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e6f927a23cbd36760be548ac08ad8a38d97f90ff
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65 Commits

Author SHA1 Message Date
zhangshixiang
e6f927a23c add 2025-06-08 17:25:51 +08:00
Xuwznln
d56e29080a Merge branch '37-biomek-i5i7' into device_visualization 2025-06-08 17:08:48 +08:00
Xuwznln
bab4b1d67a biomek switch back to non-test 2025-06-08 17:05:48 +08:00
Guangxin Zhang
12c17ec26e 同步了Biomek.py 现在应可用 2025-06-08 16:58:19 +08:00
Guangxin Zhang
6577fe12eb 0608 DONE 2025-06-08 16:49:11 +08:00
qxw138
f1fee5fad9 Merge branch '37-biomek-i5i7' of https://github.com/dptech-corp/Uni-Lab-OS into 37-biomek-i5i7 2025-06-08 15:52:31 +08:00
qxw138
9b3377aedb Update biomek_test.py 2025-06-08 15:52:20 +08:00
Xuwznln
ab0c4b708b 修正物料上传时间 
改用biomek_test
增加ResultInfoEncoder
支持返回结果上传
 2025-06-08 14:43:07 +08:00
Junhan Chang
4c1c8b1924 Merge branch 'main' into pr/39 2025-06-07 23:49:33 +08:00
zhangshixiang
a93ecee27c Reapply "修改物体attach时，多次赋值当前时间导致卡顿问题，" 
This reverts commit 07d9db20c3.
 2025-06-07 22:52:59 +08:00
zhangshixiang
07d9db20c3 Revert "修改物体attach时，多次赋值当前时间导致卡顿问题，" 
This reverts commit 56d45b94f5.
 2025-06-07 22:52:03 +08:00
zhangshixiang
56d45b94f5 修改物体attach时，多次赋值当前时间导致卡顿问题， 2025-06-07 22:51:03 +08:00
Junhan Chang
b6c9530c61 Merge branch '37-biomek-i5i7' of https://github.com/dptech-corp/Uni-Lab-OS into 37-biomek-i5i7 2025-06-07 18:52:23 +08:00
Junhan Chang
8698821c52 fix liquid_handler.biomek handles 2025-06-07 18:52:20 +08:00
qxw138
3f53f88390 biomek_test.py 2025-06-07 15:21:20 +08:00
qxw138
e840516ba4 Update biomek.py 2025-06-06 22:50:11 +08:00
qxw138
146d8c5296 Merge branch '37-biomek-i5i7' of https://github.com/dptech-corp/Uni-Lab-OS into 37-biomek-i5i7 2025-06-06 22:49:35 +08:00
qxw138
6573c9e02e biomek_test.py 
biomek_test.py是最新的版本，运行它会生成complete_biomek_protocol.json
 2025-06-06 22:42:06 +08:00
zhangshixiang
3d11a0cc50 unilab添加moveit启动 
1,整合所有moveit节点到一个move_group中，并整合所有的controller依次激活
2,添加pymoveit2的节点，使用json可直接启动
3,修改机械臂规划方式，添加约束，让冗余关节不会进行过多移动
 2025-06-06 22:09:35 +08:00
Xuwznln
48c43d3303 fix biomek startup 
add action handles
 2025-06-06 17:45:54 +08:00
qxw138
5bec899479 new actions 2025-06-06 13:56:39 +08:00
Guangxin Zhang
5e86112ebf Merge branch '37-biomek-i5i7' of https://github.com/dptech-corp/Uni-Lab-OS into 37-biomek-i5i7 2025-06-06 13:25:34 +08:00
Guangxin Zhang
24ecb13b79 Update 2025-06-06 13:22:15 +08:00
qxw138
2573d34713 Merge branch '37-biomek-i5i7' of https://github.com/dptech-corp/Uni-Lab-OS into 37-biomek-i5i7 2025-06-06 13:18:42 +08:00
Guangxin Zhang
106d71e1db Refine 2025-06-06 11:11:17 +08:00
Guangxin Zhang
3c2a4a64ac Merge branch '37-biomek-i5i7' of https://github.com/dptech-corp/Uni-Lab-OS into 37-biomek-i5i7 2025-06-06 11:11:10 +08:00
Guangxin Zhang
1e00a66a65 New parameter for biomek to run. 2025-06-06 11:05:36 +08:00
qxw138
a62112ae26 new action 2025-06-05 17:26:36 +08:00
Xuwznln
dd5a7cab75 支持Biomek创建 2025-06-05 16:04:44 +08:00
Guangxin Zhang
e1a7c3a103 Updated transfer_biomek 2025-06-04 21:49:22 +08:00
Guangxin Zhang
e63c15997c New transfer_biomek 2025-06-04 21:29:54 +08:00
Guangxin Zhang
5b240cb0ea Update biomek.py 2025-06-04 17:30:53 +08:00
Guangxin Zhang
147b8f47c0 Biomek test 2025-06-04 16:38:18 +08:00
Guangxin Zhang
6d2489af5f Merge branch '37-biomek-i5i7' of https://github.com/dptech-corp/Uni-Lab-OS into 37-biomek-i5i7 2025-06-04 13:27:11 +08:00
Guangxin Zhang
807dcdd226 Update biomek.py 2025-06-04 13:27:05 +08:00
Guangxin Zhang
8a29bc5597 Remove warnings 2025-06-04 13:20:12 +08:00
Guangxin Zhang
6f6c70ee57 delete 's' 2025-06-04 13:11:45 +08:00
Xuwznln
478a85951c 修复biomek缺少的字段 2025-05-31 00:00:55 +08:00
Xuwznln
0f2555c90c 注册表上报handle和schema (param input) 2025-05-31 00:00:39 +08:00
Guangxin Zhang
d2dda6ee03 Merge branch '37-biomek-i5i7' of https://github.com/dptech-corp/Uni-Lab-OS into 37-biomek-i5i7 2025-05-30 17:11:23 +08:00
Guangxin Zhang
208540b307 Update biomek.py 2025-05-30 17:08:19 +08:00
Guangxin Zhang
cb7c56a1d9 Convert LH action to biomek. 2025-05-30 17:00:06 +08:00
Guangxin Zhang
0452a68180 Test 2025-05-30 16:03:49 +08:00
Junhan Chang
055d120ba8 更新LiquidHandlerBiomek类，添加资源创建功能，优化协议创建方法，修复部分代码格式问题，更新YAML配置以支持新功能。 2025-05-30 15:38:23 +08:00
Junhan Chang
a948f09f60 add biomek.py demo implementation 2025-05-30 13:33:10 +08:00
Xuwznln
bfcb214b53 24 high level liquidhandler (#28) 
* unify liquid_handler definition

* remove default values

* Dev Sync (#25)

* Update README and MQTTClient for installation instructions and code improvements

* feat: 支持local_config启动
add: 增加对crt path的说明，为传入config.py的相对路径
move: web component

* add: registry description

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* feat: node_info_update srv
fix: OTDeck cant create

* close #12
feat: slave node registry

* feat: show machine name
fix: host node registry not uploaded

* feat: add hplc registry

* feat: add hplc registry

* fix: hplc status typo

* fix: devices/

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* fix: device.class possible null

* fix: HPLC additions with online service

* fix: slave mode spin not working

* fix: slave mode spin not working

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* feat: 多ProtocolNode 允许子设备ID相同
feat: 上报发现的ActionClient
feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报

* feat: 支持env设置config

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

* Device visualization (#14)

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

---------

Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com>

* fix: missing hostname in devices_names
fix: upload_file for model file

* fix: missing paho-mqtt package
bump version to 0.9.0

* fix startup
add ResourceCreateFromOuter.action

* fix type hint

* update actions

* update actions

* host node add_resource_from_outer
fix cmake list

* pass device config to device class

* add: bind_parent_ids to resource create action
fix: message convert string

* fix: host node should not be re_discovered

* feat: resource tracker support dict

* feat: add more necessary params

* feat: fix boolean null in registry action data

* feat: add outer resource

* 编写mesh添加action

* feat: append resource

* add action

* feat: vis 2d for plr

* fix

* fix: browser on rviz

* fix: cloud bridge error fallback to local

* fix: salve auto run rviz

* 初始化两个plate

* Device visualization (#22)

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

* 编写mesh添加action

* add action

* fix

* fix: browser on rviz

* fix: cloud bridge error fallback to local

* fix: salve auto run rviz

* 初始化两个plate

---------

Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com>

* fix: multi channel

* fix: aspirate

* fix: aspirate

* fix: aspirate

* fix: aspirate

* 提交

* fix: jobadd

* fix: jobadd

* fix: msg converter

* tijiao

* add resource creat easy action

* identify debug msg

* mq client id

---------

Co-authored-by: Harvey Que <Q-Query@outlook.com>
Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com>

* remove default behavior for visualization

* change liquidhandler name

* resource create from outer easy

* add easy resource creation

* easy resource creation logic

* remove wrongly debug msg from others

* remove wrongly debug msg from others

* add missing action clients

* fix device_id

* fix slot_on_deck

* fix registry typo

* complete require packages
msg converter support array string
implements create resource logic

* 修复port输入

* fix: remove dirty actions

---------

Co-authored-by: Junhan Chang <changjh@pku.edu.cn>
Co-authored-by: Harvey Que <Q-Query@outlook.com>
Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com>
 2025-05-29 20:40:16 +08:00
zhangshixiang
554766924e 修改物料放下时的方法，如果选择 
修改物料放下时的方法，
如果选择drop_trash，则删除物料显示
如果选择drop，则让其解除连接
 2025-05-20 19:08:22 +08:00
zhangshixiang
aa85a1f3a2 Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization" 
This reverts commit fa727220af, reversing
changes made to 498c997ad7.
 2025-05-20 17:13:05 +08:00
zhangshixiang
ae566f2bc2 Reapply "修改物料跟随与物料添加逻辑" 
This reverts commit 3a60d2ae81.
 2025-05-20 17:12:51 +08:00
zhangshixiang
3a60d2ae81 Revert "修改物料跟随与物料添加逻辑" 
This reverts commit 498c997ad7.
 2025-05-20 17:12:27 +08:00