From b263a7e6791b83a32d8efdf99cae849d4018b27e Mon Sep 17 00:00:00 2001
From: ZiWei <131428629+ZiWei09@users.noreply.github.com>
Date: Sun, 12 Oct 2025 22:54:38 +0800
Subject: [PATCH] Workshop bj (#99)
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
* Add LaiYu Liquid device integration and tests
Introduce LaiYu Liquid device implementation, including backend, controllers, drivers, configuration, and resource files. Add hardware connection, tip pickup, and simplified test scripts, as well as experiment and registry configuration for LaiYu Liquid. Documentation and .gitignore for the device are also included.
* feat(LaiYu_Liquid): 重构设备模块结构并添加硬件文档
refactor: 重新组织LaiYu_Liquid模块目录结构
docs: 添加SOPA移液器和步进电机控制指令文档
fix: 修正设备配置中的最大体积默认值
test: 新增工作台配置测试用例
chore: 删除过时的测试脚本和配置文件
* add
* 重构: 将 LaiYu_Liquid.py 重命名为 laiyu_liquid_main.py 并更新所有导入引用
- 使用 git mv 将 LaiYu_Liquid.py 重命名为 laiyu_liquid_main.py
- 更新所有相关文件中的导入引用
- 保持代码功能不变，仅改善命名一致性
- 测试确认所有导入正常工作
* 修复: 在 core/__init__.py 中添加 LaiYuLiquidBackend 导出
- 添加 LaiYuLiquidBackend 到导入列表
- 添加 LaiYuLiquidBackend 到 __all__ 导出列表
- 确保所有主要类都可以正确导入
* 修复大小写文件夹名字
---
UniLab_LaiYu_控制架构详解.md | 259 ++
XYZ_集成功能说明.md | 221 ++
test/experiments/laiyu_liquid.json | 148 +
test/experiments/test_laiyu.json | 394 +++
.../liquid_transform_xyz/macro_device.xacro | 150 +
.../liquid_transform_xyz/meshes/base_link.STL | Bin 0 -> 2475284 bytes
.../liquid_transform_xyz/meshes/x_link.STL | Bin 0 -> 1309584 bytes
.../liquid_transform_xyz/meshes/y_link.STL | Bin 0 -> 324084 bytes
.../liquid_transform_xyz/meshes/z_link.STL | Bin 0 -> 213884 bytes
unilabos/devices/laiyu_liquid/__init__.py | 307 ++
.../devices/laiyu_liquid/backend/__init__.py | 9 +
.../laiyu_liquid/backend/laiyu_backend.py | 334 +++
.../laiyu_liquid/backend/rviz_backend.py | 209 ++
.../laiyu_liquid/config/deckconfig.json | 2620 +++++++++++++++++
.../devices/laiyu_liquid/config/deckconfig.md | 14 +
.../laiyu_liquid/controllers/__init__.py | 25 +
.../controllers/pipette_controller.py | 1073 +++++++
.../controllers/xyz_controller.py | 1183 ++++++++
.../devices/laiyu_liquid/core/__init__.py | 44 +
.../laiyu_liquid/core/abstract_protocol.py | 529 ++++
.../laiyu_liquid/core/laiyu_liquid_main.py | 881 ++++++
.../laiyu_liquid/core/laiyu_liquid_res.py | 954 ++++++
.../devices/laiyu_liquid/docs/CHANGELOG.md | 69 +
.../hardware/SOPA气动式移液器RS485控制指令.md | 267 ++
.../docs/hardware/步进电机控制指令.md | 162 +
.../docs/hardware/硬件连接配置指南.md | 1281 ++++++++
unilabos/devices/laiyu_liquid/docs/readme.md | 269 ++
.../devices/laiyu_liquid/drivers/__init__.py | 30 +
.../drivers/sopa_pipette_driver.py | 1079 +++++++
.../drivers/xyz_stepper_driver.py | 663 +++++
.../devices/laiyu_liquid/tests/__init__.py | 13 +
.../laiyu_liquid/tests/test_deck_config.py | 315 ++
.../devices/liquid_handling/rviz_backend.py | 304 ++
unilabos/registry/devices/laiyu_liquid.yaml | 1963 ++++++++++++
.../resources/common/resource_container.yaml | 91 +
unilabos/resources/plr_additional_res_reg.py | 2 +
36 files changed, 15862 insertions(+)
create mode 100644 UniLab_LaiYu_控制架构详解.md
create mode 100644 XYZ_集成功能说明.md
create mode 100644 test/experiments/laiyu_liquid.json
create mode 100644 test/experiments/test_laiyu.json
create mode 100644 unilabos/device_mesh/devices/liquid_transform_xyz/macro_device.xacro
create mode 100644 unilabos/device_mesh/devices/liquid_transform_xyz/meshes/base_link.STL
create mode 100644 unilabos/device_mesh/devices/liquid_transform_xyz/meshes/x_link.STL
create mode 100644 unilabos/device_mesh/devices/liquid_transform_xyz/meshes/y_link.STL
create mode 100644 unilabos/device_mesh/devices/liquid_transform_xyz/meshes/z_link.STL
create mode 100644 unilabos/devices/laiyu_liquid/__init__.py
create mode 100644 unilabos/devices/laiyu_liquid/backend/__init__.py
create mode 100644 unilabos/devices/laiyu_liquid/backend/laiyu_backend.py
create mode 100644 unilabos/devices/laiyu_liquid/backend/rviz_backend.py
create mode 100644 unilabos/devices/laiyu_liquid/config/deckconfig.json
create mode 100644 unilabos/devices/laiyu_liquid/config/deckconfig.md
create mode 100644 unilabos/devices/laiyu_liquid/controllers/__init__.py
create mode 100644 unilabos/devices/laiyu_liquid/controllers/pipette_controller.py
create mode 100644 unilabos/devices/laiyu_liquid/controllers/xyz_controller.py
create mode 100644 unilabos/devices/laiyu_liquid/core/__init__.py
create mode 100644 unilabos/devices/laiyu_liquid/core/abstract_protocol.py
create mode 100644 unilabos/devices/laiyu_liquid/core/laiyu_liquid_main.py
create mode 100644 unilabos/devices/laiyu_liquid/core/laiyu_liquid_res.py
create mode 100644 unilabos/devices/laiyu_liquid/docs/CHANGELOG.md
create mode 100644 unilabos/devices/laiyu_liquid/docs/hardware/SOPA气动式移液器RS485控制指令.md
create mode 100644 unilabos/devices/laiyu_liquid/docs/hardware/步进电机控制指令.md
create mode 100644 unilabos/devices/laiyu_liquid/docs/hardware/硬件连接配置指南.md
create mode 100644 unilabos/devices/laiyu_liquid/docs/readme.md
create mode 100644 unilabos/devices/laiyu_liquid/drivers/__init__.py
create mode 100644 unilabos/devices/laiyu_liquid/drivers/sopa_pipette_driver.py
create mode 100644 unilabos/devices/laiyu_liquid/drivers/xyz_stepper_driver.py
create mode 100644 unilabos/devices/laiyu_liquid/tests/__init__.py
create mode 100644 unilabos/devices/laiyu_liquid/tests/test_deck_config.py
create mode 100644 unilabos/devices/liquid_handling/rviz_backend.py
create mode 100644 unilabos/registry/devices/laiyu_liquid.yaml
diff --git a/UniLab_LaiYu_控制架构详解.md b/UniLab_LaiYu_控制架构详解.md
new file mode 100644
index 00000000..efa3333f
--- /dev/null
+++ b/UniLab_LaiYu_控制架构详解.md
@@ -0,0 +1,259 @@
+# UniLab 控制 LaiYu_Liquid 设备架构详解
+
+## 概述
+
+UniLab 通过分层架构控制 LaiYu_Liquid 设备，实现了从高级实验协议到底层硬件驱动的完整控制链路。
+
+## 🏗️ 架构层次
+
+### 1. 应用层 (Application Layer)
+- **实验协议**: 用户定义的实验流程
+- **设备抽象**: 通过 `LaiYu_Liquid` 类提供统一接口
+
+### 2. 控制层 (Control Layer)
+- **LaiYuLiquidBackend**: 设备业务逻辑控制器
+- **PipetteController**: 移液器控制器
+- **XYZController**: 三轴运动控制器
+
+### 3. 驱动层 (Driver Layer)
+- **SOPAPipetteDriver**: SOPA 移液器驱动
+- **XYZStepperDriver**: 三轴步进电机驱动
+
+### 4. 硬件层 (Hardware Layer)
+- **串口通信**: 通过 `/dev/cu.usbserial-3130` 等串口设备
+- **物理设备**: 移液器和三轴运动平台
+
+## 🔧 核心组件详解
+
+### LaiYu_Liquid 主类
+```python
+class LaiYu_Liquid:
+ """LaiYu液体处理设备的主要接口类"""
+
+ def __init__(self, config: LaiYuLiquidConfig):
+ self.config = config
+ self.deck = LaiYuLiquidDeck(config)
+ self.backend = LaiYuLiquidBackend(config, self.deck)
+```
+
+**核心功能**:
+- 设备配置管理
+- 工作台资源管理
+- 硬件控制接口封装
+
+### LaiYuLiquidBackend 控制器
+```python
+class LaiYuLiquidBackend:
+ """设备后端控制逻辑"""
+
+ async def setup(self):
+ """初始化硬件控制器"""
+ # 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
+ self.xyz_controller = XYZController(
+ port=self.config.port,
+ baudrate=self.config.baudrate,
+ machine_config=MachineConfig()
+ )
+```
+
+**核心功能**:
+- 硬件初始化和连接
+- 移液操作控制
+- 运动控制
+- 错误处理和状态管理
+
+## 🎯 控制流程
+
+### 1. 设备初始化流程
+```
+用户代码 → LaiYu_Liquid.setup() → LaiYuLiquidBackend.setup()
+ ↓
+PipetteController 初始化 ← → XYZController 初始化
+ ↓ ↓
+SOPAPipetteDriver.connect() XYZStepperDriver.connect()
+ ↓ ↓
+串口连接 (/dev/cu.usbserial-3130)
+```
+
+### 2. 移液操作流程
+```
+用户调用 aspirate(volume) → LaiYuLiquidBackend.aspirate()
+ ↓
+检查设备状态 (连接、枪头、体积)
+ ↓
+PipetteController.aspirate(volume)
+ ↓
+SOPAPipetteDriver.aspirate_volume()
+ ↓
+串口命令发送到移液器硬件
+```
+
+### 3. 运动控制流程
+```
+用户调用 move_to(position) → LaiYuLiquidBackend.move_to()
+ ↓
+坐标转换和安全检查
+ ↓
+XYZController.move_to_work_coord()
+ ↓
+XYZStepperDriver.move_to()
+ ↓
+串口命令发送到步进电机
+```
+
+## 🔌 硬件通信
+
+### 串口配置
+- **端口**: `/dev/cu.usbserial-3130` (macOS)
+- **波特率**: 115200 (移液器), 可配置 (XYZ控制器)
+- **协议**: SOPA协议 (移液器), 自定义协议 (XYZ)
+
+### 通信协议
+1. **SOPA移液器协议**:
+ - 地址寻址: `address` 参数
+ - 命令格式: 二进制协议
+ - 响应处理: 异步等待
+
+2. **XYZ步进电机协议**:
+ - G代码风格命令
+ - 坐标系管理
+ - 实时状态反馈
+
+## 🛡️ 安全机制
+
+### 1. 连接检查
+```python
+def _check_hardware_ready(self):
+ """检查硬件是否就绪"""
+ if not self.is_connected:
+ raise DeviceError("设备未连接")
+ if not self.is_initialized:
+ raise DeviceError("设备未初始化")
+```
+
+### 2. 状态验证
+- 移液前检查枪头状态
+- 体积范围验证
+- 位置边界检查
+
+### 3. 错误处理
+- 硬件连接失败自动切换到模拟模式
+- 异常捕获和日志记录
+- 优雅的错误恢复
+
+## 📊 配置管理
+
+### LaiYuLiquidConfig
+```python
+@dataclass
+class LaiYuLiquidConfig:
+ port: str = "/dev/cu.usbserial-3130"
+ address: int = 1
+ baudrate: int = 115200
+ max_volume: float = 1000.0
+ min_volume: float = 0.1
+ # ... 其他配置参数
+```
+
+### 配置文件支持
+- **YAML**: `laiyu_liquid.yaml`
+- **JSON**: `laiyu_liquid.json`
+- **环境变量**: 动态配置覆盖
+
+## 🔄 异步操作
+
+所有硬件操作都是异步的，支持:
+- 并发操作
+- 非阻塞等待
+- 超时处理
+- 取消操作
+
+```python
+async def aspirate(self, volume: float) -> bool:
+ """异步吸液操作"""
+ try:
+ # 硬件操作
+ result = await self.pipette_controller.aspirate(volume)
+ # 状态更新
+ self._update_volume_state(volume)
+ return result
+ except Exception as e:
+ logger.error(f"吸液失败: {e}")
+ return False
+```
+
+## 🎮 实际使用示例
+
+```python
+# 1. 创建设备配置
+config = LaiYuLiquidConfig(
+ port="/dev/cu.usbserial-3130",
+ address=1,
+ baudrate=115200
+)
+
+# 2. 初始化设备
+device = LaiYu_Liquid(config)
+await device.setup()
+
+# 3. 执行移液操作
+await device.pick_up_tip()
+await device.aspirate(100.0) # 吸取100μL
+await device.move_to((50, 50, 10)) # 移动到目标位置
+await device.dispense(100.0) # 分配100μL
+await device.drop_tip()
+
+# 4. 清理
+await device.stop()
+```
+
+## 🔍 调试和监控
+
+### 日志系统
+- 详细的操作日志
+- 错误追踪
+- 性能监控
+
+### 状态查询
+```python
+# 实时状态查询
+print(f"连接状态: {device.is_connected}")
+print(f"当前位置: {device.current_position}")
+print(f"当前体积: {device.current_volume}")
+print(f"枪头状态: {device.tip_attached}")
+```
+
+## 📈 扩展性
+
+### 1. 新设备支持
+- 继承抽象基类
+- 实现标准接口
+- 插件式架构
+
+### 2. 协议扩展
+- 新通信协议支持
+- 自定义命令集
+- 协议适配器
+
+### 3. 功能扩展
+- 新的移液模式
+- 高级运动控制
+- 智能优化算法
+
+## 🎯 总结
+
+UniLab 通过精心设计的分层架构，实现了对 LaiYu_Liquid 设备的完整控制:
+
+1. **高层抽象**: 提供简洁的API接口
+2. **中层控制**: 实现复杂的业务逻辑
+3. **底层驱动**: 处理硬件通信细节
+4. **安全可靠**: 完善的错误处理机制
+5. **易于扩展**: 模块化设计支持功能扩展
+
+这种架构使得用户可以专注于实验逻辑，而无需关心底层硬件控制的复杂性。
\ No newline at end of file
diff --git a/XYZ_集成功能说明.md b/XYZ_集成功能说明.md
new file mode 100644
index 00000000..301b1136
--- /dev/null
+++ b/XYZ_集成功能说明.md
@@ -0,0 +1,221 @@
+# XYZ步进电机与移液器集成功能说明
+
+## 概述
+
+本文档描述了XYZ步进电机控制器与SOPA移液器的集成功能，实现了移液器在Z轴方向的精确运动控制，特别是在吸头装载过程中的自动定位功能。
+
+## 新增功能
+
+### 1. XYZ控制器集成
+
+#### 初始化参数
+```python
+controller = PipetteController(
+ port="/dev/ttyUSB0", # 移液器串口
+ address=4, # 移液器Modbus地址
+ xyz_port="/dev/ttyUSB1" # XYZ控制器串口（可选）
+)
+```
+
+#### 连接管理
+- 自动检测并连接XYZ步进电机控制器
+- 支持独立的移液器操作（不依赖XYZ控制器）
+- 提供连接状态查询功能
+
+### 2. Z轴运动控制
+
+#### 相对运动功能
+```python
+# 向下移动10mm（用于吸头装载）
+success = controller.move_z_relative(-10.0, speed=2000, acceleration=500)
+
+# 向上移动5mm
+success = controller.move_z_relative(5.0, speed=1500)
+```
+
+#### 参数说明
+- `distance_mm`: 移动距离（毫米），负值向下，正值向上
+- `speed`: 运动速度（100-5000 rpm）
+- `acceleration`: 加速度（默认500）
+
+#### 步距转换
+- 转换比例: 1mm = 1638.4步
+- 支持精确的毫米到步数转换
+- 自动处理位置计算和验证
+
+### 3. 安全检查机制
+
+#### 运动限制
+- **移动距离限制**: 单次移动最大15mm
+- **速度限制**: 100-5000 rpm
+- **位置限制**: Z轴位置范围 -50000 到 50000步
+- **单次移动步数限制**: 最大20000步（约12mm）
+
+#### 安全检查功能
+```python
+def _check_xyz_safety(self, axis: MotorAxis, target_position: int) -> bool:
+ """执行XYZ轴运动前的安全检查"""
+ # 检查电机使能状态
+ # 检查错误状态
+ # 验证位置限制
+ # 验证移动距离
+```
+
+### 4. 增强的吸头装载功能
+
+#### 自动Z轴定位
+```python
+def pickup_tip(self) -> bool:
+ """装载吸头（包含Z轴自动定位）"""
+ # 检查当前吸头状态
+ # 执行Z轴下降运动（10mm）
+ # 执行移液器吸头装载
+ # 更新吸头状态
+```
+
+#### 工作流程
+1. 检查是否已有吸头装载
+2. 如果配置了XYZ控制器，执行Z轴下降10mm
+3. 执行移液器的吸头装载动作
+4. 更新吸头状态和统计信息
+
+### 5. 紧急停止功能
+
+#### 全系统停止
+```python
+def emergency_stop(self) -> bool:
+ """紧急停止所有运动"""
+ # 停止移液器运动
+ # 停止XYZ步进电机运动
+ # 记录停止状态
+```
+
+#### 使用场景
+- 检测到异常情况时立即停止
+- 用户手动中断操作
+- 系统故障保护
+
+### 6. 状态监控
+
+#### 设备状态查询
+```python
+status = controller.get_status()
+# 返回包含移液器和XYZ控制器状态的字典
+{
+ 'pipette': {
+ 'connected': True,
+ 'tip_status': 'tip_attached',
+ 'current_volume': 0.0,
+ # ...
+ },
+ 'xyz_controller': {
+ 'connected': True,
+ 'port': '/dev/ttyUSB1'
+ }
+}
+```
+
+## 使用示例
+
+### 基本使用流程
+
+```python
+from unilabos.devices.LaiYu_Liquid.controllers.pipette_controller import PipetteController
+
+# 1. 创建控制器实例
+controller = PipetteController(
+ port="/dev/ttyUSB0",
+ address=4,
+ xyz_port="/dev/ttyUSB1" # 可选
+)
+
+# 2. 连接设备
+if controller.connect():
+ print("设备连接成功")
+
+ # 3. 初始化
+ if controller.initialize():
+ print("设备初始化成功")
+
+ # 4. 装载吸头（自动Z轴定位）
+ if controller.pickup_tip():
+ print("吸头装载成功")
+
+ # 5. 执行液体操作
+ controller.aspirate(100.0) # 吸取100μL
+ controller.dispense(100.0) # 排出100μL
+
+ # 6. 弹出吸头
+ controller.eject_tip()
+
+ # 7. 断开连接
+ controller.disconnect()
+```
+
+### 手动Z轴控制
+
+```python
+# 精确的Z轴运动控制
+controller.move_z_relative(-5.0, speed=1000) # 下降5mm
+time.sleep(1) # 等待运动完成
+controller.move_z_relative(5.0, speed=1000) # 上升5mm
+```
+
+## 集成测试
+
+### 测试脚本
+使用 `test_xyz_pipette_integration.py` 脚本进行完整的集成测试：
+
+```bash
+python test_xyz_pipette_integration.py
+```
+
+### 测试项目
+1. **连接状态测试** - 验证设备连接
+2. **Z轴运动测试** - 验证运动控制
+3. **吸头装载测试** - 验证集成功能
+4. **安全检查测试** - 验证安全机制
+5. **紧急停止测试** - 验证停止功能
+6. **液体操作测试** - 验证基本功能
+
+## 配置要求
+
+### 硬件要求
+- SOPA移液器（支持Modbus RTU通信）
+- XYZ步进电机控制器（可选）
+- 串口连接线
+
+### 软件依赖
+- Python 3.7+
+- pymodbus库
+- pyserial库
+
+### 串口配置
+- 波特率: 9600
+- 数据位: 8
+- 停止位: 1
+- 校验位: None
+
+## 注意事项
+
+### 安全提醒
+1. **首次使用前必须进行安全检查**
+2. **确保Z轴运动范围内无障碍物**
+3. **紧急情况下立即使用紧急停止功能**
+4. **定期检查设备连接状态**
+
+### 故障排除
+1. **连接失败**: 检查串口配置和设备电源
+2. **运动异常**: 检查电机使能状态和位置限制
+3. **吸头装载失败**: 检查Z轴位置和吸头供应
+4. **通信错误**: 检查Modbus地址和通信参数
+
+## 更新记录
+
+- **2024-01**: 初始版本，实现基本集成功能
+- **2024-01**: 添加安全检查和紧急停止功能
+- **2024-01**: 完善错误处理和状态监控
+
+## 技术支持
+
+如有技术问题，请联系开发团队或查阅相关技术文档。
\ No newline at end of file
diff --git a/test/experiments/laiyu_liquid.json b/test/experiments/laiyu_liquid.json
new file mode 100644
index 00000000..4835460f
--- /dev/null
+++ b/test/experiments/laiyu_liquid.json
@@ -0,0 +1,148 @@
+{
+ "nodes": [
+ {
+ "id": "laiyu_liquid_station",
+ "name": "LaiYu液体处理工作站",
+ "children": [
+ "module_1_8tubes",
+ "module_2_96well_deep",
+ "module_3_beaker",
+ "module_4_96well_tips"
+ ],
+ "parent": null,
+ "type": "device",
+ "class": "laiyu_liquid",
+ "position": {
+ "x": 500,
+ "y": 200,
+ "z": 0
+ },
+ "config": {
+ "total_modules": 4,
+ "total_wells": 201,
+ "safety_margin": {
+ "x": 5.0,
+ "y": 5.0,
+ "z": 5.0
+ },
+ "protocol_type": ["LiquidHandlingProtocol", "PipettingProtocol", "TransferProtocol"]
+ },
+ "data": {
+ "status": "Ready",
+ "version": "1.0"
+ }
+ },
+ {
+ "id": "module_1_8tubes",
+ "name": "8管位置模块",
+ "children": [],
+ "parent": "laiyu_liquid_station",
+ "type": "container",
+ "class": "opentrons_24_tuberack_nest_1point5ml_snapcap",
+ "position": {
+ "x": 100,
+ "y": 100,
+ "z": 0
+ },
+ "config": {
+ "module_type": "tube_rack",
+ "wells_count": 8,
+ "well_diameter": 29.0,
+ "well_depth": 117.0,
+ "well_volume": 77000.0,
+ "well_shape": "circular",
+ "layout": "2x4"
+ },
+ "data": {
+ "max_volume": 77000.0,
+ "current_volume": 0.0,
+ "wells": ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"]
+ }
+ },
+ {
+ "id": "module_2_96well_deep",
+ "name": "96深孔板",
+ "children": [],
+ "parent": "laiyu_liquid_station",
+ "type": "plate",
+ "class": "nest_96_wellplate_2ml_deep",
+ "position": {
+ "x": 300,
+ "y": 100,
+ "z": 0
+ },
+ "config": {
+ "module_type": "96_well_deep_plate",
+ "wells_count": 96,
+ "well_diameter": 8.2,
+ "well_depth": 39.4,
+ "well_volume": 2080.0,
+ "well_shape": "circular",
+ "layout": "8x12"
+ },
+ "data": {
+ "max_volume": 2080.0,
+ "current_volume": 0.0,
+ "plate_type": "deep_well"
+ }
+ },
+ {
+ "id": "module_3_beaker",
+ "name": "敞口玻璃瓶",
+ "children": [],
+ "parent": "laiyu_liquid_station",
+ "type": "container",
+ "class": "container",
+ "position": {
+ "x": 500,
+ "y": 100,
+ "z": 0
+ },
+ "config": {
+ "module_type": "beaker_holder",
+ "wells_count": 1,
+ "well_diameter": 85.0,
+ "well_depth": 120.0,
+ "well_volume": 500000.0,
+ "well_shape": "circular",
+ "supported_containers": ["250ml", "500ml", "1000ml"]
+ },
+ "data": {
+ "max_volume": 500000.0,
+ "current_volume": 0.0,
+ "container_type": "beaker",
+ "wells": ["A1"]
+ }
+ },
+ {
+ "id": "module_4_96well_tips",
+ "name": "96吸头架",
+ "children": [],
+ "parent": "laiyu_liquid_station",
+ "type": "container",
+ "class": "tip_rack",
+ "position": {
+ "x": 700,
+ "y": 100,
+ "z": 0
+ },
+ "config": {
+ "module_type": "tip_rack",
+ "wells_count": 96,
+ "well_diameter": 8.2,
+ "well_depth": 60.0,
+ "well_volume": 6000.0,
+ "well_shape": "circular",
+ "layout": "8x12",
+ "tip_type": "standard"
+ },
+ "data": {
+ "max_volume": 6000.0,
+ "current_volume": 0.0,
+ "tip_capacity": "1000μL",
+ "tips_available": 96
+ }
+ }
+ ],
+ "links": []
+}
\ No newline at end of file
diff --git a/test/experiments/test_laiyu.json b/test/experiments/test_laiyu.json
new file mode 100644
index 00000000..fa439407
--- /dev/null
+++ b/test/experiments/test_laiyu.json
@@ -0,0 +1,394 @@
+{
+ "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": "pylabrobot.resources.opentrons.deck:OTDeck",
+ "name": "deck"
+ },
+ "backend": {
+ "type": "UniLiquidHandlerRvizBackend"
+
+ },
+ "simulator": true,
+ "total_height": 300
+ }
+ },
+ {
+ "id": "deck",
+ "name": "deck",
+ "sample_id": null,
+ "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",
+ "sample_id": null,
+ "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",
+ "sample_id": null,
+ "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",
+ "sample_id": null,
+ "children": [
+ "plate_well_A1"
+ ],
+ "parent": "deck",
+ "type": "plate",
+ "class": "plate_96",
+ "position": {
+ "x": 161,
+ "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,
+ "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",
+ "sample_id": null,
+ "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",
+ "sample_id": null,
+ "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",
+ "sample_id": null,
+ "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",
+ "sample_id": null,
+ "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",
+ "sample_id": null,
+ "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": []
+}
\ No newline at end of file
diff --git a/unilabos/device_mesh/devices/liquid_transform_xyz/macro_device.xacro b/unilabos/device_mesh/devices/liquid_transform_xyz/macro_device.xacro
new file mode 100644
index 00000000..c1ca35f2
--- /dev/null
+++ b/unilabos/device_mesh/devices/liquid_transform_xyz/macro_device.xacro
@@ -0,0 +1,150 @@
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new file mode 100644
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