mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2025-12-17 04:51:10 +00:00
使用json启动plr与3D模型仿真
This commit is contained in:
zhangshixiang
@@ -4,6 +4,7 @@
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"id": "Gripper1",
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"id": "Gripper1",
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"name": "假夹爪",
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"name": "假夹爪",
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"children": [
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"children": [
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"Plate1"
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],
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],
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"parent": null,
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"parent": null,
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"type": "device",
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"type": "device",
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@@ -23,7 +24,7 @@
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"name": "Plate1",
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"name": "Plate1",
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"children": [
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"children": [
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],
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],
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"parent": null,
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"parent": "Gripper1",
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"type": "plate",
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"type": "plate",
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"class": "nest_96_wellplate_100ul_pcr_full_skirt",
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"class": "nest_96_wellplate_100ul_pcr_full_skirt",
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"position": {
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"position": {
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102
test/experiments/test_copy.json
Normal file
102
test/experiments/test_copy.json
Normal file
@@ -0,0 +1,102 @@
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{
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"nodes": [
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{
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"id": "PLR_STATION",
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"name": "PLR_LH_TEST",
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"parent": null,
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"type": "device",
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"class": "liquid_handler",
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"position": {
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"x": 620.6111111111111,
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"y": 171,
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"z": 0
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},
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"config": {
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"data": {
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"children": [
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{
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"_resource_child_name": "deck",
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"_resource_type": "pylabrobot.resources.opentrons.deck:OTDeck"
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}
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],
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"backend": {
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"type": "LiquidHandlerChatterboxBackend"
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}
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}
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},
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"data": {},
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"children": [
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"deck"
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]
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},
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{
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"id": "deck",
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"name": "deck",
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"sample_id": null,
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"children": [
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"teaching_carrier"
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],
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"parent": "PLR_STATION",
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"type": "device",
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"class": "OTDeck",
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"position": {
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"x": 0,
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"y": 0,
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"z": 0
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},
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"config": {
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"type": "OTDeck",
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"size_x": 1360,
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"size_y": 653.5,
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"size_z": 900,
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"rotation": {
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"x": 0,
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"y": 0,
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"z": 0,
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"type": "Rotation"
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},
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"category": "deck",
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"num_rails": 32,
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"with_trash": false,
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"with_trash96": false,
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"with_teaching_rack": false
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},
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"data": {}
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},
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{
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"id": "teaching_carrier",
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"name": "teaching_carrier",
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"sample_id": null,
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"children": [
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],
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"parent": "deck",
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"type": "plate",
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"class": "nest_96_wellplate_100ul_pcr_full_skirt",
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"position": {
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"x": 0,
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"y": 0,
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"z": 69
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},
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"config": {
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"type": "Resource",
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"size_x": 30,
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"size_y": 445.2,
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"size_z": 100,
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"rotation": {
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"x": 0,
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"y": 0,
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"z": 0,
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"type": "Rotation"
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},
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"category": null,
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"model": null
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},
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"data": {}
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}
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],
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"links": [
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]
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}
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@@ -122,6 +122,7 @@ def main():
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args_dict["resources_config"] = initialize_resources(list(deepcopy(devices_and_resources).values()))
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args_dict["resources_config"] = initialize_resources(list(deepcopy(devices_and_resources).values()))
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args_dict["devices_config"] = dict_to_nested_dict(deepcopy(devices_and_resources), devices_only=False)
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args_dict["devices_config"] = dict_to_nested_dict(deepcopy(devices_and_resources), devices_only=False)
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# args_dict["resources_config"] = dict_to_tree(devices_and_resources, devices_only=False)
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# args_dict["resources_config"] = dict_to_tree(devices_and_resources, devices_only=False)
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args_dict["graph"] = graph_res.physical_setup_graph
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args_dict["graph"] = graph_res.physical_setup_graph
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else:
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else:
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if args_dict["devices"] is None or args_dict["resources"] is None:
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if args_dict["devices"] is None or args_dict["resources"] is None:
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@@ -159,9 +160,10 @@ def main():
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if args_dict["visual"] != "None":
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if args_dict["visual"] != "None":
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if args_dict["visual"] == "rviz":
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if args_dict["visual"] == "rviz":
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resource_visualization = ResourceVisualization(args_dict["devices_config"], args_dict["resources_config"],registry_dict)
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enable_rviz=True
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elif args_dict["visual"] == "web":
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elif args_dict["visual"] == "web":
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resource_visualization = ResourceVisualization(args_dict["devices_config"], args_dict["resources_config"],registry_dict,enable_rviz=False )
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enable_rviz=False
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resource_visualization = ResourceVisualization(devices_and_resources, args_dict["resources_config"],registry_dict,enable_rviz=enable_rviz)
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devices_config_add = add_resource_mesh_manager_node(resource_visualization.resource_model, args_dict["resources_config"])
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devices_config_add = add_resource_mesh_manager_node(resource_visualization.resource_model, args_dict["resources_config"])
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args_dict["devices_config"] = {**args_dict["devices_config"], **devices_config_add}
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args_dict["devices_config"] = {**args_dict["devices_config"], **devices_config_add}
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@@ -50,6 +50,10 @@ class ResourceVisualization:
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# 检查设备类型是否在注册表中
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# 检查设备类型是否在注册表中
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if device_class not in registry.device_type_registry.keys():
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if device_class not in registry.device_type_registry.keys():
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print("="*20)
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print(device_class)
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print(registry.device_type_registry.keys())
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print("="*20)
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raise ValueError(f"设备类型 {device_class} 未在注册表中注册")
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raise ValueError(f"设备类型 {device_class} 未在注册表中注册")
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elif "model" in registry.device_type_registry[device_class].keys():
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elif "model" in registry.device_type_registry[device_class].keys():
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@@ -71,6 +75,7 @@ class ResourceVisualization:
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elif node['type'] in self.resource_type:
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elif node['type'] in self.resource_type:
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# print(registry.resource_type_registry)
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# print(registry.resource_type_registry)
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resource_class = node['class']
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resource_class = node['class']
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if resource_class not in registry.resource_type_registry.keys():
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if resource_class not in registry.resource_type_registry.keys():
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raise ValueError(f"资源类型 {resource_class} 未在注册表中注册")
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raise ValueError(f"资源类型 {resource_class} 未在注册表中注册")
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@@ -86,6 +91,7 @@ class ResourceVisualization:
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'mesh_tf': model_config['children_mesh_tf']
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'mesh_tf': model_config['children_mesh_tf']
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}
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}
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re = etree.tostring(self.root, encoding="unicode")
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re = etree.tostring(self.root, encoding="unicode")
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doc = xacro.parse(re)
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doc = xacro.parse(re)
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xacro.process_doc(doc)
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xacro.process_doc(doc)
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@@ -13,7 +13,7 @@ Panels:
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- /RobotState1
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- /RobotState1
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- /RobotState1/Links1
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- /RobotState1/Links1
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Splitter Ratio: 0.5
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Splitter Ratio: 0.5
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Tree Height: 275
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Tree Height: 345
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- Class: rviz_common/Selection
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- Class: rviz_common/Selection
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Name: Selection
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Name: Selection
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- Class: rviz_common/Tool Properties
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- Class: rviz_common/Tool Properties
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@@ -49,436 +49,19 @@ Visualization Manager:
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Reference Frame: <Fixed Frame>
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Reference Frame: <Fixed Frame>
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Value: true
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Value: true
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- Class: rviz_default_plugins/TF
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- Class: rviz_default_plugins/TF
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Enabled: true
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Enabled: false
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Frame Timeout: 15
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Frame Timeout: 15
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Frames:
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Frames:
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All Enabled: false
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All Enabled: false
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Gripper1_device_link:
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Value: false
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Gripper1_first_link:
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Value: true
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Gripper1_fourth_link:
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Value: false
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Gripper1_main_link:
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Value: false
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Gripper1_second_link:
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Value: false
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Gripper1_socketTypeGenericSbsFootprint:
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Value: false
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Gripper1_socketTypeHEPAModule:
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Value: false
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Gripper1_third_link:
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Value: false
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Plate1:
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Value: false
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Plate1_A1:
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Value: false
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Plate1_A10:
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Value: false
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Plate1_A11:
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Value: false
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Plate1_A12:
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Value: false
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Plate1_A2:
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Value: false
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Plate1_A3:
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Value: false
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Plate1_A4:
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Value: false
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Plate1_A5:
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Value: false
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Plate1_A6:
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Value: false
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Plate1_A7:
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Value: false
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Plate1_A8:
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Value: false
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Plate1_A9:
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Value: false
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Plate1_B1:
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Value: false
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Plate1_B10:
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Value: false
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Plate1_B11:
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Value: false
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Plate1_B12:
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Value: false
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Plate1_B2:
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Value: false
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Plate1_B3:
|
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Value: false
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Plate1_B4:
|
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Value: false
|
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Plate1_B5:
|
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Value: false
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Plate1_B6:
|
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Value: false
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Plate1_B7:
|
|
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Value: false
|
|
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Plate1_B8:
|
|
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Value: false
|
|
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Plate1_B9:
|
|
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Value: false
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|
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Plate1_C1:
|
|
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Value: false
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Plate1_C10:
|
|
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Value: false
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|
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Plate1_C11:
|
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Value: false
|
|
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Plate1_C12:
|
|
||||||
Value: false
|
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Plate1_C2:
|
|
||||||
Value: false
|
|
||||||
Plate1_C3:
|
|
||||||
Value: false
|
|
||||||
Plate1_C4:
|
|
||||||
Value: false
|
|
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Plate1_C5:
|
|
||||||
Value: false
|
|
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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
|
Marker Scale: 1
|
||||||
Name: TF
|
Name: TF
|
||||||
Show Arrows: true
|
Show Arrows: true
|
||||||
Show Axes: true
|
Show Axes: true
|
||||||
Show Names: true
|
Show Names: false
|
||||||
Tree:
|
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
|
Update Interval: 0
|
||||||
Value: true
|
Value: false
|
||||||
- Alpha: 1
|
- Alpha: 1
|
||||||
Class: rviz_default_plugins/RobotModel
|
Class: rviz_default_plugins/RobotModel
|
||||||
Collision Enabled: false
|
Collision Enabled: false
|
||||||
@@ -490,61 +73,20 @@ Visualization Manager:
|
|||||||
History Policy: Keep Last
|
History Policy: Keep Last
|
||||||
Reliability Policy: Reliable
|
Reliability Policy: Reliable
|
||||||
Value: /robot_description
|
Value: /robot_description
|
||||||
Enabled: true
|
Enabled: false
|
||||||
Links:
|
Links:
|
||||||
All Links Enabled: true
|
All Links Enabled: true
|
||||||
Expand Joint Details: false
|
Expand Joint Details: false
|
||||||
Expand Link Details: false
|
Expand Link Details: false
|
||||||
Expand Tree: 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
|
Link Tree Style: Links in Alphabetic Order
|
||||||
world:
|
|
||||||
Alpha: 1
|
|
||||||
Show Axes: false
|
|
||||||
Show Trail: false
|
|
||||||
Mass Properties:
|
Mass Properties:
|
||||||
Inertia: false
|
Inertia: false
|
||||||
Mass: false
|
Mass: false
|
||||||
Name: RobotModel
|
Name: RobotModel
|
||||||
TF Prefix: ""
|
TF Prefix: ""
|
||||||
Update Interval: 0
|
Update Interval: 0
|
||||||
Value: true
|
Value: false
|
||||||
Visual Enabled: true
|
Visual Enabled: true
|
||||||
- Class: moveit_rviz_plugin/PlanningScene
|
- Class: moveit_rviz_plugin/PlanningScene
|
||||||
Enabled: false
|
Enabled: false
|
||||||
@@ -566,48 +108,7 @@ Visualization Manager:
|
|||||||
Expand Joint Details: false
|
Expand Joint Details: false
|
||||||
Expand Link Details: false
|
Expand Link Details: false
|
||||||
Expand Tree: 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
|
Link Tree Style: Links in Alphabetic Order
|
||||||
world:
|
|
||||||
Alpha: 1
|
|
||||||
Show Axes: false
|
|
||||||
Show Trail: false
|
|
||||||
Robot Alpha: 1
|
Robot Alpha: 1
|
||||||
Show Robot Collision: false
|
Show Robot Collision: false
|
||||||
Show Robot Visual: false
|
Show Robot Visual: false
|
||||||
@@ -621,48 +122,7 @@ Visualization Manager:
|
|||||||
Expand Joint Details: false
|
Expand Joint Details: false
|
||||||
Expand Link Details: false
|
Expand Link Details: false
|
||||||
Expand Tree: 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
|
Link Tree Style: Links in Alphabetic Order
|
||||||
world:
|
|
||||||
Alpha: 1
|
|
||||||
Show Axes: false
|
|
||||||
Show Trail: false
|
|
||||||
Name: RobotState
|
Name: RobotState
|
||||||
Robot Alpha: 1
|
Robot Alpha: 1
|
||||||
Robot Description: robot_description
|
Robot Description: robot_description
|
||||||
@@ -888,30 +348,30 @@ Visualization Manager:
|
|||||||
Swap Stereo Eyes: false
|
Swap Stereo Eyes: false
|
||||||
Value: false
|
Value: false
|
||||||
Focal Point:
|
Focal Point:
|
||||||
X: 1.2573390007019043
|
X: 1.0440783500671387
|
||||||
Y: 1.1951926946640015
|
Y: 0.27775266766548157
|
||||||
Z: 0.23975235223770142
|
Z: 0.42559614777565
|
||||||
Focal Shape Fixed Size: true
|
Focal Shape Fixed Size: true
|
||||||
Focal Shape Size: 0.05000000074505806
|
Focal Shape Size: 0.05000000074505806
|
||||||
Invert Z Axis: false
|
Invert Z Axis: false
|
||||||
Name: Current View
|
Name: Current View
|
||||||
Near Clip Distance: 0.009999999776482582
|
Near Clip Distance: 0.009999999776482582
|
||||||
Pitch: 0.5797955989837646
|
Pitch: 0.40479576587677
|
||||||
Target Frame: <Fixed Frame>
|
Target Frame: <Fixed Frame>
|
||||||
Value: Orbit (rviz)
|
Value: Orbit (rviz)
|
||||||
Yaw: 6.250748634338379
|
Yaw: 6.070750713348389
|
||||||
Saved: ~
|
Saved: ~
|
||||||
Window Geometry:
|
Window Geometry:
|
||||||
"":
|
|
||||||
collapsed: false
|
|
||||||
" - Trajectory Slider":
|
|
||||||
collapsed: false
|
|
||||||
Displays:
|
Displays:
|
||||||
collapsed: false
|
collapsed: false
|
||||||
Height: 1656
|
Height: 1656
|
||||||
Hide Left Dock: false
|
Hide Left Dock: false
|
||||||
Hide Right Dock: true
|
Hide Right Dock: true
|
||||||
QMainWindow State: 000000ff00000000fd0000000400000000000003a3000005dcfc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000006e0000020b0000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000007a00fffffffbffffffff0100000285000003c5000002b700ffffff000000010000010f00000387fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000003870000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000627000005dc00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
MotionPlanning:
|
||||||
|
collapsed: false
|
||||||
|
MotionPlanning - Trajectory Slider:
|
||||||
|
collapsed: false
|
||||||
|
QMainWindow State: 000000ff00000000fd0000000400000000000003a3000005dcfc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000006e000002510000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000007a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000002cb0000037f000002b800ffffff000000010000010f00000387fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000003870000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000627000005dc00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||||
Selection:
|
Selection:
|
||||||
collapsed: false
|
collapsed: false
|
||||||
Tool Properties:
|
Tool Properties:
|
||||||
@@ -919,5 +379,5 @@ Window Geometry:
|
|||||||
Views:
|
Views:
|
||||||
collapsed: true
|
collapsed: true
|
||||||
Width: 2518
|
Width: 2518
|
||||||
X: 125
|
X: 140
|
||||||
Y: 145
|
Y: 145
|
||||||
|
|||||||
@@ -125,7 +125,6 @@ class ResourceMeshManager(BaseROS2DeviceNode):
|
|||||||
def resource_mesh_setup(self):
|
def resource_mesh_setup(self):
|
||||||
"""move_group初始化完成后的设置"""
|
"""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')
|
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，
|
#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():
|
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['y']),
|
||||||
float(rotation_dict['z'])
|
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 = {
|
rotation = {
|
||||||
"x": q[0],
|
"x": q[0],
|
||||||
"y": q[1],
|
"y": q[1],
|
||||||
@@ -358,62 +362,6 @@ class ResourceMeshManager(BaseROS2DeviceNode):
|
|||||||
goal_handle.succeed()
|
goal_handle.succeed()
|
||||||
return SendCmd.Result(success=True)
|
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):
|
def publish_resource_tf(self):
|
||||||
"""
|
"""
|
||||||
发布资源之间的TF关系
|
发布资源之间的TF关系
|
||||||
|
|||||||
8
unilabos/registry/devices/deck.yaml
Normal file
8
unilabos/registry/devices/deck.yaml
Normal file
@@ -0,0 +1,8 @@
|
|||||||
|
OTDeck:
|
||||||
|
description: Opentrons deck
|
||||||
|
class:
|
||||||
|
module: pylabrobot.resources.opentrons.deck:OTDeck
|
||||||
|
type: pylabrobot
|
||||||
|
model:
|
||||||
|
type: device
|
||||||
|
mesh: opentrons_liquid_handler
|
||||||
@@ -3,3 +3,6 @@ OTDeck:
|
|||||||
class:
|
class:
|
||||||
module: pylabrobot.resources.opentrons.deck:OTDeck
|
module: pylabrobot.resources.opentrons.deck:OTDeck
|
||||||
type: pylabrobot
|
type: pylabrobot
|
||||||
|
model:
|
||||||
|
type: device
|
||||||
|
mesh: opentrons_liquid_handler
|
||||||
Reference in New Issue
Block a user