Initial commit

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

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+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: {}