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添加无物料9320

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q434343
2026-01-26 21:07:03 +08:00
parent d5b4f07406
commit d6910da57d
2 changed files with 844 additions and 1 deletions
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9
unilabos/ros/msgs/message_converter.py
View File

@@ -361,7 +361,14 @@ def convert_to_ros_msg(ros_msg_type: Union[Type, Any], obj: Any) -> Any:
if hasattr(ros_msg, key):
attr = getattr(ros_msg, key)
if isinstance(attr, (float, int, str, bool)):
setattr(ros_msg, key, type(attr)(value))
# 处理list类型的值，取第一个元素或抛出错误
if isinstance(value, list):
if len(value) > 0:
setattr(ros_msg, key, type(attr)(value[0]))
else:
setattr(ros_msg, key, type(attr)()) # 使用默认值
else:
setattr(ros_msg, key, type(attr)(value))
elif isinstance(attr, (list, tuple)) and isinstance(value, Iterable):
td = ros_msg.SLOT_TYPES[ind].value_type
if isinstance(td, NamespacedType):

836
unilabos/test/experiments/prcxi_9320_no_res.json Normal file
View File

@@ -0,0 +1,836 @@
{
"nodes": [
{
"id": "PRCXI",
"name": "PRCXI",
"type": "device",
"class": "liquid_handler.prcxi",
"parent": "",
"pose": {
"size": {
"width": 550,
"height": 400,
"depth": 0
}
},
"config": {
"axis": "Left",
"deck": {
"_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck",
"_resource_child_name": "PRCXI_Deck"
},
"host": "10.20.30.184",
"port": 9999,
"debug": false,
"setup": true,
"is_9320": true,
"timeout": 10,
"matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb",
"simulator": false,
"channel_num": 2
},
"data": {
"reset_ok": true
},
"schema": {},
"description": "",
"model": null,
"position": {
"x": 0,
"y": 700,
"z": 0
}
},
{
"id": "PRCXI_Deck",
"name": "PRCXI_Deck",
"children": [],
"parent": "PRCXI",
"type": "deck",
"class": "",
"position": {
"x": 0,
"y": 0,
"z": 0
},
"config": {
"type": "PRCXI9300Deck",
"size_x": 550,
"size_y": 400,
"size_z": 17,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "deck",
"barcode": null
},
"data": {}
},
{
"id": "T1",
"name": "T1",
"children": [],
"parent": "PRCXI_Deck",
"type": "plate",
"class": "",
"position": {
"x": 5,
"y": 301,
"z": 0
},
"config": {
"type": "PRCXI9300PlateAdapterSite",
"size_x": 127.5,
"size_y": 86,
"size_z": 28,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "plate",
"model": null,
"barcode": null,
"sites": [
{
"label": "T1",
"visible": true,
"position": { "x": 0, "y": 0, "z": 0 },
"size": { "width": 128.0, "height": 86, "depth": 0 },
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack"
]
}
]
},
"data": {}
},
{
"id": "T2",
"name": "T2",
"children": [],
"parent": "PRCXI_Deck",
"type": "plate",
"class": "",
"position": {
"x": 142.5,
"y": 301,
"z": 0
},
"config": {
"type": "PRCXI9300PlateAdapterSite",
"size_x": 127.5,
"size_y": 86,
"size_z": 28,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "plate",
"model": null,
"barcode": null,
"sites": [
{
"label": "T2",
"visible": true,
"position": { "x": 0, "y": 0, "z": 0 },
"size": { "width": 128.0, "height": 86, "depth": 0 },
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack"
]
}
]
},
"data": {}
},
{
"id": "T3",
"name": "T3",
"children": [],
"parent": "PRCXI_Deck",
"type": "plate",
"class": "",
"position": {
"x": 280,
"y": 301,
"z": 0
},
"config": {
"type": "PRCXI9300PlateAdapterSite",
"size_x": 127.5,
"size_y": 86,
"size_z": 28,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "plate",
"model": null,
"barcode": null,
"sites": [
{
"label": "T3",
"visible": true,
"position": { "x": 0, "y": 0, "z": 0 },
"size": { "width": 128.0, "height": 86, "depth": 0 },
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack"
]
}
]
},
"data": {}
},
{
"id": "T4",
"name": "T4",
"children": [],
"parent": "PRCXI_Deck",
"type": "plate",
"class": "",
"position": {
"x": 417.5,
"y": 301,
"z": 0
},
"config": {
"type": "PRCXI9300PlateAdapterSite",
"size_x": 127.5,
"size_y": 86,
"size_z": 97,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "plate",
"model": null,
"barcode": null,
"sites": [
{
"label": "T4",
"visible": true,
"position": { "x": 0, "y": 0, "z": 0 },
"size": { "width": 128.0, "height": 86, "depth": 0 },
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack"
]
}
]
},
"data": {}
},
{
"id": "T5",
"name": "T5",
"children": [],
"parent": "PRCXI_Deck",
"type": "plate",
"class": "",
"position": {
"x": 5,
"y": 205,
"z": 0
},
"config": {
"type": "PRCXI9300PlateAdapterSite",
"size_x": 127.5,
"size_y": 86,
"size_z": 28,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "plate",
"model": null,
"barcode": null,
"sites": [
{
"label": "T5",
"visible": true,
"position": { "x": 0, "y": 0, "z": 0 },
"size": { "width": 128.0, "height": 86, "depth": 0 },
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack"
]
}
]
},
"data": {}
},
{
"id": "T6",
"name": "T6",
"children": [],
"parent": "PRCXI_Deck",
"type": "plate",
"class": "",
"position": {
"x": 142.5,
"y": 205,
"z": 0
},
"config": {
"type": "PRCXI9300PlateAdapterSite",
"size_x": 127.5,
"size_y": 86,
"size_z": 28,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "plate",
"model": null,
"barcode": null,
"sites": [
{
"label": "T6",
"visible": true,
"position": { "x": 0, "y": 0, "z": 0 },
"size": { "width": 128.0, "height": 86, "depth": 0 },
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack"
]
}
]
},
"data": {}
},
{
"id": "T7",
"name": "T7",
"children": [],
"parent": "PRCXI_Deck",
"type": "plate",
"class": "",
"position": {
"x": 280,
"y": 205,
"z": 0
},
"config": {
"type": "PRCXI9300PlateAdapterSite",
"size_x": 127.5,
"size_y": 86,
"size_z": 28,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "plate",
"model": null,
"barcode": null,
"sites": [
{
"label": "T7",
"visible": true,
"position": { "x": 0, "y": 0, "z": 0 },
"size": { "width": 128.0, "height": 86, "depth": 0 },
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack"
]
}
]
},
"data": {}
},
{
"id": "T8",
"name": "T8",
"children": [],
"parent": "PRCXI_Deck",
"type": "plate",
"class": "",
"position": {
"x": 417.5,
"y": 205,
"z": 0
},
"config": {
"type": "PRCXI9300PlateAdapterSite",
"size_x": 127.5,
"size_y": 86,
"size_z": 28,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "plate",
"model": null,
"barcode": null,
"sites": [
{
"label": "T8",
"visible": true,
"position": { "x": 0, "y": 0, "z": 0 },
"size": { "width": 128.0, "height": 86, "depth": 0 },
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack"
]
}
]
},
"data": {}
},
{
"id": "T9",
"name": "T9",
"children": [],
"parent": "PRCXI_Deck",
"type": "plate",
"class": "",
"position": {
"x": 5,
"y": 109,
"z": 0
},
"config": {
"type": "PRCXI9300PlateAdapterSite",
"size_x": 127.5,
"size_y": 86,
"size_z": 28,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "plate",
"model": null,
"barcode": null,
"sites": [
{
"label": "T9",
"visible": true,
"position": { "x": 0, "y": 0, "z": 0 },
"size": { "width": 128.0, "height": 86, "depth": 0 },
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack"
]
}
]
},
"data": {}
},
{
"id": "T10",
"name": "T10",
"children": [],
"parent": "PRCXI_Deck",
"type": "plate",
"class": "",
"position": {
"x": 142.5,
"y": 109,
"z": 0
},
"config": {
"type": "PRCXI9300PlateAdapterSite",
"size_x": 127.5,
"size_y": 86,
"size_z": 28,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "plate",
"model": null,
"barcode": null,
"sites": [
{
"label": "T10",
"visible": true,
"position": { "x": 0, "y": 0, "z": 0 },
"size": { "width": 128.0, "height": 86, "depth": 0 },
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack"
]
}
]
},
"data": {}
},
{
"id": "T11",
"name": "T11",
"children": [],
"parent": "PRCXI_Deck",
"type": "plate",
"class": "",
"position": {
"x": 280,
"y": 109,
"z": 0
},
"config": {
"type": "PRCXI9300PlateAdapterSite",
"size_x": 127.5,
"size_y": 86,
"size_z": 28,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "plate",
"model": null,
"barcode": null,
"sites": [
{
"label": "T11",
"visible": true,
"position": { "x": 0, "y": 0, "z": 0 },
"size": { "width": 128.0, "height": 86, "depth": 0 },
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack"
]
}
]
},
"data": {}
},
{
"id": "T12",
"name": "T12",
"children": [],
"parent": "PRCXI_Deck",
"type": "plate",
"class": "",
"position": {
"x": 417.5,
"y": 109,
"z": 0
},
"config": {
"type": "PRCXI9300PlateAdapterSite",
"size_x": 127.5,
"size_y": 86,
"size_z": 28,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "plate",
"model": null,
"barcode": null,
"sites": [
{
"label": "T12",
"visible": true,
"position": { "x": 0, "y": 0, "z": 0 },
"size": { "width": 128.0, "height": 86, "depth": 0 },
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack"
]
}
]
},
"data": {}
},
{
"id": "T13",
"name": "T13",
"children": [],
"parent": "PRCXI_Deck",
"type": "plate",
"class": "",
"position": {
"x": 5,
"y": 13,
"z": 0
},
"config": {
"type": "PRCXI9300PlateAdapterSite",
"size_x": 127.5,
"size_y": 86,
"size_z": 28,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "plate",
"model": null,
"barcode": null,
"sites": [
{
"label": "T13",
"visible": true,
"position": { "x": 0, "y": 0, "z": 0 },
"size": { "width": 128.0, "height": 86, "depth": 0 },
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack"
]
}
]
},
"data": {}
},
{
"id": "T14",
"name": "T14",
"children": [],
"parent": "PRCXI_Deck",
"type": "plate",
"class": "",
"position": {
"x": 142.5,
"y": 13,
"z": 0
},
"config": {
"type": "PRCXI9300PlateAdapterSite",
"size_x": 127.5,
"size_y": 86,
"size_z": 28,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "plate",
"model": null,
"barcode": null,
"sites": [
{
"label": "T14",
"visible": true,
"position": { "x": 0, "y": 0, "z": 0 },
"size": { "width": 128.0, "height": 86, "depth": 0 },
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack"
]
}
]
},
"data": {}
},
{
"id": "T15",
"name": "T15",
"children": [],
"parent": "PRCXI_Deck",
"type": "plate",
"class": "",
"position": {
"x": 280,
"y": 13,
"z": 0
},
"config": {
"type": "PRCXI9300PlateAdapterSite",
"size_x": 127.5,
"size_y": 86,
"size_z": 28,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "plate",
"model": null,
"barcode": null,
"sites": [
{
"label": "T15",
"visible": true,
"position": { "x": 0, "y": 0, "z": 0 },
"size": { "width": 128.0, "height": 86, "depth": 0 },
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack"
]
}
]
},
"data": {}
},
{
"id": "T16",
"name": "T16",
"children": [],
"parent": "PRCXI_Deck",
"type": "plate",
"class": "",
"position": {
"x": 417.5,
"y": 13,
"z": 0
},
"config": {
"type": "PRCXI9300PlateAdapterSite",
"size_x": 127.5,
"size_y": 86,
"size_z": 28,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "plate",
"model": null,
"barcode": null,
"sites": [
{
"label": "T16",
"visible": true,
"position": { "x": 0, "y": 0, "z": 0 },
"size": { "width": 128.0, "height": 86, "depth": 0 },
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack"
]
}
]
},
"data": {}
},
{
"id": "trash",
"name": "trash",
"children": [],
"parent": "T16",
"type": "trash",
"class": "",
"position": {
"x": 0,
"y": 0,
"z": 0
},
"config": {
"type": "PRCXI9300Trash",
"size_x": 127.5,
"size_y": 86,
"size_z": 10,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "trash",
"model": null,
"barcode": null,
"max_volume": "Infinity",
"material_z_thickness": 0,
"compute_volume_from_height": null,
"compute_height_from_volume": null
},
"data": {
"liquids": [],
"pending_liquids": [],
"liquid_history": [],
"Material": {
"uuid": "730067cf07ae43849ddf4034299030e9"
}
}
}
],
"edges": []
}