Initial commit

unilabos/registry/device_comms/modbus_ioboard.yaml

@@ -0,0 +1,9 @@
+io_snrd:
+  class:
+    module: unilabos.device_comms.SRND_16_IO:SRND_16_IO
+    type: python
+    hardware_interface:
+      name: modbus_client
+      extra_info: address
+      read: read_io_coil
+      write: write_io_coil

unilabos/registry/device_comms/serial.yaml

@@ -0,0 +1,6 @@
+serial:
+  class:
+    module: unilabos.ros.nodes.presets:ROS2SerialNode
+    type: ros2
+  schema:
+    properties: {}

unilabos/registry/devices/characterization_optic.yaml

@@ -0,0 +1,23 @@
+# 光学表征设备：红外、紫外可见、拉曼等
+raman_home_made:
+  class:
+    module: unilabos.devices.raman_uv.home_made_raman:RamanObj
+    type: python
+    status_types:
+      status: String
+    action_value_mappings:
+      raman_cmd:
+        type: SendCmd
+        goal:
+          command: command
+        feedback: {}
+        result:
+          success: success
+  schema:
+    properties:
+      status:
+        type: string
+    required:
+      - status
+    additionalProperties: false
+    type: object

unilabos/registry/devices/liquid_handler.yaml

@@ -0,0 +1,189 @@
+liquid_handler:
+  class:
+    module: pylabrobot.liquid_handling:LiquidHandler
+    type: python
+    status_types:
+      name: String
+    action_value_mappings:
+      aspirate:
+        type: LiquidHandlerAspirate
+        goal:
+          resources: resources
+          vols: vols
+          use_channels: use_channels
+          flow_rates: flow_rates
+          end_delay: end_delay
+          offsets: offsets
+          liquid_height: liquid_height
+          blow_out_air_volume: blow_out_air_volume
+        feedback: {}
+        result:
+          name: name
+      discard_tips:
+        type: LiquidHandlerDiscardTips
+        goal:
+          use_channels: use_channels
+        feedback: {}
+        result:
+          name: name
+      dispense:
+        type: LiquidHandlerDispense
+        goal:
+          resources: resources
+          vols: vols
+          use_channels: use_channels
+          flow_rates: flow_rates
+          offsets: offsets
+          blow_out_air_volume: blow_out_air_volume
+          spread: spread
+        feedback: {}
+        result:
+          name: name
+      drop_tips:
+        type: LiquidHandlerDropTips
+        goal:
+          tip_spots: tip_spots
+          use_channels: use_channels
+          offsets: offsets
+          allow_nonzero_volume: allow_nonzero_volume
+        feedback: {}
+        result:
+          name: name
+      drop_tips96:
+        type: LiquidHandlerDropTips96
+        goal:
+          tip_rack: tip_rack
+          offset: offset
+          allow_nonzero_volume: allow_nonzero_volume
+        feedback: {}
+        result:
+          name: name
+      move_lid:
+        type: LiquidHandlerMoveLid
+        goal:
+          lid: lid
+          to: to
+          intermediate_locations: intermediate_locations
+          resource_offset: resource_offset
+          destination_offset: destination_offset
+          pickup_direction: pickup_direction
+          drop_direction: drop_direction
+          get_direction: get_direction
+          put_direction: put_direction
+          pickup_distance_from_top: pickup_distance_from_top
+        feedback: {}
+        result:
+          name: name
+      move_plate:
+        type: LiquidHandlerMovePlate
+        goal:
+          plate: plate
+          to: to
+          intermediate_locations: intermediate_locations
+          resource_offset: resource_offset
+          pickup_offset: pickup_offset
+          destination_offset: destination_offset
+          pickup_direction: pickup_direction
+          drop_direction: drop_direction
+          get_direction: get_direction
+          put_direction: put_direction
+        feedback: {}
+        result:
+          name: name
+      move_resource:
+        type: LiquidHandlerMoveResource
+        goal:
+          resource: resource
+          to: to
+          intermediate_locations: intermediate_locations
+          resource_offset: resource_offset
+          destination_offset: destination_offset
+          pickup_distance_from_top: pickup_distance_from_top
+          pickup_direction: pickup_direction
+          drop_direction: drop_direction
+          get_direction: get_direction
+          put_direction: put_direction
+        feedback: {}
+        result:
+          name: name
+      pick_up_tips:
+        type: LiquidHandlerPickUpTips
+        goal:
+          tip_spots: tip_spots
+          use_channels: use_channels
+          offsets: offsets
+        feedback: {}
+        result:
+          name: name
+      pick_up_tips96:
+        type: LiquidHandlerPickUpTips96
+        goal:
+          tip_rack: tip_rack
+          offset: offset
+        feedback: {}
+        result:
+          name: name
+      return_tips:
+        type: LiquidHandlerReturnTips
+        goal:
+          use_channels: use_channels
+          allow_nonzero_volume: allow_nonzero_volume
+        feedback: {}
+        result:
+          name: name
+      return_tips96:
+        type: LiquidHandlerReturnTips96
+        goal:
+          allow_nonzero_volume: allow_nonzero_volume
+        feedback: {}
+        result:
+          name: name
+      stamp:
+        type: LiquidHandlerStamp
+        goal:
+          source: source
+          target: target
+          volume: volume
+          aspiration_flow_rate: aspiration_flow_rate
+          dispense_flow_rate: dispense_flow_rate
+        feedback: {}
+        result:
+          name: name
+      transfer:
+        type: LiquidHandlerTransfer
+        goal:
+          source: source
+          targets: targets
+          source_vol: source_vol
+          ratios: ratios
+          target_vols: target_vols
+          aspiration_flow_rate: aspiration_flow_rate
+          dispense_flow_rates: dispense_flow_rates
+  schema:
+    type: object
+    properties:
+      status:
+        type: string
+        description: 液体处理仪器当前状态
+    required:
+      - status
+    additionalProperties: false
+
+liquid_handler.revvity:
+  class:
+    module: unilabos.devices.liquid_handling.revvity:Revvity
+    type: python
+    status_types:
+      status: String
+    action_value_mappings:
+      run:
+        type: WorkStationRun
+        goal: 
+          wf_name: file_path
+          params: params
+          resource: resource
+        feedback:
+          status: status
+        result:
+          success: success
+    

unilabos/registry/devices/organic_miscellaneous.yaml

@@ -0,0 +1,71 @@
+separator.homemade:
+  class:
+    module: unilabos.devices.separator.homemade_grbl_conductivity:Separator_Controller
+    type: python
+    status_types:
+      sensordata: Float64
+      status: String
+    action_value_mappings:
+      stir:
+        type: Stir
+        goal:
+          stir_time: stir_time,
+          stir_speed: stir_speed
+          settling_time": settling_time
+        feedback:
+          status: status
+        result: 
+          success: success
+      valve_open_cmd:
+        type: SendCmd
+        goal: 
+          command: command
+        feedback: 
+          status: status
+        result": 
+          success: success
+  schema:
+    type: object
+    properties:
+      status:
+        type: string
+        description: The status of the device
+      sensordata:
+        type: number
+        description: 电导传感器数据
+    required:
+      - status
+      - sensordata
+    additionalProperties: false
+
+rotavap.one:
+  class:
+    module: unilabos.devices.rotavap.rotavap_one:RotavapOne
+    type: python
+    status_types:
+      pump_time: Float64
+      rotate_time: Float64
+    action_value_mappings:
+      set_timer:
+        type: SendCmd
+        goal:
+          command: command
+        feedback: {}
+        result:
+          success: success
+  schema:
+    type: object
+    properties:
+      temperature:
+        type: number
+        description: 旋蒸水浴温度
+      pump_time:
+        type: number
+        description: The pump time of the device
+      rotate_time:
+        type: number
+        description: The rotate time of the device
+    required:
+      - pump_time
+      - rotate_time
+    additionalProperties: false

unilabos/registry/devices/pump_and_valve.yaml

@@ -0,0 +1,35 @@
+syringe_pump_with_valve.runze:
+  class:
+    module: unilabos.devices.pump_and_valve.runze_backbone:RunzeSyringePump
+    type: python
+  schema:
+    type: object
+    properties:
+      status:
+        type: string
+        description: The status of the device
+      position:
+        type: number
+        description: The volume of the syringe
+      speed_max:
+        type: number
+        description: The speed of the syringe
+      valve_position:
+        type: string
+        description: The position of the valve
+    required:
+      - status
+      - position
+      - valve_position
+    additionalProperties: false
+
+
+solenoid_valve.mock:
+  class:
+    module: unilabos.devices.pump_and_valve.solenoid_valve_mock:SolenoidValveMock
+    type: python
+
+solenoid_valve:
+  class:
+    module: unilabos.devices.pump_and_valve.solenoid_valve:SolenoidValve
+    type: python

unilabos/registry/devices/robot_agv.yaml

@@ -0,0 +1,28 @@
+# 仙工智能底盘（知行使用）
+agv.SEER:
+  class:
+    module: unilabos.devices.agv.agv_navigator:AgvNavigator
+    type: python
+    status_types:
+      pose: Float64MultiArray
+      status: String
+    action_value_mappings:
+      send_nav_task:
+        type: SendCmd
+        goal:
+          command: command
+        feedback: {}
+        result:
+          success: success
+  schema:
+    properties:
+      pose:
+        type: array
+        items:
+          type: number
+      status:
+        type: string
+    required:
+      - status
+    additionalProperties: false
+    type: object

unilabos/registry/devices/robot_arm.yaml

@@ -0,0 +1,36 @@
+robotic_arm.UR:
+  class:
+    module: unilabos.devices.agv.ur_arm_task:UrArmTask
+    type: python
+    status_types:
+      arm_pose: Float64MultiArray
+      gripper_pose: Float64
+      arm_status: String
+      gripper_status: String
+    action_value_mappings:
+      move_pos_task:
+        type: SendCmd
+        goal:
+          command: command
+        feedback: {}
+        result:
+          success: success
+  schema:
+    properties:
+      arm_pose:
+        type: array
+        items:
+          type: number
+      gripper_pose:
+        type: number
+      arm_status:
+        type: string
+        description: 机械臂设备状态
+      gripper_status:
+        type: string
+        description: 机械爪设备状态
+    required:
+      - arm_status
+      - gripper_status
+    additionalProperties: false
+    type: object

unilabos/registry/devices/robot_gripper.yaml

@@ -0,0 +1,36 @@
+gripper.mock:
+  class:
+    module: unilabos.devices.gripper.mock:MockGripper
+    type: python
+    status_types:
+      position: Float64
+      torque: Float64
+      status: String
+    action_value_mappings:
+      push_to:
+        type: GripperCommand
+        goal:
+          command.position: position
+          command.max_effort: torque
+        feedback:
+          position: position
+          effort: torque
+        result:
+          position: position
+          effort: torque
+
+
+gripper.misumi_rz:
+  class:
+    module: unilabos.devices.motor:Grasp.EleGripper
+    type: python
+    status_types:
+      status: String
+    action_value_mappings:
+      execute_command_from_outer:
+        type: SendCmd
+        goal:
+          command: command
+        feedback: {}
+        result:
+          success: success

unilabos/registry/devices/robot_linear_motion.yaml

@@ -0,0 +1,55 @@
+linear_motion.grbl:
+  class:
+    module: unilabos.devices.cnc.grbl_sync:GrblCNC
+    type: python
+    action_value_mappings:
+      move_through_points: &move_through_points
+        type: NavigateThroughPoses
+        goal: 
+          poses[].pose.position: positions[]
+        feedback: 
+          current_pose.pose.position: position
+          navigation_time.sec: time_spent
+          estimated_time_remaining.sec: time_remaining
+          number_of_poses_remaining: pose_number_remaining
+        result: {}
+      set_spindle_speed:
+        type: SingleJointPosition
+        goal:
+          position: spindle_speed
+        feedback:
+          position: spindle_speed
+        result: {}
+  schema:
+    type: object
+    properties:
+      position:
+        type: array
+        items:
+          type: number
+        description: The position of the device
+      spindle_speed:
+        type: number
+        description: The spindle speed of the device
+    required:
+      - position
+      - spindle_speed
+    additionalProperties: false
+
+
+motor.iCL42:
+  class:
+    module: unilabos.devices.motor.iCL42:iCL42Driver
+    type: python
+    status_types:
+      motor_position: Int64
+      is_executing_run: Bool
+      success: Bool
+    action_value_mappings:
+      execute_command_from_outer:
+        type: SendCmd
+        goal:
+          command: command
+        feedback: {}
+        result:
+          success: success

unilabos/registry/devices/temperature.yaml

@@ -0,0 +1,62 @@
+heaterstirrer.dalong:
+  class:
+    module: unilabos.devices.heaterstirrer.dalong:HeaterStirrer_DaLong
+    type: python
+    status_types:
+      temp: Float64
+      temp_warning: Float64
+      stir_speed: Float64
+    action_value_mappings:
+      set_temp_warning:
+        type: SendCmd
+        goal:
+          command: temp
+        feedback: {}
+        result:
+          success: success
+      set_temp_target:
+        type: SendCmd
+        goal:
+          command: temp
+        feedback: {}
+        result:
+          success: success
+      heatchill:
+        type: HeatChill
+        goal:
+          vessel: vessel
+          temp: temp
+          time: time
+          purpose: purpose
+        feedback:
+          status: status
+        result:
+          success: success
+
+chiller:
+  class:
+    module: unilabos.devices.temperature.chiller:Chiller
+    type: python
+    action_value_mappings:
+      set_temperature:
+        type: SendCmd
+        goal:
+          command: command
+        feedback: {}
+        result:
+          success: success
+tempsensor:
+  class:
+    module: unilabos.devices.temperature.sensor_node:TempSensorNode
+    type: python
+    status_types:
+      value: Float64
+      warning: Float64
+    action_value_mappings:
+      set_warning:
+        type: SendCmd
+        goal:
+          command: command
+        feedback: {}
+        result:
+          success: success

unilabos/registry/devices/vacuum_and_purge.yaml

@@ -0,0 +1,9 @@
+vacuum_pump.mock:
+  class:
+    module: unilabos.devices.pump_and_valve.vacuum_pump_mock:VacuumPumpMock
+    type: python
+
+gas_source.mock:
+  class:
+    module: unilabos.devices.pump_and_valve.vacuum_pump_mock:VacuumPumpMock
+    type: python

unilabos/registry/devices/work_station.yaml

@@ -0,0 +1,6 @@
+workstation:
+  class:
+    module: unilabos.ros.nodes.presets.protocol_node:ROS2ProtocolNode
+    type: ros2
+  schema:
+    properties: {}

unilabos/registry/registry.py

@@ -0,0 +1,176 @@
+import os
+import sys
+from pathlib import Path
+from typing import Any
+
+import yaml
+
+from unilabos.utils import logger
+from unilabos.ros.msgs.message_converter import msg_converter_manager
+from unilabos.utils.decorator import singleton
+
+DEFAULT_PATHS = [Path(__file__).absolute().parent]
+
+
+@singleton
+class Registry:
+    def __init__(self, registry_paths=None):
+        self.registry_paths = DEFAULT_PATHS.copy()  # 使用copy避免修改默认值
+        if registry_paths:
+            self.registry_paths.extend(registry_paths)
+        self.device_type_registry = {}
+        self.resource_type_registry = {}
+        self._setup_called = False  # 跟踪setup是否已调用
+        # 其他状态变量
+        # self.is_host_mode = False  # 移至BasicConfig中
+
+    def setup(self):
+        # 检查是否已调用过setup
+        if self._setup_called:
+            logger.critical("[UniLab Registry] setup方法已被调用过，不允许多次调用")
+            return
+
+        # 标记setup已被调用
+        self._setup_called = True
+
+        logger.debug(f"[UniLab Registry] ----------Setup----------")
+        self.registry_paths = [Path(path).absolute() for path in self.registry_paths]
+        for i, path in enumerate(self.registry_paths):
+            sys_path = path.parent
+            logger.debug(f"[UniLab Registry] Path {i+1}/{len(self.registry_paths)}: {sys_path}")
+            sys.path.append(str(sys_path))
+            self.load_device_types(path)
+            self.load_resource_types(path)
+        logger.info("[UniLab Registry] 注册表设置完成")
+
+    def load_resource_types(self, path: os.PathLike):
+        abs_path = Path(path).absolute()
+        resource_path = abs_path / "resources"
+        files = list(resource_path.glob("*/*.yaml"))
+        logger.debug(f"[UniLab Registry] resources: {resource_path.exists()}, total: {len(files)}")
+        current_resource_number = len(self.resource_type_registry) + 1
+        for i, file in enumerate(files):
+            data = yaml.safe_load(open(file, encoding="utf-8"))
+            if data:
+                # 为每个资源添加文件路径信息
+                for resource_id, resource_info in data.items():
+                    # 添加文件路径 - 使用规范化的完整文件路径
+                    resource_info["file_path"] = str(file.absolute()).replace("\\", "/")
+
+                self.resource_type_registry.update(data)
+                logger.debug(
+                    f"[UniLab Registry] Resource-{current_resource_number} File-{i+1}/{len(files)} "
+                    + f"Add {list(data.keys())}"
+                )
+                current_resource_number += 1
+            else:
+                logger.debug(f"[UniLab Registry] Res File-{i+1}/{len(files)} Not Valid YAML File: {file.absolute()}")
+
+    def _replace_type_with_class(self, type_name: str, device_id: str, field_name: str) -> Any:
+        """
+        将类型名称替换为实际的类对象
+
+        Args:
+            type_name: 类型名称
+            device_id: 设备ID，用于错误信息
+            field_name: 字段名称，用于错误信息
+
+        Returns:
+            找到的类对象或原始字符串
+
+        Raises:
+            SystemExit: 如果找不到类型则终止程序
+        """
+        # 如果类型名为空，跳过替换
+        if not type_name or type_name == "":
+            logger.warning(f"[UniLab Registry] 设备 {device_id} 的 {field_name} 类型为空，跳过替换")
+            return type_name
+        if "." in type_name:
+            type_class = msg_converter_manager.get_class(type_name)
+        else:
+            type_class = msg_converter_manager.search_class(type_name)
+        if type_class:
+            return type_class
+        else:
+            logger.error(f"[UniLab Registry] 无法找到类型 '{type_name}' 用于设备 {device_id} 的 {field_name}")
+            sys.exit(1)
+
+    def load_device_types(self, path: os.PathLike):
+        abs_path = Path(path).absolute()
+        devices_path = abs_path / "devices"
+        device_comms_path = abs_path / "device_comms"
+        files = list(devices_path.glob("*.yaml")) + list(device_comms_path.glob("*.yaml"))
+        logger.debug(
+            f"[UniLab Registry] devices: {devices_path.exists()}, device_comms: {device_comms_path.exists()}, "
+            + f"total: {len(files)}"
+        )
+        current_device_number = len(self.device_type_registry) + 1
+        for i, file in enumerate(files):
+            data = yaml.safe_load(open(file, encoding="utf-8"))
+            if data:
+                # 在添加到注册表前处理类型替换
+                for device_id, device_config in data.items():
+                    # 添加文件路径信息 - 使用规范化的完整文件路径
+                    device_config["file_path"] = str(file.absolute()).replace("\\", "/")
+
+                    if "class" in device_config:
+                        # 处理状态类型
+                        if "status_types" in device_config["class"]:
+                            for status_name, status_type in device_config["class"]["status_types"].items():
+                                device_config["class"]["status_types"][status_name] = self._replace_type_with_class(
+                                    status_type, device_id, f"状态 {status_name}"
+                                )
+
+                        # 处理动作值映射
+                        if "action_value_mappings" in device_config["class"]:
+                            for action_name, action_config in device_config["class"]["action_value_mappings"].items():
+                                if "type" in action_config:
+                                    action_config["type"] = self._replace_type_with_class(
+                                        action_config["type"], device_id, f"动作 {action_name}"
+                                    )
+
+                self.device_type_registry.update(data)
+
+                for device_id in data.keys():
+                    logger.debug(
+                        f"[UniLab Registry] Device-{current_device_number} File-{i+1}/{len(files)} Add {device_id} "
+                        + f"[{data[device_id].get('name', '未命名设备')}]"
+                    )
+                    current_device_number += 1
+            else:
+                logger.debug(
+                    f"[UniLab Registry] Device File-{i+1}/{len(files)} Not Valid YAML File: {file.absolute()}"
+                )
+
+
+# 全局单例实例
+lab_registry = Registry()
+
+
+def build_registry(registry_paths=None):
+    """
+    构建或获取Registry单例实例
+
+    Args:
+        registry_paths: 额外的注册表路径列表
+
+    Returns:
+        Registry实例
+    """
+    logger.info("[UniLab Registry] 构建注册表实例")
+
+    # 由于使用了单例，这里不需要重新创建实例
+    global lab_registry
+
+    # 如果有额外路径，添加到registry_paths
+    if registry_paths:
+        current_paths = lab_registry.registry_paths.copy()
+        # 检查是否有新路径需要添加
+        for path in registry_paths:
+            if path not in current_paths:
+                lab_registry.registry_paths.append(path)
+
+    # 初始化注册表
+    lab_registry.setup()
+
+    return lab_registry

unilabos/registry/resources/opentrons/deck.yaml

@@ -0,0 +1,4 @@
+OTDeck:
+  class: 
+    module: pylabrobot.resources.opentrons.deck:OTDeck
+    type: pylabrobot

unilabos/registry/resources/opentrons/plate_adapters.yaml

@@ -0,0 +1,4 @@
+Opentrons_96_adapter_Vb:
+  class: 
+    module: pylabrobot.resources.opentrons.plate_adapters:Opentrons_96_adapter_Vb
+    type: pylabrobot

unilabos/registry/resources/opentrons/plates.yaml

@@ -0,0 +1,74 @@
+corning_6_wellplate_16point8ml_flat:
+  class: 
+    module: pylabrobot.resources.opentrons.plates:corning_6_wellplate_16point8ml_flat
+    type: pylabrobot
+
+corning_12_wellplate_6point9ml_flat:
+  class: 
+    module: pylabrobot.resources.opentrons.plates:corning_12_wellplate_6point9ml_flat
+    type: pylabrobot
+
+corning_24_wellplate_3point4ml_flat:
+  class: 
+    module: pylabrobot.resources.opentrons.plates:corning_24_wellplate_3point4ml_flat
+    type: pylabrobot
+
+corning_48_wellplate_1point6ml_flat:
+  class: 
+    module: pylabrobot.resources.opentrons.plates:corning_48_wellplate_1point6ml_flat
+    type: pylabrobot
+
+corning_96_wellplate_360ul_flat:
+  class: 
+    module: pylabrobot.resources.opentrons.plates:corning_96_wellplate_360ul_flat
+    type: pylabrobot
+
+corning_384_wellplate_112ul_flat:
+  class: 
+    module: pylabrobot.resources.opentrons.plates:corning_384_wellplate_112ul_flat
+    type: pylabrobot
+
+nest_96_wellplate_2ml_deep:
+  class: 
+    module: pylabrobot.resources.opentrons.plates:nest_96_wellplate_2ml_deep
+    type: pylabrobot
+
+nest_96_wellplate_200ul_flat:
+  class: 
+    module: pylabrobot.resources.opentrons.plates:nest_96_wellplate_200ul_flat
+    type: pylabrobot
+
+nest_96_wellplate_100ul_pcr_full_skirt:
+  class: 
+    module: pylabrobot.resources.opentrons.plates:nest_96_wellplate_100ul_pcr_full_skirt
+    type: pylabrobot
+
+appliedbiosystemsmicroamp_384_wellplate_40ul:
+  class: 
+    module: pylabrobot.resources.opentrons.plates:appliedbiosystemsmicroamp_384_wellplate_40ul
+    type: pylabrobot
+
+thermoscientificnunc_96_wellplate_1300ul:
+  class: 
+    module: pylabrobot.resources.opentrons.plates:thermoscientificnunc_96_wellplate_1300ul
+    type: pylabrobot
+
+thermoscientificnunc_96_wellplate_2000ul:
+  class: 
+    module: pylabrobot.resources.opentrons.plates:thermoscientificnunc_96_wellplate_2000ul
+    type: pylabrobot
+
+usascientific_96_wellplate_2point4ml_deep:
+  class: 
+    module: pylabrobot.resources.opentrons.plates:usascientific_96_wellplate_2point4ml_deep
+    type: pylabrobot
+
+biorad_96_wellplate_200ul_pcr:
+  class: 
+    module: pylabrobot.resources.opentrons.plates:biorad_96_wellplate_200ul_pcr
+    type: pylabrobot
+
+biorad_384_wellplate_50ul:
+  class: 
+    module: pylabrobot.resources.opentrons.plates:biorad_384_wellplate_50ul
+    type: pylabrobot

unilabos/registry/resources/opentrons/reservoirs.yaml

@@ -0,0 +1,29 @@
+agilent_1_reservoir_290ml:
+  class: 
+    module: pylabrobot.resources.opentrons.reserviors:agilent_1_reservoir_290ml
+    type: pylabrobot
+
+axygen_1_reservoir_90ml:
+  class: 
+    module: pylabrobot.resources.opentrons.reserviors:axygen_1_reservoir_90ml
+    type: pylabrobot
+
+nest_12_reservoir_15ml:
+  class: 
+    module: pylabrobot.resources.opentrons.reserviors:nest_12_reservoir_15ml
+    type: pylabrobot
+
+nest_1_reservoir_195ml:
+  class: 
+    module: pylabrobot.resources.opentrons.reserviors:nest_1_reservoir_195ml
+    type: pylabrobot
+
+nest_1_reservoir_290ml:
+  class: 
+    module: pylabrobot.resources.opentrons.reserviors:nest_1_reservoir_290ml
+    type: pylabrobot
+
+usascientific_12_reservoir_22ml:
+  class: 
+    module: pylabrobot.resources.opentrons.reserviors:usascientific_12_reservoir_22ml
+    type: pylabrobot

unilabos/registry/resources/opentrons/tip_racks.yaml

@@ -0,0 +1,64 @@
+eppendorf_96_tiprack_1000ul_eptips:
+  class: 
+    module: pylabrobot.resources.opentrons.tip_racks:eppendorf_96_tiprack_1000ul_eptips
+    type: pylabrobot
+
+tipone_96_tiprack_200ul:
+  class: 
+    module: pylabrobot.resources.opentrons.tip_racks:tipone_96_tiprack_200ul
+    type: pylabrobot
+
+opentrons_96_tiprack_300ul:
+  class: 
+    module: pylabrobot.resources.opentrons.tip_racks:opentrons_96_tiprack_300ul
+    type: pylabrobot
+
+opentrons_96_tiprack_10ul:
+  class: 
+    module: pylabrobot.resources.opentrons.tip_racks:opentrons_96_tiprack_10ul
+    type: pylabrobot
+
+opentrons_96_filtertiprack_10ul:
+  class: 
+    module: pylabrobot.resources.opentrons.tip_racks:opentrons_96_filtertiprack_10ul
+    type: pylabrobot
+
+geb_96_tiprack_10ul:
+  class: 
+    module: pylabrobot.resources.opentrons.tip_racks:geb_96_tiprack_10ul
+    type: pylabrobot
+
+opentrons_96_filtertiprack_200ul:
+  class: 
+    module: pylabrobot.resources.opentrons.tip_racks:opentrons_96_filtertiprack_200ul
+    type: pylabrobot
+
+eppendorf_96_tiprack_10ul_eptips:
+  class: 
+    module: pylabrobot.resources.opentrons.tip_racks:eppendorf_96_tiprack_10ul_eptips
+    type: pylabrobot
+
+opentrons_96_tiprack_1000ul:
+  class: 
+    module: pylabrobot.resources.opentrons.tip_racks:opentrons_96_tiprack_1000ul
+    type: pylabrobot
+
+opentrons_96_tiprack_20ul:
+  class: 
+    module: pylabrobot.resources.opentrons.tip_racks:opentrons_96_tiprack_20ul
+    type: pylabrobot
+
+opentrons_96_filtertiprack_1000ul:
+  class: 
+    module: pylabrobot.resources.opentrons.tip_racks:opentrons_96_filtertiprack_1000ul
+    type: pylabrobot
+
+opentrons_96_filtertiprack_20ul:
+  class: 
+    module: pylabrobot.resources.opentrons.tip_racks:opentrons_96_filtertiprack_20ul
+    type: pylabrobot
+
+geb_96_tiprack_1000ul:
+  class: 
+    module: pylabrobot.resources.opentrons.tip_racks:geb_96_tiprack_1000ul
+    type: pylabrobot

unilabos/registry/resources/opentrons/tube_racks.yaml

@@ -0,0 +1,99 @@
+opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap:
+  class: 
+    module: pylabrobot.resources.opentrons.tube_racks:opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap
+    type: pylabrobot
+
+opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap_acrylic:
+  class: 
+    module: pylabrobot.resources.opentrons.tube_racks:opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap_acrylic
+    type: pylabrobot
+
+opentrons_6_tuberack_falcon_50ml_conical:
+  class: 
+    module: pylabrobot.resources.opentrons.tube_racks:opentrons_6_tuberack_falcon_50ml_conical
+    type: pylabrobot
+
+opentrons_15_tuberack_nest_15ml_conical:
+  class: 
+    module: pylabrobot.resources.opentrons.tube_racks:opentrons_15_tuberack_nest_15ml_conical
+    type: pylabrobot
+
+opentrons_24_tuberack_nest_2ml_screwcap:
+  class: 
+    module: pylabrobot.resources.opentrons.tube_racks:opentrons_24_tuberack_nest_2ml_screwcap
+    type: pylabrobot
+
+opentrons_24_tuberack_generic_0point75ml_snapcap_acrylic:
+  class: 
+    module: pylabrobot.resources.opentrons.tube_racks:opentrons_24_tuberack_generic_0point75ml_snapcap_acrylic
+    type: pylabrobot
+
+opentrons_10_tuberack_nest_4x50ml_6x15ml_conical:
+  class: 
+    module: pylabrobot.resources.opentrons.tube_racks:opentrons_10_tuberack_nest_4x50ml_6x15ml_conical
+    type: pylabrobot
+
+opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical_acrylic:
+  class: 
+    module: pylabrobot.resources.opentrons.tube_racks:opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical_acrylic
+    type: pylabrobot
+
+opentrons_24_tuberack_nest_1point5ml_screwcap:
+  class: 
+    module: pylabrobot.resources.opentrons.tube_racks:opentrons_24_tuberack_nest_1point5ml_screwcap
+    type: pylabrobot
+
+opentrons_24_tuberack_nest_1point5ml_snapcap:
+  class: 
+    module: pylabrobot.resources.opentrons.tube_racks:opentrons_24_tuberack_nest_1point5ml_snapcap
+    type: pylabrobot
+
+opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical:
+  class: 
+    module: pylabrobot.resources.opentrons.tube_racks:opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical
+    type: pylabrobot
+
+opentrons_24_tuberack_nest_2ml_snapcap:
+  class: 
+    module: pylabrobot.resources.opentrons.tube_racks:opentrons_24_tuberack_nest_2ml_snapcap
+    type: pylabrobot
+
+opentrons_24_tuberack_nest_0point5ml_screwcap:
+  class: 
+    module: pylabrobot.resources.opentrons.tube_racks:opentrons_24_tuberack_nest_0point5ml_screwcap
+    type: pylabrobot
+
+opentrons_24_tuberack_eppendorf_1point5ml_safelock_snapcap:
+  class: 
+    module: pylabrobot.resources.opentrons.tube_racks:opentrons_24_tuberack_eppendorf_1point5ml_safelock_snapcap
+    type: pylabrobot
+
+opentrons_6_tuberack_nest_50ml_conical:
+  class: 
+    module: pylabrobot.resources.opentrons.tube_racks:opentrons_6_tuberack_nest_50ml_conical
+    type: pylabrobot
+
+opentrons_15_tuberack_falcon_15ml_conical:
+  class: 
+    module: pylabrobot.resources.opentrons.tube_racks:opentrons_15_tuberack_falcon_15ml_conical
+    type: pylabrobot
+
+opentrons_24_tuberack_generic_2ml_screwcap:
+  class: 
+    module: pylabrobot.resources.opentrons.tube_racks:opentrons_24_tuberack_generic_2ml_screwcap
+    type: pylabrobot
+
+opentrons_96_well_aluminum_block:
+  class: 
+    module: pylabrobot.resources.opentrons.tube_racks:opentrons_96_well_aluminum_block
+    type: pylabrobot
+
+opentrons_24_aluminumblock_generic_2ml_screwcap:
+  class: 
+    module: pylabrobot.resources.opentrons.tube_racks:opentrons_24_aluminumblock_generic_2ml_screwcap
+    type: pylabrobot
+
+opentrons_24_aluminumblock_nest_1point5ml_snapcap:
+  class: 
+    module: pylabrobot.resources.opentrons.tube_racks:opentrons_24_aluminumblock_nest_1point5ml_snapcap
+    type: pylabrobot