添加

unilabos/app/mq.py

@@ -166,7 +166,7 @@ class MQTTClient:
         status = {"data": device_status.get(device_id, {}), "device_id": device_id, "timestamp": time.time()}
         address = f"labs/{MQConfig.lab_id}/devices/"
         self.client.publish(address, json.dumps(status), qos=2)
-        logger.info(f"Device status published: address: {address}, {status}")
+        logger.info(f"Device {device_id} status published: address: {address}, {status}")
 
     def publish_job_status(self, feedback_data: dict, job_id: str, status: str, return_info: Optional[str] = None):
         if self.mqtt_disable:

unilabos/device_mesh/devices/elite_robot/config/cs66/default_kinematics.yaml

@@ -5,7 +5,7 @@ kinematics:
     z: 0.1625
     roll: 0
     pitch: 0
-    yaw: 0
+    yaw: -0.16
   upperarm:
     x: 0
     y: 0
@@ -26,7 +26,7 @@ kinematics:
     z: 0.1475
     roll: 0
     pitch: 0
-    yaw: 0
+    yaw: 0.04
   wrist_2:
     x: 0
     y: -0.0965
@@ -39,5 +39,5 @@ kinematics:
     y: 0.0920
     z: 0
     roll: -1.570796326589793
-    pitch: 0
+    pitch: -0.59
     yaw: 0

unilabos/device_mesh/devices/elite_robot/macro_device.xacro

@@ -145,7 +145,7 @@
     type="fixed">
     <origin
       xyz="0 0 -0.003"
-      rpy="0 0 -2.356" />
+      rpy="0 0 -1.570796326589793" />
     <parent
       link="${station_name}${device_name}tool0" />
     <child

unilabos/device_mesh/devices/hplc_station/macro_device.xacro

@@ -149,5 +149,61 @@
       <axis xyz="0 0 -1"/>
       <limit effort="0" lower="0" upper="0.5" velocity="0"/>
     </joint>
+
+
+    <link
+      name="${station_name}${device_name}mt_base">
+      <inertial>
+        <origin
+          xyz="0.351023411986924 0.445375400882133 0.128876815206488"
+          rpy="0 0 0" />
+        <mass
+          value="11.1062879385751" />
+        <inertia
+          ixx="0.143866977287068"
+          ixy="0.0137782180671174"
+          ixz="-0.000140346559252494"
+          iyy="0.14345824300898"
+          iyz="-0.000123577300295821"
+          izz="0.279834203406604" />
+      </inertial>
+      <visual>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh
+            filename="file://${mesh_path}/devices/hplc_station/meshes/mt_base.STL" />
+        </geometry>
+        <material
+          name="">
+          <color
+            rgba="1 1 1 1" />
+        </material>
+      </visual>
+      <collision>
+        <origin
+          xyz="0 0 0"
+          rpy="0 0 0" />
+        <geometry>
+          <mesh
+            filename="file://${mesh_path}/devices/hplc_station/meshes/mt_base.STL" />
+        </geometry>
+      </collision>
+    </link>
+    <joint
+      name="${station_name}${device_name}mt_joint"
+      type="fixed">
+      <origin
+        xyz="0 0 0"
+        rpy="0 0 0" />
+      <parent
+        link="${station_name}${device_name}ws_base" />
+      <child
+        link="${station_name}${device_name}mt_base" />
+      <axis
+        xyz="0 0 0" />
+    </joint>
+
   </xacro:macro>
 </robot>

unilabos/registry/devices/robot_arm.yaml

@@ -147,6 +147,7 @@ robotic_arm.UR:
   handles: []
   icon: ''
   init_param_schema:
+    additionalProperties: false
     config:
       properties:
         host:
@@ -172,5 +173,66 @@ robotic_arm.UR:
       - gripper_pose
       - arm_status
       - gripper_status
-    additionalProperties: false
-    type: object
+    type: object
+  version: 1.0.0
+robotic_arm.elite:
+  category:
+  - robot_arm
+  class:
+    action_value_mappings:
+      modbus_task_cmd:
+        feedback: {}
+        goal:
+          command: command
+        goal_default:
+          command: ''
+        handles: []
+        result: {}
+        schema:
+          description: ''
+          properties:
+            feedback:
+              properties:
+                status:
+                  type: string
+              required:
+              - status
+              title: SendCmd_Feedback
+              type: object
+            goal:
+              properties:
+                command:
+                  type: string
+              required:
+              - command
+              title: SendCmd_Goal
+              type: object
+            result:
+              properties:
+                return_info:
+                  type: string
+                success:
+                  type: boolean
+              required:
+              - return_info
+              - success
+              title: SendCmd_Result
+              type: object
+          required:
+          - goal
+          title: SendCmd
+          type: object
+        type: SendCmd
+    module: unilabos.devices.arm.elite_robot:EliteRobot
+    status_types:
+      arm_pose: Float64MultiArray
+    type: python
+  config_info: []
+  description: Elite robot arm
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  model:
+    mesh: elite_robot
+    type: device
+  version: 1.0.0

unilabos/registry/resources/opentrons/deck.yaml

@@ -15,3 +15,13 @@ OTDeck:
     type: device
   registry_type: resource
   version: 1.0.0
+
+
+hplc_station:
+  description: Opentrons deck
+  class: 
+    module: pylabrobot.resources.opentrons.deck:OTDeck
+    type: pylabrobot
+  model:
+    type: device
+    mesh: hplc_station