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Update workstation.

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modify workstation_architecture docs

bioyond_HR (#133)

* feat: Enhance Bioyond synchronization and resource management

- Implemented synchronization for all material types (consumables, samples, reagents) from Bioyond, logging detailed information for each type.
- Improved error handling and logging during synchronization processes.
- Added functionality to save Bioyond material IDs in UniLab resources for future updates.
- Enhanced the `sync_to_external` method to handle material movements correctly, including querying and creating materials in Bioyond.
- Updated warehouse configurations to support new storage types and improved layout for better resource management.
- Introduced new resource types such as reactors and tip boxes, with detailed specifications.
- Modified warehouse factory to support column offsets for naming conventions (e.g., A05-D08).
- Improved resource tracking by merging extra attributes instead of overwriting them.
- Added a new method for updating resources in Bioyond, ensuring better synchronization of resource changes.

* feat: 添加TipBox和Reactor的配置到bottles.yaml

* fix: 修复液体投料方法中的volume参数处理逻辑

修复solid_feeding_vials方法中的volume参数处理逻辑，优化solvents参数的使用条件

更新液体投料方法，支持通过溶剂信息自动计算体积，添加solvents参数并更新文档描述

Add batch creation methods for vial and solution tasks

添加批量创建90%10%小瓶投料任务和二胺溶液配置任务的功能，更新相关参数和默认值
This commit is contained in:
ZiWei
2025-10-27 23:55:32 +08:00
committed by Xuwznln
parent 42b78ab4c1
commit 9bd72b48e1
24 changed files with 1765 additions and 1450 deletions
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docs/developer_guide/action_includes.md
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@@ -1,88 +1,26 @@
## 简单单变量动作函数
### `SendCmd`
```{literalinclude} ../../unilabos_msgs/action/SendCmd.action
:language: yaml
```
---
### `StrSingleInput`
```{literalinclude} ../../unilabos_msgs/action/StrSingleInput.action
:language: yaml
```
---
### `IntSingleInput`
```{literalinclude} ../../unilabos_msgs/action/IntSingleInput.action
:language: yaml
```
---
### `FloatSingleInput`
```{literalinclude} ../../unilabos_msgs/action/FloatSingleInput.action
:language: yaml
```
---
### `Point3DSeparateInput`
```{literalinclude} ../../unilabos_msgs/action/Point3DSeparateInput.action
:language: yaml
```
---
### `Wait`
```{literalinclude} ../../unilabos_msgs/action/Wait.action
:language: yaml
```
---
----
## 常量有机化学操作
Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab.io/chemputer/xdl/standard/full_steps_specification.html#)，包含有机合成实验中常见的操作，如加热、搅拌、冷却等。
### `Clean`
```{literalinclude} ../../unilabos_msgs/action/Clean.action
:language: yaml
```
---
### `EvacuateAndRefill`
```{literalinclude} ../../unilabos_msgs/action/EvacuateAndRefill.action
:language: yaml
```
---
### `Evaporate`
```{literalinclude} ../../unilabos_msgs/action/Evaporate.action
:language: yaml
```
---
### `HeatChill`
```{literalinclude} ../../unilabos_msgs/action/HeatChill.action
:language: yaml
```
---
----
### `HeatChillStart`
@@ -90,7 +28,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
:language: yaml
```
---
----
### `HeatChillStop`
@@ -98,7 +36,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
:language: yaml
```
---
----
### `PumpTransfer`
@@ -106,195 +44,12 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
:language: yaml
```
---
### `Separate`
```{literalinclude} ../../unilabos_msgs/action/Separate.action
:language: yaml
```
---
### `Stir`
```{literalinclude} ../../unilabos_msgs/action/Stir.action
:language: yaml
```
---
### `Add`
```{literalinclude} ../../unilabos_msgs/action/Add.action
:language: yaml
```
---
### `AddSolid`
```{literalinclude} ../../unilabos_msgs/action/AddSolid.action
:language: yaml
```
---
### `AdjustPH`
```{literalinclude} ../../unilabos_msgs/action/AdjustPH.action
:language: yaml
```
---
### `Centrifuge`
```{literalinclude} ../../unilabos_msgs/action/Centrifuge.action
:language: yaml
```
---
### `CleanVessel`
```{literalinclude} ../../unilabos_msgs/action/CleanVessel.action
:language: yaml
```
---
### `Crystallize`
```{literalinclude} ../../unilabos_msgs/action/Crystallize.action
:language: yaml
```
---
### `Dissolve`
```{literalinclude} ../../unilabos_msgs/action/Dissolve.action
:language: yaml
```
---
### `Dry`
```{literalinclude} ../../unilabos_msgs/action/Dry.action
:language: yaml
```
---
### `Filter`
```{literalinclude} ../../unilabos_msgs/action/Filter.action
:language: yaml
```
---
### `FilterThrough`
```{literalinclude} ../../unilabos_msgs/action/FilterThrough.action
:language: yaml
```
---
### `Hydrogenate`
```{literalinclude} ../../unilabos_msgs/action/Hydrogenate.action
:language: yaml
```
---
### `Purge`
```{literalinclude} ../../unilabos_msgs/action/Purge.action
:language: yaml
```
---
### `Recrystallize`
```{literalinclude} ../../unilabos_msgs/action/Recrystallize.action
:language: yaml
```
---
### `RunColumn`
```{literalinclude} ../../unilabos_msgs/action/RunColumn.action
:language: yaml
```
---
### `StartPurge`
```{literalinclude} ../../unilabos_msgs/action/StartPurge.action
:language: yaml
```
---
### `StartStir`
```{literalinclude} ../../unilabos_msgs/action/StartStir.action
:language: yaml
```
---
### `StopPurge`
```{literalinclude} ../../unilabos_msgs/action/StopPurge.action
:language: yaml
```
---
### `StopStir`
```{literalinclude} ../../unilabos_msgs/action/StopStir.action
:language: yaml
```
---
### `Transfer`
```{literalinclude} ../../unilabos_msgs/action/Transfer.action
:language: yaml
```
---
### `WashSolid`
```{literalinclude} ../../unilabos_msgs/action/WashSolid.action
:language: yaml
```
---
----
## 移液工作站及相关生物自动化设备操作
Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.org/user_guide/index.html)，包含生物实验中常见的操作，如移液、混匀、离心等。
### `LiquidHandlerAspirate`
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerAspirate.action
:language: yaml
```
---
### `LiquidHandlerDiscardTips`
@@ -302,15 +57,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
:language: yaml
```
---
### `LiquidHandlerDispense`
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerDispense.action
:language: yaml
```
---
----
### `LiquidHandlerDropTips`
@@ -318,7 +65,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
:language: yaml
```
---
----
### `LiquidHandlerDropTips96`
@@ -326,7 +73,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
:language: yaml
```
---
----
### `LiquidHandlerMoveLid`
@@ -334,7 +81,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
:language: yaml
```
---
----
### `LiquidHandlerMovePlate`
@@ -342,7 +89,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
:language: yaml
```
---
----
### `LiquidHandlerMoveResource`
@@ -350,7 +97,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
:language: yaml
```
---
----
### `LiquidHandlerPickUpTips`
@@ -358,7 +105,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
:language: yaml
```
---
----
### `LiquidHandlerPickUpTips96`
@@ -366,7 +113,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
:language: yaml
```
---
----
### `LiquidHandlerReturnTips`
@@ -374,7 +121,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
:language: yaml
```
---
----
### `LiquidHandlerReturnTips96`
@@ -382,7 +129,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
:language: yaml
```
---
----
### `LiquidHandlerStamp`
@@ -390,129 +137,17 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
:language: yaml
```
---
### `LiquidHandlerTransfer`
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerTransfer.action
:language: yaml
```
---
### `LiquidHandlerAdd`
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerAdd.action
:language: yaml
```
---
### `LiquidHandlerIncubateBiomek`
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerIncubateBiomek.action
:language: yaml
```
---
### `LiquidHandlerMix`
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMix.action
:language: yaml
```
---
### `LiquidHandlerMoveBiomek`
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMoveBiomek.action
:language: yaml
```
---
### `LiquidHandlerMoveTo`
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMoveTo.action
:language: yaml
```
---
### `LiquidHandlerOscillateBiomek`
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerOscillateBiomek.action
:language: yaml
```
---
### `LiquidHandlerProtocolCreation`
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerProtocolCreation.action
:language: yaml
```
---
### `LiquidHandlerRemove`
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerRemove.action
:language: yaml
```
---
### `LiquidHandlerSetGroup`
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerSetGroup.action
:language: yaml
```
---
### `LiquidHandlerSetLiquid`
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerSetLiquid.action
:language: yaml
```
---
### `LiquidHandlerSetTipRack`
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerSetTipRack.action
:language: yaml
```
---
### `LiquidHandlerTransferBiomek`
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerTransferBiomek.action
:language: yaml
```
---
### `LiquidHandlerTransferGroup`
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerTransferGroup.action
:language: yaml
```
---
----
## 多工作站及小车运行、物料转移
### `AGVTransfer`
```{literalinclude} ../../unilabos_msgs/action/AGVTransfer.action
:language: yaml
```
---
----
### `WorkStationRun`
@@ -520,64 +155,12 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
:language: yaml
```
---
### `ResetHandling`
```{literalinclude} ../../unilabos_msgs/action/ResetHandling.action
:language: yaml
```
---
### `ResourceCreateFromOuter`
```{literalinclude} ../../unilabos_msgs/action/ResourceCreateFromOuter.action
:language: yaml
```
---
### `ResourceCreateFromOuterEasy`
```{literalinclude} ../../unilabos_msgs/action/ResourceCreateFromOuterEasy.action
:language: yaml
```
---
### `SetPumpPosition`
```{literalinclude} ../../unilabos_msgs/action/SetPumpPosition.action
:language: yaml
```
---
## 固体分配与处理设备操作
### `SolidDispenseAddPowderTube`
```{literalinclude} ../../unilabos_msgs/action/SolidDispenseAddPowderTube.action
:language: yaml
```
---
## 其他设备操作
### `EmptyIn`
```{literalinclude} ../../unilabos_msgs/action/EmptyIn.action
:language: yaml
```
---
----
## 机械臂、夹爪等机器人设备
Uni-Lab 机械臂、机器人、夹爪和导航指令集沿用 ROS2 的 `control_msgs` 和 `nav2_msgs`：
### `FollowJointTrajectory`
```yaml
@@ -645,8 +228,7 @@ trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_error
```
---
----
### `GripperCommand`
```yaml
@@ -664,19 +246,42 @@ bool reached_goal # True iff the gripper position has reached the commanded setp
```
---
----
### `JointTrajectory`
```yaml
trajectory_msgs/JointTrajectory trajectory
---
---
```
---
----
### `ParallelGripperCommand`
```yaml
# Parallel grippers refer to an end effector where two opposing fingers grasp an object from opposite sides.
sensor_msgs/JointState command
# name: the name(s) of the joint this command is requesting
# position: desired position of each gripper joint (radians or meters)
# velocity: (optional, not used if empty) max velocity of the joint allowed while moving (radians or meters / second)
# effort: (optional, not used if empty) max effort of the joint allowed while moving (Newtons or Newton-meters)
---
sensor_msgs/JointState state # The current gripper state.
# position of each joint (radians or meters)
# optional: velocity of each joint (radians or meters / second)
# optional: effort of each joint (Newtons or Newton-meters)
bool stalled # True if the gripper is exerting max effort and not moving
bool reached_goal # True if the gripper position has reached the commanded setpoint
---
sensor_msgs/JointState state # The current gripper state.
# position of each joint (radians or meters)
# optional: velocity of each joint (radians or meters / second)
# optional: effort of each joint (Newtons or Newton-meters)
```
----
### `PointHead`
```yaml
@@ -686,13 +291,12 @@ string pointing_frame
builtin_interfaces/Duration min_duration
float64 max_velocity
---
---
float64 pointing_angle_error
```
---
----
### `SingleJointPosition`
```yaml
@@ -700,16 +304,15 @@ float64 position
builtin_interfaces/Duration min_duration
float64 max_velocity
---
---
std_msgs/Header header
float64 position
float64 velocity
float64 error
```
---
----
### `AssistedTeleop`
```yaml
@@ -721,10 +324,10 @@ builtin_interfaces/Duration total_elapsed_time
---
#feedback
builtin_interfaces/Duration current_teleop_duration
```
---
----
### `BackUp`
```yaml
@@ -738,10 +341,10 @@ builtin_interfaces/Duration total_elapsed_time
---
#feedback definition
float32 distance_traveled
```
---
----
### `ComputePathThroughPoses`
```yaml
@@ -756,10 +359,10 @@ nav_msgs/Path path
builtin_interfaces/Duration planning_time
---
#feedback definition
```
---
----
### `ComputePathToPose`
```yaml
@@ -774,10 +377,10 @@ nav_msgs/Path path
builtin_interfaces/Duration planning_time
---
#feedback definition
```
---
----
### `DriveOnHeading`
```yaml
@@ -791,10 +394,10 @@ builtin_interfaces/Duration total_elapsed_time
---
#feedback definition
float32 distance_traveled
```
---
----
### `DummyBehavior`
```yaml
@@ -805,10 +408,10 @@ std_msgs/String command
builtin_interfaces/Duration total_elapsed_time
---
#feedback definition
```
---
----
### `FollowPath`
```yaml
@@ -823,10 +426,10 @@ std_msgs/Empty result
#feedback definition
float32 distance_to_goal
float32 speed
```
---
----
### `FollowWaypoints`
```yaml
@@ -838,10 +441,10 @@ int32[] missed_waypoints
---
#feedback definition
uint32 current_waypoint
```
---
----
### `NavigateThroughPoses`
```yaml
@@ -859,10 +462,10 @@ builtin_interfaces/Duration estimated_time_remaining
int16 number_of_recoveries
float32 distance_remaining
int16 number_of_poses_remaining
```
---
----
### `NavigateToPose`
```yaml
@@ -879,10 +482,10 @@ builtin_interfaces/Duration navigation_time
builtin_interfaces/Duration estimated_time_remaining
int16 number_of_recoveries
float32 distance_remaining
```
---
----
### `SmoothPath`
```yaml
@@ -898,10 +501,10 @@ builtin_interfaces/Duration smoothing_duration
bool was_completed
---
#feedback definition
```
---
----
### `Spin`
```yaml
@@ -914,10 +517,10 @@ builtin_interfaces/Duration total_elapsed_time
---
#feedback definition
float32 angular_distance_traveled
```
---
----
### `Wait`
```yaml
@@ -929,6 +532,7 @@ builtin_interfaces/Duration total_elapsed_time
---
#feedback definition
builtin_interfaces/Duration time_left
```
---
----