diff --git a/test/experiments/test.json b/test/experiments/test.json index 7ab8f87b..8b92c9af 100644 --- a/test/experiments/test.json +++ b/test/experiments/test.json @@ -4,6 +4,7 @@ "id": "Gripper1", "name": "假夹爪", "children": [ + "Plate1" ], "parent": null, "type": "device", @@ -23,7 +24,7 @@ "name": "Plate1", "children": [ ], - "parent": null, + "parent": "Gripper1", "type": "plate", "class": "nest_96_wellplate_100ul_pcr_full_skirt", "position": { diff --git a/test/experiments/test_copy.json b/test/experiments/test_copy.json new file mode 100644 index 00000000..c2b31e40 --- /dev/null +++ b/test/experiments/test_copy.json @@ -0,0 +1,102 @@ +{ + "nodes": [ + { + "id": "PLR_STATION", + "name": "PLR_LH_TEST", + "parent": null, + "type": "device", + "class": "liquid_handler", + "position": { + "x": 620.6111111111111, + "y": 171, + "z": 0 + }, + "config": { + "data": { + "children": [ + { + "_resource_child_name": "deck", + "_resource_type": "pylabrobot.resources.opentrons.deck:OTDeck" + } + ], + "backend": { + "type": "LiquidHandlerChatterboxBackend" + } + } + }, + "data": {}, + "children": [ + "deck" + ] + }, + { + "id": "deck", + "name": "deck", + "sample_id": null, + "children": [ + + "teaching_carrier" + ], + "parent": "PLR_STATION", + "type": "device", + "class": "OTDeck", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "OTDeck", + "size_x": 1360, + "size_y": 653.5, + "size_z": 900, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "deck", + "num_rails": 32, + "with_trash": false, + "with_trash96": false, + "with_teaching_rack": false + }, + "data": {} + }, + + { + "id": "teaching_carrier", + "name": "teaching_carrier", + "sample_id": null, + "children": [ + ], + "parent": "deck", + "type": "plate", + "class": "nest_96_wellplate_100ul_pcr_full_skirt", + "position": { + "x": 0, + "y": 0, + "z": 69 + }, + "config": { + "type": "Resource", + "size_x": 30, + "size_y": 445.2, + "size_z": 100, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": null, + "model": null + }, + "data": {} + } + ], + "links": [ + + ] +} \ No newline at end of file diff --git a/unilabos/app/main.py b/unilabos/app/main.py index f6e50596..6d651ca1 100644 --- a/unilabos/app/main.py +++ b/unilabos/app/main.py @@ -122,6 +122,7 @@ def main(): args_dict["resources_config"] = initialize_resources(list(deepcopy(devices_and_resources).values())) args_dict["devices_config"] = dict_to_nested_dict(deepcopy(devices_and_resources), devices_only=False) # args_dict["resources_config"] = dict_to_tree(devices_and_resources, devices_only=False) + args_dict["graph"] = graph_res.physical_setup_graph else: if args_dict["devices"] is None or args_dict["resources"] is None: @@ -159,9 +160,10 @@ def main(): if args_dict["visual"] != "None": if args_dict["visual"] == "rviz": - resource_visualization = ResourceVisualization(args_dict["devices_config"], args_dict["resources_config"],registry_dict) + enable_rviz=True elif args_dict["visual"] == "web": - resource_visualization = ResourceVisualization(args_dict["devices_config"], args_dict["resources_config"],registry_dict,enable_rviz=False ) + enable_rviz=False + resource_visualization = ResourceVisualization(devices_and_resources, args_dict["resources_config"],registry_dict,enable_rviz=enable_rviz) devices_config_add = add_resource_mesh_manager_node(resource_visualization.resource_model, args_dict["resources_config"]) args_dict["devices_config"] = {**args_dict["devices_config"], **devices_config_add} diff --git a/unilabos/device_mesh/resource_visalization.py b/unilabos/device_mesh/resource_visalization.py index 5cfd1fb2..1a9a50fd 100644 --- a/unilabos/device_mesh/resource_visalization.py +++ b/unilabos/device_mesh/resource_visalization.py @@ -50,6 +50,10 @@ class ResourceVisualization: # 检查设备类型是否在注册表中 if device_class not in registry.device_type_registry.keys(): + print("="*20) + print(device_class) + print(registry.device_type_registry.keys()) + print("="*20) raise ValueError(f"设备类型 {device_class} 未在注册表中注册") elif "model" in registry.device_type_registry[device_class].keys(): @@ -71,6 +75,7 @@ class ResourceVisualization: elif node['type'] in self.resource_type: # print(registry.resource_type_registry) + resource_class = node['class'] if resource_class not in registry.resource_type_registry.keys(): raise ValueError(f"资源类型 {resource_class} 未在注册表中注册") @@ -85,6 +90,7 @@ class ResourceVisualization: 'mesh': f"{str(self.mesh_path)}/resources/{model_config['children_mesh']}", 'mesh_tf': model_config['children_mesh_tf'] } + re = etree.tostring(self.root, encoding="unicode") doc = xacro.parse(re) diff --git a/unilabos/device_mesh/view_robot.rviz b/unilabos/device_mesh/view_robot.rviz index ef202c9d..4b6c9f53 100644 --- a/unilabos/device_mesh/view_robot.rviz +++ b/unilabos/device_mesh/view_robot.rviz @@ -13,7 +13,7 @@ Panels: - /RobotState1 - /RobotState1/Links1 Splitter Ratio: 0.5 - Tree Height: 275 + Tree Height: 345 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties @@ -49,436 +49,19 @@ Visualization Manager: Reference Frame: Value: true - Class: rviz_default_plugins/TF - Enabled: true + Enabled: false Frame Timeout: 15 Frames: All Enabled: false - Gripper1_device_link: - Value: false - Gripper1_first_link: - Value: true - Gripper1_fourth_link: - Value: false - Gripper1_main_link: - Value: false - Gripper1_second_link: - Value: false - Gripper1_socketTypeGenericSbsFootprint: - Value: false - Gripper1_socketTypeHEPAModule: - Value: false - Gripper1_third_link: - Value: false - Plate1: - Value: false - Plate1_A1: - Value: false - Plate1_A10: - Value: false - Plate1_A11: - Value: false - Plate1_A12: - Value: false - Plate1_A2: - Value: false - Plate1_A3: - Value: false - Plate1_A4: - Value: false - Plate1_A5: - Value: false - Plate1_A6: - Value: false - Plate1_A7: - Value: false - Plate1_A8: - Value: false - Plate1_A9: - Value: false - Plate1_B1: - Value: false - Plate1_B10: - Value: false - Plate1_B11: - Value: false - Plate1_B12: - Value: false - Plate1_B2: - Value: false - Plate1_B3: - Value: false - Plate1_B4: - Value: false - Plate1_B5: - Value: false - Plate1_B6: - Value: false - Plate1_B7: - Value: false - Plate1_B8: - Value: false - Plate1_B9: - Value: false - Plate1_C1: - Value: false - Plate1_C10: - Value: false - Plate1_C11: - Value: false - Plate1_C12: - Value: false - Plate1_C2: - Value: false - Plate1_C3: - Value: false - Plate1_C4: - Value: false - Plate1_C5: - Value: false - Plate1_C6: - Value: false - Plate1_C7: - Value: false - Plate1_C8: - Value: false - Plate1_C9: - Value: false - Plate1_D1: - Value: false - Plate1_D10: - Value: false - Plate1_D11: - Value: false - Plate1_D12: - Value: false - Plate1_D2: - Value: false - Plate1_D3: - Value: false - Plate1_D4: - Value: false - Plate1_D5: - Value: false - Plate1_D6: - Value: false - Plate1_D7: - Value: false - Plate1_D8: - Value: false - Plate1_D9: - Value: false - Plate1_E1: - Value: false - Plate1_E10: - Value: false - Plate1_E11: - Value: false - Plate1_E12: - Value: false - Plate1_E2: - Value: false - Plate1_E3: - Value: false - Plate1_E4: - Value: false - Plate1_E5: - Value: false - Plate1_E6: - Value: false - Plate1_E7: - Value: false - Plate1_E8: - Value: false - Plate1_E9: - Value: false - Plate1_F1: - Value: false - Plate1_F10: - Value: false - Plate1_F11: - Value: false - Plate1_F12: - Value: false - Plate1_F2: - Value: false - Plate1_F3: - Value: false - Plate1_F4: - Value: false - Plate1_F5: - Value: false - Plate1_F6: - Value: false - Plate1_F7: - Value: false - Plate1_F8: - Value: false - Plate1_F9: - Value: false - Plate1_G1: - Value: false - Plate1_G10: - Value: false - Plate1_G11: - Value: false - Plate1_G12: - Value: false - Plate1_G2: - Value: false - Plate1_G3: - Value: false - Plate1_G4: - Value: false - Plate1_G5: - Value: false - Plate1_G6: - Value: false - Plate1_G7: - Value: false - Plate1_G8: - Value: false - Plate1_G9: - Value: false - Plate1_H1: - Value: false - Plate1_H10: - Value: false - Plate1_H11: - Value: false - Plate1_H12: - Value: false - Plate1_H2: - Value: false - Plate1_H3: - Value: false - Plate1_H4: - Value: false - Plate1_H5: - Value: false - Plate1_H6: - Value: false - Plate1_H7: - Value: false - Plate1_H8: - Value: false - Plate1_H9: - Value: false - world: - Value: false Marker Scale: 1 Name: TF Show Arrows: true Show Axes: true - Show Names: true + Show Names: false Tree: - world: - Gripper1_device_link: - Gripper1_main_link: - Gripper1_first_link: - Gripper1_second_link: - Gripper1_fourth_link: - {} - Gripper1_third_link: - {} - Plate1_C6: - {} - Gripper1_socketTypeGenericSbsFootprint: - {} - Gripper1_socketTypeHEPAModule: - {} - Plate1: - Plate1_A1: - {} - Plate1_A10: - {} - Plate1_A11: - {} - Plate1_A12: - {} - Plate1_A2: - {} - Plate1_A3: - {} - Plate1_A4: - {} - Plate1_A5: - {} - Plate1_A6: - {} - Plate1_A7: - {} - Plate1_A8: - {} - Plate1_A9: - {} - Plate1_B1: - {} - Plate1_B10: - {} - Plate1_B11: - {} - Plate1_B12: - {} - Plate1_B2: - {} - Plate1_B3: - {} - Plate1_B4: - {} - Plate1_B5: - {} - Plate1_B6: - {} - Plate1_B7: - {} - Plate1_B8: - {} - Plate1_B9: - {} - Plate1_C1: - {} - Plate1_C10: - {} - Plate1_C11: - {} - Plate1_C12: - {} - Plate1_C2: - {} - Plate1_C3: - {} - Plate1_C4: - {} - Plate1_C7: - {} - Plate1_C8: - {} - Plate1_C9: - {} - Plate1_D1: - {} - Plate1_D10: - {} - Plate1_D11: - {} - Plate1_D12: - {} - Plate1_D2: - {} - Plate1_D3: - {} - Plate1_D4: - {} - Plate1_D5: - {} - Plate1_D6: - {} - Plate1_D7: - {} - Plate1_D8: - {} - Plate1_D9: - {} - Plate1_E1: - {} - Plate1_E10: - {} - Plate1_E11: - {} - Plate1_E12: - {} - Plate1_E2: - {} - Plate1_E3: - {} - Plate1_E4: - {} - Plate1_E5: - {} - Plate1_E6: - {} - Plate1_E7: - {} - Plate1_E8: - {} - Plate1_E9: - {} - Plate1_F1: - {} - Plate1_F10: - {} - Plate1_F11: - {} - Plate1_F12: - {} - Plate1_F2: - {} - Plate1_F3: - {} - Plate1_F4: - {} - Plate1_F5: - {} - Plate1_F6: - {} - Plate1_F7: - {} - Plate1_F8: - {} - Plate1_F9: - {} - Plate1_G1: - {} - Plate1_G10: - {} - Plate1_G11: - {} - Plate1_G12: - {} - Plate1_G2: - {} - Plate1_G3: - {} - Plate1_G4: - {} - Plate1_G5: - {} - Plate1_G6: - {} - Plate1_G7: - {} - Plate1_G8: - {} - Plate1_G9: - {} - Plate1_H1: - {} - Plate1_H10: - {} - Plate1_H11: - {} - Plate1_H12: - {} - Plate1_H2: - {} - Plate1_H3: - {} - Plate1_H4: - {} - Plate1_H5: - {} - Plate1_H6: - {} - Plate1_H7: - {} - Plate1_H8: - {} - Plate1_H9: - {} - Plate1_C5: - {} + {} Update Interval: 0 - Value: true + Value: false - Alpha: 1 Class: rviz_default_plugins/RobotModel Collision Enabled: false @@ -490,61 +73,20 @@ Visualization Manager: History Policy: Keep Last Reliability Policy: Reliable Value: /robot_description - Enabled: true + Enabled: false Links: All Links Enabled: true Expand Joint Details: false Expand Link Details: false Expand Tree: false - Gripper1_device_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Gripper1_first_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Gripper1_fourth_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Gripper1_main_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Gripper1_second_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Gripper1_socketTypeGenericSbsFootprint: - Alpha: 1 - Show Axes: false - Show Trail: false - Gripper1_socketTypeHEPAModule: - Alpha: 1 - Show Axes: false - Show Trail: false - Gripper1_third_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true Link Tree Style: Links in Alphabetic Order - world: - Alpha: 1 - Show Axes: false - Show Trail: false Mass Properties: Inertia: false Mass: false Name: RobotModel TF Prefix: "" Update Interval: 0 - Value: true + Value: false Visual Enabled: true - Class: moveit_rviz_plugin/PlanningScene Enabled: false @@ -566,48 +108,7 @@ Visualization Manager: Expand Joint Details: false Expand Link Details: false Expand Tree: false - Gripper1_device_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Gripper1_first_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Gripper1_fourth_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Gripper1_main_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Gripper1_second_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Gripper1_socketTypeGenericSbsFootprint: - Alpha: 1 - Show Axes: false - Show Trail: false - Gripper1_socketTypeHEPAModule: - Alpha: 1 - Show Axes: false - Show Trail: false - Gripper1_third_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true Link Tree Style: Links in Alphabetic Order - world: - Alpha: 1 - Show Axes: false - Show Trail: false Robot Alpha: 1 Show Robot Collision: false Show Robot Visual: false @@ -621,48 +122,7 @@ Visualization Manager: Expand Joint Details: false Expand Link Details: false Expand Tree: false - Gripper1_device_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Gripper1_first_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Gripper1_fourth_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Gripper1_main_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Gripper1_second_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Gripper1_socketTypeGenericSbsFootprint: - Alpha: 1 - Show Axes: false - Show Trail: false - Gripper1_socketTypeHEPAModule: - Alpha: 1 - Show Axes: false - Show Trail: false - Gripper1_third_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true Link Tree Style: Links in Alphabetic Order - world: - Alpha: 1 - Show Axes: false - Show Trail: false Name: RobotState Robot Alpha: 1 Robot Description: robot_description @@ -888,30 +348,30 @@ Visualization Manager: Swap Stereo Eyes: false Value: false Focal Point: - X: 1.2573390007019043 - Y: 1.1951926946640015 - Z: 0.23975235223770142 + X: 1.0440783500671387 + Y: 0.27775266766548157 + Z: 0.42559614777565 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.5797955989837646 + Pitch: 0.40479576587677 Target Frame: Value: Orbit (rviz) - Yaw: 6.250748634338379 + Yaw: 6.070750713348389 Saved: ~ Window Geometry: - "": - collapsed: false - " - Trajectory Slider": - collapsed: false Displays: collapsed: false Height: 1656 Hide Left Dock: false Hide Right Dock: true - QMainWindow State: 000000ff00000000fd0000000400000000000003a3000005dcfc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000006e0000020b0000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000007a00fffffffbffffffff0100000285000003c5000002b700ffffff000000010000010f00000387fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000003870000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000627000005dc00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + MotionPlanning: + collapsed: false + MotionPlanning - Trajectory Slider: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000400000000000003a3000005dcfc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000006e000002510000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000007a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000002cb0000037f000002b800ffffff000000010000010f00000387fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000003870000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000627000005dc00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Tool Properties: @@ -919,5 +379,5 @@ Window Geometry: Views: collapsed: true Width: 2518 - X: 125 + X: 140 Y: 145 diff --git a/unilabos/devices/ros_dev/resource_mesh_manager.py b/unilabos/devices/ros_dev/resource_mesh_manager.py index eb32a0ca..c738b9a4 100644 --- a/unilabos/devices/ros_dev/resource_mesh_manager.py +++ b/unilabos/devices/ros_dev/resource_mesh_manager.py @@ -125,7 +125,6 @@ class ResourceMeshManager(BaseROS2DeviceNode): def resource_mesh_setup(self): """move_group初始化完成后的设置""" 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， for resource_id, resource_config in self.resource_config_dict.items(): @@ -162,7 +161,12 @@ class ResourceMeshManager(BaseROS2DeviceNode): float(rotation_dict['y']), float(rotation_dict['z']) ) - + # print("-"*20) + # print(f"resource_id: {resource_id}") + # print(f"parent: {parent}") + # print(f"resource_config: {self.resource_model}") + # print(f"parent_link: {parent_link}") + # print("-"*20) rotation = { "x": q[0], "y": q[1], @@ -358,62 +362,6 @@ class ResourceMeshManager(BaseROS2DeviceNode): goal_handle.succeed() return SendCmd.Result(success=True) - - def resource_mesh_setup(self): - """move_group初始化完成后的设置""" - 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， - - for resource_id, resource_config in self.resource_config_dict.items(): - - 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 not in self.resource_model and parent is not None: - parent_link = f"{self.resource_config_dict[parent]['parent']}{parent}_device_link".replace("None","") - else: - 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 - } - - rotation_dict = { - "x": 0, - "y": 0, - "z": 0 - } - - if 'rotation' in resource_config['config']: - rotation_dict = resource_config['config']['rotation'] - - # 从欧拉角转换为四元数 - q = quaternion_from_euler( - float(rotation_dict['x']), - float(rotation_dict['y']), - float(rotation_dict['z']) - ) - - rotation = { - "x": q[0], - "y": q[1], - "z": q[2], - "w": q[3] - } - - # 更新资源TF字典 - self.resource_tf_dict[resource_id] = { - "parent": parent_link, - "position": position, - "rotation": rotation - } - def publish_resource_tf(self): """ 发布资源之间的TF关系 diff --git a/unilabos/registry/devices/deck.yaml b/unilabos/registry/devices/deck.yaml new file mode 100644 index 00000000..652240a5 --- /dev/null +++ b/unilabos/registry/devices/deck.yaml @@ -0,0 +1,8 @@ +OTDeck: + description: Opentrons deck + class: + module: pylabrobot.resources.opentrons.deck:OTDeck + type: pylabrobot + model: + type: device + mesh: opentrons_liquid_handler \ No newline at end of file diff --git a/unilabos/registry/resources/opentrons/deck.yaml b/unilabos/registry/resources/opentrons/deck.yaml index 439da452..652240a5 100644 --- a/unilabos/registry/resources/opentrons/deck.yaml +++ b/unilabos/registry/resources/opentrons/deck.yaml @@ -2,4 +2,7 @@ OTDeck: description: Opentrons deck class: module: pylabrobot.resources.opentrons.deck:OTDeck - type: pylabrobot \ No newline at end of file + type: pylabrobot + model: + type: device + mesh: opentrons_liquid_handler \ No newline at end of file