],
targets: Sequence[Container],
*,
use_channels: Optional[List[int]] = None,
flow_rates: Optional[List[Optional[float]]] = None,
offsets: Optional[List[Coordinate]] = None,
liquid_height: Optional[List[Optional[float]]] = None,
blow_out_air_volume: Optional[List[Optional[float]]] = None,
spread: Optional[Literal["wide", "tight", "custom"]] = "wide",
is_96_well: bool = False,
delays: Optional[List[int]] = None,
mix_time: Optional[int] = None,
mix_vol: Optional[int] = None,
mix_rate: Optional[int] = None,
mix_liquid_height: Optional[float] = None,
none_keys: List[str] = [],
):
pass
async def aspirate(
self,
resources: Sequence[Container],
vols: List[float],
use_channels: Optional[List[int]] = None,
flow_rates: Optional[List[Optional[float]]] = None,
offsets: Optional[List[Coordinate]] = None,
liquid_height: Optional[List[Optional[float]]] = None,
blow_out_air_volume: Optional[List[Optional[float]]] = None,
spread: Literal["wide", "tight", "custom"] = "wide",
**backend_kwargs,
):
pass
async def dispense(
self,
resources: Sequence[Container],
vols: List[float],
use_channels: Optional[List[int]] = None,
flow_rates: Optional[List[Optional[float]]] = None,
offsets: Optional[List[Coordinate]] = None,
liquid_height: Optional[List[Optional[float]]] = None,
blow_out_air_volume: Optional[List[Optional[float]]] = None,
spread: Literal["wide", "tight", "custom"] = "wide",
**backend_kwargs,
):
pass
async def drop_tips(
self,
tip_spots: Sequence[Union[TipSpot, Trash]],
use_channels: Optional[List[int]] = None,
offsets: Optional[List[Coordinate]] = None,
allow_nonzero_volume: bool = False,
**backend_kwargs,
):
pass
async def mix(
self,
targets: Sequence[Container],
mix_time: int = None,
mix_vol: Optional[int] = None,
height_to_bottom: Optional[float] = None,
offsets: Optional[Coordinate] = None,
mix_rate: Optional[float] = None,
none_keys: List[str] = [],
):
pass
async def pick_up_tips(
self,
tip_spots: List[TipSpot],
use_channels: Optional[List[int]] = None,
offsets: Optional[List[Coordinate]] = None,
**backend_kwargs,
):
pass
async def transfer_liquid(
self,
sources: Sequence[Container],
targets: Sequence[Container],
tip_racks: Sequence[TipRack],
*,
use_channels: Optional[List[int]] = None,
asp_vols: Union[List[float], float],
dis_vols: Union[List[float], float],
asp_flow_rates: Optional[List[Optional[float]]] = None,
dis_flow_rates: Optional[List[Optional[float]]] = None,
offsets: Optional[List[Coordinate]] = None,
touch_tip: bool = False,
liquid_height: Optional[List[Optional[float]]] = None,
blow_out_air_volume: Optional[List[Optional[float]]] = None,
spread: Literal["wide", "tight", "custom"] = "wide",
is_96_well: bool = False,
mix_stage: Optional[Literal["none", "before", "after", "both"]] = "none",
mix_times: Optional[List[int]] = None,
mix_vol: Optional[int] = None,
mix_rate: Optional[int] = None,
mix_liquid_height: Optional[float] = None,
delays: Optional[List[int]] = None,
none_keys: List[str] = [],
):
pass

13
unilabos/devices/liquid_handling/laiyu/tests/__init__.py Normal file
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#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
LaiYu液体处理设备测试模块
该模块包含LaiYu液体处理设备的测试用例：
- test_deck_config.py: 工作台配置测试
作者: UniLab团队
版本: 2.0.0
"""
__all__ = []

315
unilabos/devices/liquid_handling/laiyu/tests/test_deck_config.py Normal file
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#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
测试脚本：验证更新后的deck配置是否正常工作
"""
import sys
import os
import json
# 添加项目根目录到Python路径
project_root = os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
sys.path.insert(0, project_root)
def test_config_loading():
"""测试配置文件加载功能"""
print("=" * 50)
print("测试配置文件加载功能")
print("=" * 50)
try:
# 直接测试配置文件加载
config_path = os.path.join(os.path.dirname(__file__), "controllers", "deckconfig.json")
fallback_path = os.path.join(os.path.dirname(__file__), "config", "deck.json")
config = None
config_source = ""
if os.path.exists(config_path):
with open(config_path, 'r', encoding='utf-8') as f:
config = json.load(f)
config_source = "config/deckconfig.json"
elif os.path.exists(fallback_path):
with open(fallback_path, 'r', encoding='utf-8') as f:
config = json.load(f)
config_source = "config/deck.json"
else:
print("❌ 配置文件不存在")
return False
print(f"✅ 配置文件加载成功: {config_source}")
print(f" - 甲板尺寸: {config.get('size_x', 'N/A')} x {config.get('size_y', 'N/A')} x {config.get('size_z', 'N/A')}")
print(f" - 子模块数量: {len(config.get('children', []))}")
# 检查各个模块是否存在
modules = config.get('children', [])
module_types = [module.get('type') for module in modules]
module_names = [module.get('name') for module in modules]
print(f" - 模块类型: {', '.join(set(filter(None, module_types)))}")
print(f" - 模块名称: {', '.join(filter(None, module_names))}")
return config
except Exception as e:
print(f"❌ 配置文件加载失败: {e}")
return None
def test_module_coordinates(config):
"""测试各模块的坐标信息"""
print("\n" + "=" * 50)
print("测试模块坐标信息")
print("=" * 50)
if not config:
print("❌ 配置为空，无法测试")
return False
modules = config.get('children', [])
for module in modules:
module_name = module.get('name', '未知模块')
module_type = module.get('type', '未知类型')
position = module.get('position', {})
size = module.get('size', {})
print(f"\n模块: {module_name} ({module_type})")
print(f" - 位置: ({position.get('x', 0)}, {position.get('y', 0)}, {position.get('z', 0)})")
print(f" - 尺寸: {size.get('x', 0)} x {size.get('y', 0)} x {size.get('z', 0)}")
# 检查孔位信息
wells = module.get('wells', [])
if wells:
print(f" - 孔位数量: {len(wells)}")
# 显示前几个和后几个孔位的坐标
sample_wells = wells[:3] + wells[-3:] if len(wells) > 6 else wells
for well in sample_wells:
well_id = well.get('id', '未知')
well_pos = well.get('position', {})
print(f" {well_id}: ({well_pos.get('x', 0)}, {well_pos.get('y', 0)}, {well_pos.get('z', 0)})")
else:
print(f" - 无孔位信息")
return True
def test_coordinate_ranges(config):
"""测试坐标范围的合理性"""
print("\n" + "=" * 50)
print("测试坐标范围合理性")
print("=" * 50)
if not config:
print("❌ 配置为空，无法测试")
return False
deck_size = {
'x': config.get('size_x', 340),
'y': config.get('size_y', 250),
'z': config.get('size_z', 160)
}
print(f"甲板尺寸: {deck_size['x']} x {deck_size['y']} x {deck_size['z']}")
modules = config.get('children', [])
all_coordinates = []
for module in modules:
module_name = module.get('name', '未知模块')
wells = module.get('wells', [])
for well in wells:
well_pos = well.get('position', {})
x, y, z = well_pos.get('x', 0), well_pos.get('y', 0), well_pos.get('z', 0)
all_coordinates.append((x, y, z, f"{module_name}:{well.get('id', '未知')}"))
if not all_coordinates:
print("❌ 没有找到任何坐标信息")
return False
# 计算坐标范围
x_coords = [coord[0] for coord in all_coordinates]
y_coords = [coord[1] for coord in all_coordinates]
z_coords = [coord[2] for coord in all_coordinates]
x_range = (min(x_coords), max(x_coords))
y_range = (min(y_coords), max(y_coords))
z_range = (min(z_coords), max(z_coords))
print(f"X坐标范围: {x_range[0]:.2f} ~ {x_range[1]:.2f}")
print(f"Y坐标范围: {y_range[0]:.2f} ~ {y_range[1]:.2f}")
print(f"Z坐标范围: {z_range[0]:.2f} ~ {z_range[1]:.2f}")
# 检查是否超出甲板范围
issues = []
if x_range[1] > deck_size['x']:
issues.append(f"X坐标超出甲板范围: {x_range[1]} > {deck_size['x']}")
if y_range[1] > deck_size['y']:
issues.append(f"Y坐标超出甲板范围: {y_range[1]} > {deck_size['y']}")
if z_range[1] > deck_size['z']:
issues.append(f"Z坐标超出甲板范围: {z_range[1]} > {deck_size['z']}")
if x_range[0] < 0:
issues.append(f"X坐标为负值: {x_range[0]}")
if y_range[0] < 0:
issues.append(f"Y坐标为负值: {y_range[0]}")
if z_range[0] < 0:
issues.append(f"Z坐标为负值: {z_range[0]}")
if issues:
print("⚠️ 发现坐标问题:")
for issue in issues:
print(f" - {issue}")
return False
else:
print("✅ 所有坐标都在合理范围内")
return True
def test_well_spacing(config):
"""测试孔位间距的一致性"""
print("\n" + "=" * 50)
print("测试孔位间距一致性")
print("=" * 50)
if not config:
print("❌ 配置为空，无法测试")
return False
modules = config.get('children', [])
for module in modules:
module_name = module.get('name', '未知模块')
module_type = module.get('type', '未知类型')
wells = module.get('wells', [])
if len(wells) < 2:
continue
print(f"\n模块: {module_name} ({module_type})")
# 计算相邻孔位的间距
spacings_x = []
spacings_y = []
# 按行列排序孔位
wells_by_row = {}
for well in wells:
well_id = well.get('id', '')
if len(well_id) >= 3: # 如A01格式
row = well_id[0]
col = int(well_id[1:])
if row not in wells_by_row:
wells_by_row[row] = {}
wells_by_row[row][col] = well
# 计算同行相邻孔位的X间距
for row, cols in wells_by_row.items():
sorted_cols = sorted(cols.keys())
for i in range(len(sorted_cols) - 1):
col1, col2 = sorted_cols[i], sorted_cols[i + 1]
if col2 == col1 + 1: # 相邻列
pos1 = cols[col1].get('position', {})
pos2 = cols[col2].get('position', {})
spacing = abs(pos2.get('x', 0) - pos1.get('x', 0))
spacings_x.append(spacing)
# 计算同列相邻孔位的Y间距
cols_by_row = {}
for well in wells:
well_id = well.get('id', '')
if len(well_id) >= 3:
row = ord(well_id[0]) - ord('A')
col = int(well_id[1:])
if col not in cols_by_row:
cols_by_row[col] = {}
cols_by_row[col][row] = well
for col, rows in cols_by_row.items():
sorted_rows = sorted(rows.keys())
for i in range(len(sorted_rows) - 1):
row1, row2 = sorted_rows[i], sorted_rows[i + 1]
if row2 == row1 + 1: # 相邻行
pos1 = rows[row1].get('position', {})
pos2 = rows[row2].get('position', {})
spacing = abs(pos2.get('y', 0) - pos1.get('y', 0))
spacings_y.append(spacing)
# 检查间距一致性
if spacings_x:
avg_x = sum(spacings_x) / len(spacings_x)
max_diff_x = max(abs(s - avg_x) for s in spacings_x)
print(f" - X方向平均间距: {avg_x:.2f}mm, 最大偏差: {max_diff_x:.2f}mm")
if spacings_y:
avg_y = sum(spacings_y) / len(spacings_y)
max_diff_y = max(abs(s - avg_y) for s in spacings_y)
print(f" - Y方向平均间距: {avg_y:.2f}mm, 最大偏差: {max_diff_y:.2f}mm")
return True
def main():
"""主测试函数"""
print("LaiYu液体处理设备配置测试")
print("测试时间:", os.popen('date').read().strip())
# 运行所有测试
tests = [
("配置文件加载", test_config_loading),
]
config = None
results = []
for test_name, test_func in tests:
try:
if test_name == "配置文件加载":
result = test_func()
config = result if result else None
results.append((test_name, bool(result)))
else:
result = test_func(config)
results.append((test_name, result))
except Exception as e:
print(f"❌ 测试 {test_name} 执行失败: {e}")
results.append((test_name, False))
# 如果配置加载成功，运行其他测试
if config:
additional_tests = [
("模块坐标信息", test_module_coordinates),
("坐标范围合理性", test_coordinate_ranges),
("孔位间距一致性", test_well_spacing)
]
for test_name, test_func in additional_tests:
try:
result = test_func(config)
results.append((test_name, result))
except Exception as e:
print(f"❌ 测试 {test_name} 执行失败: {e}")
results.append((test_name, False))
# 输出测试总结
print("\n" + "=" * 50)
print("测试总结")
print("=" * 50)
passed = sum(1 for _, result in results if result)
total = len(results)
for test_name, result in results:
status = "✅ 通过" if result else "❌ 失败"
print(f" {test_name}: {status}")
print(f"\n总计: {passed}/{total} 个测试通过")
if passed == total:
print("🎉 所有测试通过！配置更新成功。")
return True
else:
print("⚠️ 部分测试失败，需要进一步检查。")
return False
if __name__ == "__main__":
success = main()
sys.exit(0 if success else 1)

49
unilabos/devices/liquid_handling/liquid_handler_abstract.py
View File

@@ -7,6 +7,8 @@ from collections import Counter
from typing import List, Sequence, Optional, Literal, Union, Iterator, Dict, Any, Callable, Set, cast
from pylabrobot.liquid_handling import LiquidHandler, LiquidHandlerBackend, LiquidHandlerChatterboxBackend, Strictness
from unilabos.devices.liquid_handling.rviz_backend import UniLiquidHandlerRvizBackend
from unilabos.devices.liquid_handling.laiyu.backend.laiyu_v_backend import UniLiquidHandlerLaiyuBackend
from pylabrobot.liquid_handling.liquid_handler import TipPresenceProbingMethod
from pylabrobot.liquid_handling.standard import GripDirection
from pylabrobot.resources import (
@@ -29,12 +31,15 @@ from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class LiquidHandlerMiddleware(LiquidHandler):
def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8):
def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8, total_height: float = 310, **kwargs):
self._simulator = simulator
self.channel_num = channel_num
joint_config = kwargs.get("joint_config", None)
if simulator:
self._simulate_backend = LiquidHandlerChatterboxBackend(channel_num)
self._simulate_backend = UniLiquidHandlerRvizBackend(channel_num,total_height, joint_config=joint_config, lh_device_id = deck.name)
self._simulate_handler = LiquidHandlerAbstract(self._simulate_backend, deck, False)
if hasattr(backend, "total_height"):
backend.total_height = total_height
super().__init__(backend, deck)
async def setup(self, **backend_kwargs):
@@ -217,7 +222,6 @@ class LiquidHandlerMiddleware(LiquidHandler):
offsets,
liquid_height,
blow_out_air_volume,
spread,
**backend_kwargs,
)
@@ -540,16 +544,51 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
support_touch_tip = True
_ros_node: BaseROS2DeviceNode
def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool=False, channel_num:int = 8):
def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool=False, channel_num:int = 8,total_height: float = 310,**backend_kwargs):
"""Initialize a LiquidHandler.
Args:
backend: Backend to use.
deck: Deck to use.
"""
backend_type = None
if isinstance(backend, dict) and "type" in backend:
backend_dict = backend.copy()
type_str = backend_dict.pop("type")
try:
# Try to get class from string using globals (current module), or fallback to pylabrobot or unilabos namespaces
backend_cls = None
if type_str in globals():
backend_cls = globals()[type_str]
else:
# Try resolving dotted notation, e.g. "xxx.yyy.ClassName"
components = type_str.split(".")
mod = None
if len(components) > 1:
module_name = ".".join(components[:-1])
try:
import importlib
mod = importlib.import_module(module_name)
except ImportError:
mod = None
if mod is not None:
backend_cls = getattr(mod, components[-1], None)
if backend_cls is None:
# Try pylabrobot style import (if available)
try:
import pylabrobot
backend_cls = getattr(pylabrobot, type_str, None)
except Exception:
backend_cls = None
if backend_cls is not None and isinstance(backend_cls, type):
backend_type = backend_cls(**backend_dict) # pass the rest of dict as kwargs
except Exception as exc:
raise RuntimeError(f"Failed to convert backend type '{type_str}' to class: {exc}")
else:
backend_type = backend
self._simulator = simulator
self.group_info = dict()
super().__init__(backend, deck, simulator, channel_num)
super().__init__(backend_type, deck, simulator, channel_num,total_height,**backend_kwargs)
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node

41
unilabos/devices/liquid_handling/rviz_backend.py
View File

@@ -1,5 +1,6 @@
import json
import threading
from typing import List, Optional, Union
from pylabrobot.liquid_handling.backends.backend import (
@@ -30,7 +31,7 @@ from rclpy.action import ActionClient
from unilabos_msgs.action import SendCmd
import re
from unilabos.devices.ros_dev.liquid_handler_joint_publisher import JointStatePublisher
from unilabos.devices.ros_dev.liquid_handler_joint_publisher_node import LiquidHandlerJointPublisher
class UniLiquidHandlerRvizBackend(LiquidHandlerBackend):
@@ -48,27 +49,44 @@ class UniLiquidHandlerRvizBackend(LiquidHandlerBackend):
_max_volume_length = 16
_fitting_depth_length = 20
_tip_length_length = 16
# _pickup_method_length = 20
_filter_length = 10
def __init__(self, num_channels: int = 8 , tip_length: float = 0 , total_height: float = 310):
def __init__(self, num_channels: int = 8 , tip_length: float = 0 , total_height: float = 310, **kwargs):
"""Initialize a chatter box backend."""
super().__init__()
self._num_channels = num_channels
self.tip_length = tip_length
self.total_height = total_height
# rclpy.init()
self.joint_config = kwargs.get("joint_config", None)
self.lh_device_id = kwargs.get("lh_device_id", "lh_joint_publisher")
if not rclpy.ok():
rclpy.init()
self.joint_state_publisher = None
self.executor = None
self.executor_thread = None
async def setup(self):
self.joint_state_publisher = JointStatePublisher()
self.joint_state_publisher = LiquidHandlerJointPublisher(
joint_config=self.joint_config,
lh_device_id=self.lh_device_id,
simulate_rviz=True)
# 启动ROS executor
self.executor = rclpy.executors.MultiThreadedExecutor()
self.executor.add_node(self.joint_state_publisher)
self.executor_thread = threading.Thread(target=self.executor.spin, daemon=True)
self.executor_thread.start()
await super().setup()
print("Setting up the liquid handler.")
async def stop(self):
# 停止ROS executor
if self.executor and self.joint_state_publisher:
self.executor.remove_node(self.joint_state_publisher)
if self.executor_thread and self.executor_thread.is_alive():
self.executor.shutdown()
print("Stopping the liquid handler.")
def serialize(self) -> dict:
@@ -123,7 +141,7 @@ class UniLiquidHandlerRvizBackend(LiquidHandlerBackend):
y = coordinate.y + offset_xyz.y
z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z
# print("moving")
self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "pick",channels=use_channels)
self.joint_state_publisher.move_joints(ops[0].resource.name, x, y, z, "pick",channels=use_channels)
# goback()
@@ -166,7 +184,7 @@ class UniLiquidHandlerRvizBackend(LiquidHandlerBackend):
z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z
# print(x, y, z)
# print("moving")
self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "drop_trash",channels=use_channels)
self.joint_state_publisher.move_joints(ops[0].resource.name, x, y, z, "drop_trash",channels=use_channels)
# goback()
async def aspirate(
@@ -216,7 +234,7 @@ class UniLiquidHandlerRvizBackend(LiquidHandlerBackend):
z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z
# print(x, y, z)
# print("moving")
self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "",channels=use_channels)
self.joint_state_publisher.move_joints(ops[0].resource.name, x, y, z, "",channels=use_channels)
async def dispense(
@@ -264,9 +282,8 @@ class UniLiquidHandlerRvizBackend(LiquidHandlerBackend):
x = coordinate.x + offset_xyz.x
y = coordinate.y + offset_xyz.y
z = self.total_height - (coordinate.z + self.tip_length) + offset_xyz.z
# print(x, y, z)
# print("moving")
self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "",channels=use_channels)
self.joint_state_publisher.move_joints(ops[0].resource.name, x, y, z, "",channels=use_channels)
async def pick_up_tips96(self, pickup: PickupTipRack, **backend_kwargs):
print(f"Picking up tips from {pickup.resource.name}.")

16
unilabos/devices/resource_container/container.py
View File

@@ -30,5 +30,21 @@ class PlateContainer:
self.rotation = rotation
self.status = 'idle'
def get_rotation(self):
return self.rotation
class TubeRackContainer:
def __init__(self, rotation: dict, **kwargs):
self.rotation = rotation
self.status = 'idle'
def get_rotation(self):
return self.rotation
class BottleRackContainer:
def __init__(self, rotation: dict, **kwargs):
self.rotation = rotation
self.status = 'idle'
def get_rotation(self):
return self.rotation

30
unilabos/devices/ros_dev/lh_joint_config.json
View File

@@ -34,5 +34,35 @@
"offset":0.0
}
}
},
"TransformXYZDeck":{
"joint_names":[
"x_joint",
"y_joint",
"z_joint"
],
"link_names":[
"x_link",
"y_link",
"z_link"
],
"x":{
"y_joint":{
"factor":-0.001,
"offset":0.145
}
},
"y":{
"x_joint":{
"factor":0.001,
"offset":-0.21415
}
},
"z":{
"z_joint":{
"factor":-0.001,
"offset":0.0
}
}
}
}

43
unilabos/devices/ros_dev/liquid_handler_joint_publisher.py
View File

@@ -2,6 +2,7 @@ import asyncio
import copy
from pathlib import Path
import threading
import uuid
import rclpy
import json
import time
@@ -18,7 +19,7 @@ from rclpy.node import Node
import re
class LiquidHandlerJointPublisher(BaseROS2DeviceNode):
def __init__(self,resources_config:list, resource_tracker, rate=50, device_id:str = "lh_joint_publisher"):
def __init__(self,resources_config:list, resource_tracker, rate=50, device_id:str = "lh_joint_publisher", **kwargs):
super().__init__(
driver_instance=self,
device_id=device_id,
@@ -27,6 +28,7 @@ class LiquidHandlerJointPublisher(BaseROS2DeviceNode):
hardware_interface={},
print_publish=False,
resource_tracker=resource_tracker,
device_uuid=kwargs.get("uuid", str(uuid.uuid4())),
)
# 初始化参数
@@ -55,8 +57,8 @@ class LiquidHandlerJointPublisher(BaseROS2DeviceNode):
# 初始化设备ID与config信息
for resource in resources_config:
if resource['class'] == 'liquid_handler':
deck_id = resource['config']['data']['children'][0]['_resource_child_name']
deck_class = resource['config']['data']['children'][0]['_resource_type'].split(':')[-1]
deck_id = resource['config']['deck']['_resource_child_name']
deck_class = resource['config']['deck']['_resource_type'].split(':')[-1]
key = f'{deck_id}'
# key = f'{resource["id"]}_{deck_id}'
self.lh_devices[key] = {
@@ -208,7 +210,7 @@ class LiquidHandlerJointPublisher(BaseROS2DeviceNode):
return joint_positions ,z_index
def move_joints(self, resource_names, x, y, z, option, speed = 0.1 ,x_joint=None, y_joint=None, z_joint=None):
def move_joints(self, resource_names, x, y, z, option, speed = 0.1 ,x_joint=None, y_joint=None, z_joint=None,channels=[0,1,2,3,4,5,6,7]):
if isinstance(resource_names, list):
resource_name_ = resource_names[0]
else:
@@ -217,9 +219,9 @@ class LiquidHandlerJointPublisher(BaseROS2DeviceNode):
parent_id = self.find_resource_parent(resource_name_)
print('!'*20)
print(parent_id)
print('!'*20)
# print('!'*20)
# print(parent_id)
# print('!'*20)
if x_joint is None:
xa,xb = next(iter(self.lh_devices[parent_id]['joint_config']['x'].items()))
x_joint_config = {xa:xb}
@@ -252,11 +254,11 @@ class LiquidHandlerJointPublisher(BaseROS2DeviceNode):
if option == "pick":
link_name = self.lh_devices[parent_id]['joint_config']['link_names'][z_index]
link_name = f'{parent_id}_{link_name}'
self.resource_move(resource_name_, link_name, [0,1,2,3,4,5,6,7])
self.resource_move(resource_name_, link_name, channels)
elif option == "drop_trash":
self.resource_move(resource_name_, "__trash", [0,1,2,3,4,5,6,7])
self.resource_move(resource_name_, "__trash", channels)
elif option == "drop":
self.resource_move(resource_name_, "world", [0,1,2,3,4,5,6,7])
self.resource_move(resource_name_, "world", channels)
self.move_to(joint_positions_target_zero, speed, parent_id)
@@ -325,8 +327,20 @@ class JointStatePublisher(Node):
return None
def send_resource_action(self, resource_name, x,y,z,option, speed = 0.1,x_joint=None, y_joint=None, z_joint=None):
def send_resource_action(self, resource_name, x,y,z,option, speed = 0.1,x_joint=None, y_joint=None, z_joint=None,channels=[0,1,2,3,4,5,6,7]):
goal_msg = SendCmd.Goal()
# Convert numpy arrays or other non-serializable objects to lists
def to_serializable(obj):
if hasattr(obj, 'tolist'): # numpy array
return obj.tolist()
elif isinstance(obj, list):
return [to_serializable(item) for item in obj]
elif isinstance(obj, dict):
return {k: to_serializable(v) for k, v in obj.items()}
else:
return obj
str_dict = {
'resource_names':resource_name,
'x':x,
@@ -334,9 +348,10 @@ class JointStatePublisher(Node):
'z':z,
'option':option,
'speed':speed,
'x_joint':x_joint,
'y_joint':y_joint,
'z_joint':z_joint
'x_joint':to_serializable(x_joint),
'y_joint':to_serializable(y_joint),
'z_joint':to_serializable(z_joint),
'channels':to_serializable(channels)
}

374
unilabos/devices/ros_dev/liquid_handler_joint_publisher_node.py Normal file
View File

@@ -0,0 +1,374 @@
import asyncio
import copy
from pathlib import Path
import threading
import uuid
import rclpy
import json
import time
from rclpy.executors import MultiThreadedExecutor
from rclpy.action import ActionServer,ActionClient
from sensor_msgs.msg import JointState
from unilabos_msgs.action import SendCmd
from rclpy.action.server import ServerGoalHandle
from rclpy.node import Node
import re
class LiquidHandlerJointPublisher(Node):
def __init__(self, joint_config:str = None, lh_device_id: str = 'lh_joint_publisher', rate=50, **kwargs):
super().__init__(lh_device_id)
# 初始化参数
self.lh_device_id = lh_device_id
# INSERT_YOUR_CODE
# 如果未传 joint_config，则自动读取同级的 lh_joint_config.json 文件
config_path = Path(__file__).parent / 'lh_joint_config.json'
with open(config_path, 'r', encoding='utf-8') as f:
config_json = json.load(f)
self.joint_config = config_json[joint_config]
self.simulate_rviz = kwargs.get("simulate_rviz", False)
self.rate = rate
self.j_pub = self.create_publisher(JointState,'/joint_states',10)
self.timer = self.create_timer(1, self.lh_joint_pub_callback)
self.resource_action = None
if self.simulate_rviz:
while self.resource_action is None:
self.resource_action = self.check_tf_update_actions()
time.sleep(1)
self.resource_action_client = ActionClient(self, SendCmd, self.resource_action)
while not self.resource_action_client.wait_for_server(timeout_sec=1.0):
self.get_logger().info('等待 TfUpdate 服务器...')
self.deck_list = []
self.lh_devices = {}
self.j_msg = JointState(
name=[f'{self.lh_device_id}_{x}' for x in self.joint_config['joint_names']],
position=[0.0 for _ in self.joint_config['joint_names']],
velocity=[0.0 for _ in self.joint_config['joint_names']],
effort=[0.0 for _ in self.joint_config['joint_names']]
)
# self.j_action = ActionServer(
# self,
# SendCmd,
# "hl_joint_action",
# self.lh_joint_action_callback,
# result_timeout=5000
# )
def check_tf_update_actions(self):
topics = self.get_topic_names_and_types()
for topic_item in topics:
topic_name, topic_types = topic_item
if 'action_msgs/msg/GoalStatusArray' in topic_types:
# 删除 /_action/status 部分
base_name = topic_name.replace('/_action/status', '')
# 检查最后一个部分是否为 tf_update
parts = base_name.split('/')
if parts and parts[-1] == 'tf_update':
return base_name
return None
def send_resource_action(self, resource_id_list:list[str], link_name:str):
if self.simulate_rviz:
goal_msg = SendCmd.Goal()
str_dict = {}
for resource in resource_id_list:
str_dict[resource] = link_name
goal_msg.command = json.dumps(str_dict)
self.resource_action_client.send_goal(goal_msg)
else:
pass
def resource_move(self, resource_id:str, link_name:str, channels:list[int]):
resource = resource_id.rsplit("_",1)
channel_list = ['A','B','C','D','E','F','G','H']
resource_list = []
match = re.match(r'([a-zA-Z_]+)(\d+)', resource[1])
if match:
number = match.group(2)
for channel in channels:
resource_list.append(f"{resource[0]}_{channel_list[channel]}{number}")
if len(resource_list) > 0:
self.send_resource_action(resource_list, link_name)
def lh_joint_action_callback(self,goal_handle: ServerGoalHandle):
"""Move a single joint
Args:
command: A JSON-formatted string that includes joint_name, speed, position
joint_name (str): The name of the joint to move
speed (float): The speed of the movement, speed > 0
position (float): The position to move to
Returns:
None
"""
result = SendCmd.Result()
cmd_str = str(goal_handle.request.command).replace('\'','\"')
# goal_handle.execute()
try:
cmd_dict = json.loads(cmd_str)
self.move_joints(**cmd_dict)
result.success = True
goal_handle.succeed()
except Exception as e:
print(f'Liquid handler action error: \n{e}')
goal_handle.abort()
result.success = False
return result
def inverse_kinematics(self, x, y, z,
parent_id,
x_joint:dict,
y_joint:dict,
z_joint:dict ):
"""
将x、y、z坐标转换为对应关节的位置
Args:
x (float): x坐标
y (float): y坐标
z (float): z坐标
x_joint (dict): x轴关节配置，包含factor和offset
y_joint (dict): y轴关节配置，包含factor和offset
z_joint (dict): z轴关节配置，包含factor和offset
Returns:
dict: 关节名称和对应位置的字典
"""
joint_positions = copy.deepcopy(self.j_msg.position)
z_index = 0
# 处理x轴关节
for joint_name, config in x_joint.items():
index = self.j_msg.name.index(f"{parent_id}_{joint_name}")
joint_positions[index] = x * config["factor"] + config["offset"]
# 处理y轴关节
for joint_name, config in y_joint.items():
index = self.j_msg.name.index(f"{parent_id}_{joint_name}")
joint_positions[index] = y * config["factor"] + config["offset"]
# 处理z轴关节
for joint_name, config in z_joint.items():
index = self.j_msg.name.index(f"{parent_id}_{joint_name}")
joint_positions[index] = z * config["factor"] + config["offset"]
z_index = index
return joint_positions ,z_index
def move_joints(self, resource_names, x, y, z, option, speed = 0.1 ,x_joint=None, y_joint=None, z_joint=None,channels=[0,1,2,3,4,5,6,7]):
if isinstance(resource_names, list):
resource_name_ = resource_names[0]
else:
resource_name_ = resource_names
lh_device_id = self.lh_device_id
# print('!'*20)
# print(parent_id)
# print('!'*20)
if x_joint is None:
xa,xb = next(iter(self.joint_config['x'].items()))
x_joint_config = {xa:xb}
elif x_joint in self.joint_config['x']:
x_joint_config = self.joint_config['x'][x_joint]
else:
raise ValueError(f"x_joint {x_joint} not in joint_config['x']")
if y_joint is None:
ya,yb = next(iter(self.joint_config['y'].items()))
y_joint_config = {ya:yb}
elif y_joint in self.joint_config['y']:
y_joint_config = self.joint_config['y'][y_joint]
else:
raise ValueError(f"y_joint {y_joint} not in joint_config['y']")
if z_joint is None:
za, zb = next(iter(self.joint_config['z'].items()))
z_joint_config = {za :zb}
elif z_joint in self.joint_config['z']:
z_joint_config = self.joint_config['z'][z_joint]
else:
raise ValueError(f"z_joint {z_joint} not in joint_config['z']")
joint_positions_target, z_index = self.inverse_kinematics(x,y,z,lh_device_id,x_joint_config,y_joint_config,z_joint_config)
joint_positions_target_zero = copy.deepcopy(joint_positions_target)
joint_positions_target_zero[z_index] = 0
self.move_to(joint_positions_target_zero, speed)
self.move_to(joint_positions_target, speed)
time.sleep(1)
if option == "pick":
link_name = self.joint_config['link_names'][z_index]
link_name = f'{lh_device_id}_{link_name}'
self.resource_move(resource_name_, link_name, channels)
elif option == "drop_trash":
self.resource_move(resource_name_, "__trash", channels)
elif option == "drop":
self.resource_move(resource_name_, "world", channels)
self.move_to(joint_positions_target_zero, speed)
def move_to(self, joint_positions ,speed):
loop_flag = 0
while loop_flag < len(joint_positions):
loop_flag = 0
for i in range(len(joint_positions)):
distance = joint_positions[i] - self.j_msg.position[i]
if distance == 0:
loop_flag += 1
continue
minus_flag = distance/abs(distance)
if abs(distance) > speed/self.rate:
self.j_msg.position[i] += minus_flag * speed/self.rate
else :
self.j_msg.position[i] = joint_positions[i]
loop_flag += 1
# 发布关节状态
self.lh_joint_pub_callback()
time.sleep(1/self.rate)
def lh_joint_pub_callback(self):
self.j_msg.header.stamp = self.get_clock().now().to_msg()
self.j_pub.publish(self.j_msg)
class JointStatePublisher(Node):
def __init__(self):
super().__init__('joint_state_publisher')
self.lh_action = None
while self.lh_action is None:
self.lh_action = self.check_hl_joint_actions()
time.sleep(1)
self.lh_action_client = ActionClient(self, SendCmd, self.lh_action)
while not self.lh_action_client.wait_for_server(timeout_sec=1.0):
self.get_logger().info('等待 TfUpdate 服务器...')
def check_hl_joint_actions(self):
topics = self.get_topic_names_and_types()
for topic_item in topics:
topic_name, topic_types = topic_item
if 'action_msgs/msg/GoalStatusArray' in topic_types:
# 删除 /_action/status 部分
base_name = topic_name.replace('/_action/status', '')
# 检查最后一个部分是否为 tf_update
parts = base_name.split('/')
if parts and parts[-1] == 'hl_joint_action':
return base_name
return None
def send_resource_action(self, resource_name, x,y,z,option, speed = 0.1,x_joint=None, y_joint=None, z_joint=None,channels=[0,1,2,3,4,5,6,7]):
goal_msg = SendCmd.Goal()
# Convert numpy arrays or other non-serializable objects to lists
def to_serializable(obj):
if hasattr(obj, 'tolist'): # numpy array
return obj.tolist()
elif isinstance(obj, list):
return [to_serializable(item) for item in obj]
elif isinstance(obj, dict):
return {k: to_serializable(v) for k, v in obj.items()}
else:
return obj
str_dict = {
'resource_names':resource_name,
'x':x,
'y':y,
'z':z,
'option':option,
'speed':speed,
'x_joint':to_serializable(x_joint),
'y_joint':to_serializable(y_joint),
'z_joint':to_serializable(z_joint),
'channels':to_serializable(channels)
}
goal_msg.command = json.dumps(str_dict)
if not self.lh_action_client.wait_for_server(timeout_sec=5.0):
self.get_logger().error('Action server not available')
return None
try:
# 创建新的executor
executor = rclpy.executors.MultiThreadedExecutor()
executor.add_node(self)
# 发送目标
future = self.lh_action_client.send_goal_async(goal_msg)
# 使用executor等待结果
while not future.done():
executor.spin_once(timeout_sec=0.1)
handle = future.result()
if not handle.accepted:
self.get_logger().error('Goal was rejected')
return None
# 等待最终结果
result_future = handle.get_result_async()
while not result_future.done():
executor.spin_once(timeout_sec=0.1)
result = result_future.result()
return result
except Exception as e:
self.get_logger().error(f'Error during action execution: {str(e)}')
return None
finally:
# 清理executor
executor.remove_node(self)
def main():
pass
if __name__ == '__main__':
main()

1
unilabos/registry/devices/hotel.yaml
View File

@@ -31,5 +31,6 @@ hotel.thermo_orbitor_rs2_hotel:
type: object
model:
mesh: thermo_orbitor_rs2_hotel
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/thermo_orbitor_rs2_hotel/macro_device.xacro
type: device
version: 1.0.0

11
unilabos/registry/devices/laiyu_liquid.yaml
View File

@@ -1361,7 +1361,8 @@ laiyu_liquid:
mix_liquid_height: 0.0
mix_rate: 0
mix_stage: ''
mix_times: 0
mix_times:
- 0
mix_vol: 0
none_keys:
- ''
@@ -1491,9 +1492,11 @@ laiyu_liquid:
mix_stage:
type: string
mix_times:
maximum: 2147483647
minimum: -2147483648
type: integer
items:
maximum: 2147483647
minimum: -2147483648
type: integer
type: array
mix_vol:
maximum: 2147483647
minimum: -2147483648

1347
unilabos/registry/devices/liquid_handler.yaml
View File

File diff suppressed because it is too large Load Diff

3
unilabos/registry/devices/robot_arm.yaml
View File

@@ -1,4 +1,4 @@
robotic_arm.SCARA_with_slider.virtual:
robotic_arm.SCARA_with_slider.moveit.virtual:
category:
- robot_arm
class:
@@ -354,6 +354,7 @@ robotic_arm.SCARA_with_slider.virtual:
type: object
model:
mesh: arm_slider
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/arm_slider/macro_device.xacro
type: device
version: 1.0.0
robotic_arm.UR:

61
unilabos/registry/resources/common/resource_container.yaml
View File

@@ -31,6 +31,7 @@ hplc_plate:
init_param_schema: {}
model:
mesh: hplc_plate/meshes/hplc_plate.stl
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/hplc_plate/modal.xacro
mesh_tf:
- 0
- 0
@@ -102,6 +103,7 @@ plate_96_high:
init_param_schema: {}
model:
mesh: plate_96_high/meshes/plate_96_high.stl
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96_high/modal.xacro
mesh_tf:
- 0
- 0.086
@@ -152,6 +154,7 @@ tiprack_96_high:
init_param_schema: {}
model:
children_mesh: generic_labware_tube_10_75/meshes/0_base.stl
children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/generic_labware_tube_10_75/modal.xacro
children_mesh_tf:
- 0.0018
- 0.0018
@@ -160,6 +163,7 @@ tiprack_96_high:
- 0
- 0
mesh: tiprack_96_high/meshes/tiprack_96_high.stl
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_96_high/modal.xacro
mesh_tf:
- 0
- 0.086
@@ -170,3 +174,60 @@ tiprack_96_high:
type: resource
registry_type: resource
version: 1.0.0
tiprack_box:
category:
- resource_container
class:
module: unilabos.devices.resource_container.container:TipRackContainer
type: python
description: 96针头盒
handles: []
icon: ''
init_param_schema: {}
model:
children_mesh: tip/meshes/tip.stl
children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tip/modal.xacro
children_mesh_tf:
- 0.0045
- 0.0045
- 0
- 0
- 0
- 0
mesh: tiprack_box/meshes/tiprack_box.stl
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_box/modal.xacro
mesh_tf:
- 0
- 0
- 0
- 0
- 0
- 0
type: resource
registry_type: resource
version: 1.0.0
plate_96:
category:
- resource_container
class:
module: unilabos.devices.resource_container.container:PlateContainer
type: python
description: 96孔板
handles: []
icon: ''
init_param_schema: {}
model:
mesh: plate_96/meshes/plate_96.stl
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96/modal.xacro
mesh_tf:
- 0
- 0
- 0
- 0
- 0
- 0
type: resource
registry_type: resource
version: 1.0.0

65
unilabos/registry/resources/laiyu/container.yaml Normal file
View File

@@ -0,0 +1,65 @@
tube_container:
category:
- resource_container
class:
module: unilabos.devices.resource_container.container:TubeRackContainer
type: python
description: 96孔板
handles: []
icon: ''
init_param_schema: {}
model:
children_mesh: tube/meshes/tube.stl
children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tube/modal.xacro
children_mesh_tf:
- 0.017
- 0.017
- 0
- 0
- 0
- 0
mesh: tube_container/meshes/tube_container.stl
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tube_container/modal.xacro
mesh_tf:
- 0
- 0
- 0
- 0
- 0
- 0
type: resource
registry_type: resource
version: 1.0.0
bottle_container:
category:
- resource_container
class:
module: unilabos.devices.resource_container.container:BottleRackContainer
type: python
description: 96孔板
handles: []
icon: ''
init_param_schema: {}
model:
children_mesh: bottle/meshes/bottle.stl
children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/bottle/modal.xacro
children_mesh_tf:
- 0.04
- 0.04
- 0
- 0
- 0
- 0
mesh: bottle_container/meshes/bottle_container.stl
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/bottle_container/modal.xacro
mesh_tf:
- 0
- 0
- 0
- 0
- 0
- 0
type: resource
registry_type: resource
version: 1.0.0

17
unilabos/registry/resources/laiyu/deck.yaml Normal file
View File

@@ -0,0 +1,17 @@
TransformXYZDeck:
category:
- deck
class:
module: unilabos.devices.liquid_handling.laiyu.laiyu:TransformXYZDeck
type: pylabrobot
description: Laiyu deck
handles: []
icon: ''
init_param_schema: {}
model:
mesh: liquid_transform_xyz
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/liquid_transform_xyz/macro_device.xacro
type: device
registry_type: resource
version: 1.0.0

2
unilabos/registry/resources/opentrons/deck.yaml
View File

@@ -10,6 +10,7 @@ OTDeck:
init_param_schema: {}
model:
mesh: opentrons_liquid_handler
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/opentrons_liquid_handler/macro_device.xacro
type: device
registry_type: resource
version: 1.0.0
@@ -25,6 +26,7 @@ hplc_station:
init_param_schema: {}
model:
mesh: hplc_station
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/hplc_station/macro_device.xacro
type: device
registry_type: resource
version: 1.0.0

3
unilabos/registry/resources/opentrons/plates.yaml
View File

@@ -118,6 +118,7 @@ nest_96_wellplate_100ul_pcr_full_skirt:
init_param_schema: {}
model:
children_mesh: generic_labware_tube_10_75/meshes/0_base.stl
children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/generic_labware_tube_10_75/modal.xacro
children_mesh_tf:
- 0.0018
- 0.0018
@@ -126,6 +127,7 @@ nest_96_wellplate_100ul_pcr_full_skirt:
- 0
- 0
mesh: tecan_nested_tip_rack/meshes/plate.stl
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
mesh_tf:
- 0.064
- 0.043
@@ -160,6 +162,7 @@ nest_96_wellplate_2ml_deep:
init_param_schema: {}
model:
mesh: tecan_nested_tip_rack/meshes/plate.stl
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
mesh_tf:
- 0.064
- 0.043

1
unilabos/registry/resources/opentrons/tip_racks.yaml
View File

@@ -66,6 +66,7 @@ opentrons_96_filtertiprack_1000ul:
- 0
- 0
mesh: tecan_nested_tip_rack/meshes/plate.stl
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
mesh_tf:
- 0.064
- 0.043

7
unilabos/resources/plr_additional_res_reg.py
View File

@@ -7,5 +7,10 @@ def register():
from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Container
# noinspection PyUnresolvedReferences
from unilabos.devices.workstation.workstation_base import WorkStationContainer
from unilabos.devices.liquid_handling.laiyu.laiyu import TransformXYZDeck
from unilabos.devices.liquid_handling.laiyu.laiyu import TransformXYZContainer
from unilabos.devices.liquid_handling.rviz_backend import UniLiquidHandlerRvizBackend
from unilabos.devices.liquid_handling.laiyu.backend.laiyu_v_backend import UniLiquidHandlerLaiyuBackend

11
unilabos/ros/main_slave_run.py
View File

@@ -1,7 +1,9 @@
import json
# from nt import device_encoding
import threading
import time
from typing import Optional, Dict, Any, List
import uuid
import rclpy
from unilabos_msgs.srv._serial_command import SerialCommand_Response
@@ -81,14 +83,15 @@ def main(
resources_list,
resource_tracker=host_node.resource_tracker,
device_id="resource_mesh_manager",
device_uuid=str(uuid.uuid4()),
)
joint_republisher = JointRepublisher("joint_republisher", host_node.resource_tracker)
lh_joint_pub = LiquidHandlerJointPublisher(
resources_config=resources_list, resource_tracker=host_node.resource_tracker
)
# lh_joint_pub = LiquidHandlerJointPublisher(
# resources_config=resources_list, resource_tracker=host_node.resource_tracker
# )
executor.add_node(resource_mesh_manager)
executor.add_node(joint_republisher)
executor.add_node(lh_joint_pub)
# executor.add_node(lh_joint_pub)
thread = threading.Thread(target=executor.spin, daemon=True, name="host_executor_thread")
thread.start()

1
unilabos/ros/nodes/base_device_node.py
View File

@@ -1567,6 +1567,7 @@ class ROS2DeviceNode:
or driver_class.__name__ == "LiquidHandlerAbstract"
or driver_class.__name__ == "LiquidHandlerBiomek"
or driver_class.__name__ == "PRCXI9300Handler"
or driver_class.__name__ == "TransformXYZHandler"
)
# 创建设备类实例

4
unilabos/ros/nodes/presets/joint_republisher.py
View File

@@ -1,3 +1,4 @@
import uuid
import rclpy,json
from rclpy.node import Node
from sensor_msgs.msg import JointState
@@ -6,7 +7,7 @@ from rclpy.callback_groups import ReentrantCallbackGroup
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class JointRepublisher(BaseROS2DeviceNode):
def __init__(self,device_id,resource_tracker):
def __init__(self,device_id,resource_tracker, **kwargs):
super().__init__(
driver_instance=self,
device_id=device_id,
@@ -15,6 +16,7 @@ class JointRepublisher(BaseROS2DeviceNode):
hardware_interface={},
print_publish=False,
resource_tracker=resource_tracker,
device_uuid=kwargs.get("uuid", str(uuid.uuid4())),
)
# print('-'*20,device_id)

24
unilabos/ros/nodes/presets/resource_mesh_manager.py
View File

@@ -1,5 +1,6 @@
from pathlib import Path
import time
import uuid
import rclpy,json
from rclpy.node import Node
from std_msgs.msg import String,Header
@@ -25,7 +26,7 @@ from unilabos.resources.graphio import initialize_resources
from unilabos.registry.registry import lab_registry
class ResourceMeshManager(BaseROS2DeviceNode):
def __init__(self, resource_model: dict, resource_config: list,resource_tracker, device_id: str = "resource_mesh_manager", rate=50):
def __init__(self, resource_model: dict, resource_config: list,resource_tracker, device_id: str = "resource_mesh_manager", rate=50, **kwargs):
"""初始化资源网格管理器节点
Args:
@@ -41,10 +42,11 @@ class ResourceMeshManager(BaseROS2DeviceNode):
hardware_interface={},
print_publish=False,
resource_tracker=resource_tracker,
device_uuid=kwargs.get("uuid", str(uuid.uuid4())),
)
self.resource_model = resource_model
self.resource_config_dict = {item['id']: item for item in resource_config}
self.resource_config_dict = {item['uuid']: item for item in resource_config}
self.move_group_ready = False
self.resource_tf_dict = {}
self.tf_broadcaster = TransformBroadcaster(self)
@@ -182,14 +184,16 @@ class ResourceMeshManager(BaseROS2DeviceNode):
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，
resource_tf_dict = {}
for resource_id, resource_config in resource_config_dict.items():
for resource_uuid, resource_config in resource_config_dict.items():
parent = None
resource_id = resource_config['id']
if resource_config['parent_uuid'] is not None and resource_config['parent_uuid'] != "":
parent = resource_config_dict[resource_config['parent_uuid']]['id']
parent = resource_config['parent']
parent_link = 'world'
if parent in self.resource_model:
parent_link = parent
elif parent is None and resource_id in self.resource_model:
pass
elif parent is not None and resource_id in self.resource_model:
# parent_link = f"{self.resource_config_dict[parent]['parent']}_{parent}_device_link".replace("None_","")
@@ -199,9 +203,9 @@ class ResourceMeshManager(BaseROS2DeviceNode):
continue
# 提取位置信息并转换单位
position = {
"x": float(resource_config['position']['x'])/1000,
"y": float(resource_config['position']['y'])/1000,
"z": float(resource_config['position']['z'])/1000
"x": float(resource_config['position']['position']['x'])/1000,
"y": float(resource_config['position']['position']['y'])/1000,
"z": float(resource_config['position']['position']['z'])/1000
}
rotation_dict = {
@@ -210,8 +214,8 @@ class ResourceMeshManager(BaseROS2DeviceNode):
"z": 0
}
if 'rotation' in resource_config['config']:
rotation_dict = resource_config['config']['rotation']
if 'rotation' in resource_config['position']:
rotation_dict = resource_config['position']['rotation']
# 从欧拉角转换为四元数
q = quaternion_from_euler(