添加硬件

unilabos/device_mesh/resource_visalization.py

@@ -92,18 +92,18 @@ class ResourceVisualization:
 
         # 遍历设备节点
         for node in device.values():
-            if node['type'] in self.resource_type or (node['type'] == 'device' and node['class'] != ''):
+            if (node['type'] in self.resource_type and node['class'] != '') or (node['type'] == 'device' and node['class'] != ''):
                 model_config = {}
                 if node['type'] in self.resource_type:
                     resource_class = node['class']
                     if resource_class not in registry.resource_type_registry.keys():
-                        raise ValueError(f"资源类型 {resource_class} 未在注册表中注册")
+                        raise ValueError(f"{node['id']}资源类型 {resource_class} 未在注册表中注册")
                     elif "model" in registry.resource_type_registry[resource_class].keys():
                         model_config = registry.resource_type_registry[resource_class]['model']
                 elif node['type'] == 'device' and node['class'] != '':
                     device_class = node['class']
                     if device_class not in registry.device_type_registry.keys():
-                        raise ValueError(f"设备类型 {device_class} 未在注册表中注册")
+                        raise ValueError(f"{node['id']}设备类型 {device_class} 未在注册表中注册")
                     elif "model" in registry.device_type_registry[device_class].keys():
                         model_config = registry.device_type_registry[device_class]['model']
                 if model_config:

unilabos/device_mesh/resources/hplc_plate/modal.xacro

@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="hplc_plate">
+    <link name='plate_link'>
+      <visual name='visual'>
+        <geometry>
+          <mesh filename="meshes/hplc_plate.stl"/>
+        </geometry>
+        <material name="clay" />
+      </visual>
+    </link>
+</robot>

unilabos/device_mesh/resources/plate_96_high/modal.xacro

@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="plate_96_high">
+    <link name='plate_link'>
+      <visual name='visual'>
+        <geometry>
+          <mesh filename="meshes/plate_96_high.stl"/>
+        </geometry>
+        <material name="clay" />
+      </visual>
+    </link>
+</robot>

unilabos/device_mesh/resources/tiprack_96_high/modal.xacro

@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="tiprack_96_high">
+    <link name='plate_link'>
+      <visual name='visual'>
+        <geometry>
+          <mesh filename="meshes/tiprack_96_high.stl"/>
+        </geometry>
+        <material name="clay" />
+      </visual>
+    </link>
+</robot>

unilabos/device_mesh/ros2_controllers.yaml

@@ -1,31 +1,5 @@
-arm_slider_arm_controller:
-  ros__parameters:
-    command_interfaces:
-    - position
-    joints:
-    - arm_slider_arm_base_joint
-    - arm_slider_arm_link_1_joint
-    - arm_slider_arm_link_2_joint
-    - arm_slider_arm_link_3_joint
-    - arm_slider_gripper_base_joint
-    state_interfaces:
-    - position
-    - velocity
-arm_slider_gripper_controller:
-  ros__parameters:
-    command_interfaces:
-    - position
-    joints:
-    - arm_slider_gripper_right_joint
-    state_interfaces:
-    - position
-    - velocity
 controller_manager:
   ros__parameters:
-    arm_slider_arm_controller:
-      type: joint_trajectory_controller/JointTrajectoryController
-    arm_slider_gripper_controller:
-      type: joint_trajectory_controller/JointTrajectoryController
     joint_state_broadcaster:
       type: joint_state_broadcaster/JointStateBroadcaster
     update_rate: 100

unilabos/devices/resource_container/container.py

@@ -7,3 +7,28 @@ class HotelContainer:
 
     def get_rotation(self):
         return self.rotation
+    
+
+class DeckContainer:
+    def __init__(self, rotation: dict, **kwargs):
+        self.rotation = rotation
+        self.status = 'idle'
+
+    def get_rotation(self):
+        return self.rotation
+    
+class TipRackContainer:
+    def __init__(self, rotation: dict, **kwargs):
+        self.rotation = rotation
+        self.status = 'idle'
+
+    def get_rotation(self):
+        return self.rotation
+    
+class PlateContainer:
+    def __init__(self, rotation: dict, **kwargs):
+        self.rotation = rotation
+        self.status = 'idle'
+
+    def get_rotation(self):
+        return self.rotation

unilabos/registry/devices/virtual_device.yaml

@@ -2187,65 +2187,65 @@ virtual_multiway_valve:
     data_source: executor
     data_type: fluid
     description: 八通阀门端口1
-    handler_key: "1"
+    handler_key: '1'
     io_type: source
-    label: "1"
+    label: '1'
     side: NORTH
   - data_key: fluid_port_2
     data_source: executor
     data_type: fluid
     description: 八通阀门端口2
-    handler_key: "2"
+    handler_key: '2'
     io_type: source
-    label: "2"
+    label: '2'
     side: EAST
   - data_key: fluid_port_3
     data_source: executor
     data_type: fluid
     description: 八通阀门端口3
-    handler_key: "3"
+    handler_key: '3'
     io_type: source
-    label: "3"
+    label: '3'
     side: EAST
   - data_key: fluid_port_4
     data_source: executor
     data_type: fluid
     description: 八通阀门端口4
-    handler_key: "4"
+    handler_key: '4'
     io_type: source
-    label: "4"
+    label: '4'
     side: SOUTH
   - data_key: fluid_port_5
     data_source: executor
     data_type: fluid
     description: 八通阀门端口5
-    handler_key: "5"
+    handler_key: '5'
     io_type: source
-    label: "5"
+    label: '5'
     side: SOUTH
   - data_key: fluid_port_6
     data_source: executor
     data_type: fluid
     description: 八通阀门端口6
-    handler_key: "6"
+    handler_key: '6'
     io_type: source
-    label: "6"
+    label: '6'
     side: WEST
   - data_key: fluid_port_7
     data_source: executor
     data_type: fluid
     description: 八通阀门端口7
-    handler_key: "7"
+    handler_key: '7'
     io_type: source
-    label: "7"
+    label: '7'
     side: WEST
   - data_key: fluid_port_8
     data_source: executor
     data_type: fluid
     description: 八通阀门端口8
-    handler_key: "8"
+    handler_key: '8'
     io_type: source
-    label: "8"
+    label: '8'
     side: NORTH
   icon: EightPipeline.webp
   init_param_schema:

unilabos/registry/resources/common/resource_container.yaml

@@ -0,0 +1,57 @@
+plate_96_high:
+  description: 96孔板
+  class: 
+    module: unilabos.devices.resource_container.container:PlateContainer
+    type: python
+  model:
+    type: resource
+    mesh: plate_96_high/meshes/plate_96_high.stl
+    mesh_tf:
+    - 0
+    - 0.086
+    - 0
+    - 1.5708
+    - 0
+    - 1.5708
+
+
+hplc_plate:
+  description: HPLC板
+  class: 
+    module: unilabos.devices.resource_container.container:PlateContainer
+    type: python
+  model:
+    type: resource
+    mesh: hplc_plate/meshes/hplc_plate.stl
+    mesh_tf:
+    - 0
+    - 0
+    - 0
+    - 0
+    - 0
+    - 3.1416
+
+
+tiprack_96_high:
+  description: 96孔板
+  class: 
+    module: unilabos.devices.resource_container.container:TipRackContainer
+    type: python
+  model:
+    type: resource
+    mesh: tiprack_96_high/meshes/tiprack_96_high.stl
+    mesh_tf:
+    - 0
+    - 0.086
+    - 0
+    - 1.5708
+    - 0
+    - 1.5708
+    children_mesh: generic_labware_tube_10_75/meshes/0_base.stl
+    children_mesh_tf:
+    - 0.0018
+    - 0.0018
+    - -0.03
+    - -1.5708
+    - 0
+    - 0

unilabos/registry/resources/opentrons/deck.yaml

@@ -16,12 +16,11 @@ OTDeck:
   registry_type: resource
   version: 1.0.0
 
-
 hplc_station:
-  description: Opentrons deck
+  description: hplc_station deck
   class: 
-    module: pylabrobot.resources.opentrons.deck:OTDeck
-    type: pylabrobot
+    module: unilabos.devices.resource_container.container:DeckContainer
+    type: python
   model:
     type: device
     mesh: hplc_station