From ee576c9f6e78ac4550743247e223e960867517ea Mon Sep 17 00:00:00 2001 From: zhangshixiang <@zhangshixiang> Date: Fri, 25 Jul 2025 12:17:35 +0800 Subject: [PATCH] =?UTF-8?q?=E6=B7=BB=E5=8A=A0=E7=A1=AC=E4=BB=B6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- test/experiments/prcxi_9320_visual.json | 13598 ++++++++++++++++ unilabos/device_mesh/resource_visalization.py | 6 +- .../hplc_plate/meshes/hplc_plate.stl | Bin 0 -> 327084 bytes .../resources/hplc_plate/modal.xacro | 11 + .../plate_96_high/meshes/plate_96_high.stl | Bin 0 -> 90084 bytes .../resources/plate_96_high/modal.xacro | 11 + .../meshes/tiprack_96_high.stl | Bin 0 -> 90484 bytes .../resources/tiprack_96_high/modal.xacro | 11 + unilabos/device_mesh/ros2_controllers.yaml | 26 - .../devices/resource_container/container.py | 25 + unilabos/registry/devices/virtual_device.yaml | 32 +- .../resources/common/resource_container.yaml | 57 + .../registry/resources/opentrons/deck.yaml | 7 +- 13 files changed, 13735 insertions(+), 49 deletions(-) create mode 100644 test/experiments/prcxi_9320_visual.json create mode 100644 unilabos/device_mesh/resources/hplc_plate/meshes/hplc_plate.stl create mode 100644 unilabos/device_mesh/resources/hplc_plate/modal.xacro create mode 100644 unilabos/device_mesh/resources/plate_96_high/meshes/plate_96_high.stl create mode 100644 unilabos/device_mesh/resources/plate_96_high/modal.xacro create mode 100644 unilabos/device_mesh/resources/tiprack_96_high/meshes/tiprack_96_high.stl create mode 100644 unilabos/device_mesh/resources/tiprack_96_high/modal.xacro create mode 100644 unilabos/registry/resources/common/resource_container.yaml diff --git a/test/experiments/prcxi_9320_visual.json b/test/experiments/prcxi_9320_visual.json new file mode 100644 index 0000000..727a1cf --- /dev/null +++ b/test/experiments/prcxi_9320_visual.json @@ -0,0 +1,13598 @@ +{ + "nodes": [ + + { + "id": "elite_robot", + "name": "elite_robot", + "children": [], + 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"name": "container_for_nothing7", + "sample_id": null, + "children": [], + "parent": "PRCXI_Deck", + "type": "plate", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "PRCXI9300Container", + "size_x": 50, + "size_y": 50, + "size_z": 10, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "plate", + "model": null, + "barcode": null, + "ordering": {} + }, + "data": {} + }, + { + "id": "container_for_nothing8", + "name": "container_for_nothing8", + "sample_id": null, + "children": [], + "parent": "PRCXI_Deck", + "type": "plate", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "PRCXI9300Container", + "size_x": 50, + "size_y": 50, + "size_z": 10, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "plate", + "model": null, + "barcode": null, + "ordering": {} + }, + "data": {} + } + ], + "links": [] +} \ No newline at end of file diff --git a/unilabos/device_mesh/resource_visalization.py b/unilabos/device_mesh/resource_visalization.py index 150032f..8741c36 100644 --- a/unilabos/device_mesh/resource_visalization.py +++ b/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'] != 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a/unilabos/device_mesh/resources/tiprack_96_high/modal.xacro b/unilabos/device_mesh/resources/tiprack_96_high/modal.xacro new file mode 100644 index 0000000..faef539 --- /dev/null +++ b/unilabos/device_mesh/resources/tiprack_96_high/modal.xacro @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/unilabos/device_mesh/ros2_controllers.yaml b/unilabos/device_mesh/ros2_controllers.yaml index 7dbad85..230fcd4 100644 --- a/unilabos/device_mesh/ros2_controllers.yaml +++ b/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 diff --git a/unilabos/devices/resource_container/container.py b/unilabos/devices/resource_container/container.py index 144ae07..f80983a 100644 --- a/unilabos/devices/resource_container/container.py +++ b/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 \ No newline at end of file diff --git a/unilabos/registry/devices/virtual_device.yaml b/unilabos/registry/devices/virtual_device.yaml index 5532a78..fa4d057 100644 --- a/unilabos/registry/devices/virtual_device.yaml +++ b/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: diff --git a/unilabos/registry/resources/common/resource_container.yaml b/unilabos/registry/resources/common/resource_container.yaml new file mode 100644 index 0000000..2c1e9c0 --- /dev/null +++ b/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 \ No newline at end of file diff --git a/unilabos/registry/resources/opentrons/deck.yaml b/unilabos/registry/resources/opentrons/deck.yaml index e2e9b4b..4170cd0 100644 --- a/unilabos/registry/resources/opentrons/deck.yaml +++ b/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 \ No newline at end of file