bump ver

modify slot type
create_resource
2026-02-07 23:45:10 +00:00 · 2025-06-10 03:46:28 +08:00 · 2025-06-10 02:55:29 +08:00 · 2025-06-10 02:00:43 +08:00 · 2025-06-10 01:55:39 +08:00 · 2025-06-10 01:53:58 +08:00
36 changed files with 763 additions and 154 deletions
--- a/README.md
+++ b/README.md
@@ -49,7 +49,7 @@ conda env update --file unilabos-[YOUR_OS].yml -n environment_name

 # Currently, you need to install the `unilabos_msgs` package
 # You can download the system-specific package from the Release page
-conda install ros-humble-unilabos-msgs-0.9.3-xxxxx.tar.bz2
+conda install ros-humble-unilabos-msgs-0.9.4-xxxxx.tar.bz2

 # Install PyLabRobot and other prerequisites
 git clone https://github.com/PyLabRobot/pylabrobot plr_repo
--- a/README_zh.md
+++ b/README_zh.md
@@ -49,7 +49,7 @@ conda env update --file unilabos-[YOUR_OS].yml -n 环境名

 # 现阶段，需要安装 `unilabos_msgs` 包
 # 可以前往 Release 页面下载系统对应的包进行安装
-conda install ros-humble-unilabos-msgs-0.9.3-xxxxx.tar.bz2
+conda install ros-humble-unilabos-msgs-0.9.4-xxxxx.tar.bz2

 # 安装PyLabRobot等前置
 git clone https://github.com/PyLabRobot/pylabrobot plr_repo
--- a/recipes/ros-humble-unilabos-msgs/recipe.yaml
+++ b/recipes/ros-humble-unilabos-msgs/recipe.yaml
@@ -1,6 +1,6 @@
 package:
  name: ros-humble-unilabos-msgs
-  version: 0.9.3
+  version: 0.9.4
 source:
  path: ../../unilabos_msgs
  folder: ros-humble-unilabos-msgs/src/work
--- a/recipes/unilabos/recipe.yaml
+++ b/recipes/unilabos/recipe.yaml
@@ -1,6 +1,6 @@
 package:
  name: unilabos
-  version: "0.9.3"
+  version: "0.9.4"

 source:
  path: ../..
--- a/setup.py
+++ b/setup.py
@@ -4,7 +4,7 @@ package_name = 'unilabos'

 setup(
    name=package_name,
-    version='0.9.3',
+    version='0.9.4',
    packages=find_packages(),
    include_package_data=True,
    install_requires=['setuptools'],
--- a/test/experiments/plr_test_converted.json
+++ b/test/experiments/plr_test_converted.json
@@ -9645,19 +9645,19 @@


        {
-            "id": "benyao",
-            "name": "benyao",
+            "id": "arm_slider",
+            "name": "arm_slider",
            "children": [],
            "parent": null,
            "type": "device",
-            "class": "moveit.benyao_arm",
+            "class": "moveit.arm_slider",
            "position": {
                "x": -500,
                "y": 1000,
                "z": -100
            },
            "config": {
-                "moveit_type": "benyao_arm",
+                "moveit_type": "arm_slider",
                "joint_poses": {
                    "arm": {
                        "hotel_1": [
--- a/test/experiments/test_moveit.json
+++ b/test/experiments/test_moveit.json
@@ -8,14 +8,14 @@
            ],
            "parent": null,
            "type": "device",
-            "class": "moveit.benyao_arm",
+            "class": "moveit.arm_slider",
            "position": {
                "x": 0,
                "y": 0,
                "z": 0
            },
            "config": {
-                "moveit_type": "benyao_arm",
+                "moveit_type": "arm_slider",
                "joint_poses": {
                    "arm": {
                        "home": [0.0, 0.2, 0.0, 0.0, 0.0],
--- a/unilabos/device_mesh/devices/arm_slider/config/initial_positions.yaml
+++ b/unilabos/device_mesh/devices/arm_slider/config/initial_positions.yaml
@@ -0,0 +1,9 @@
+# Default initial positions for full_dev's ros2_control fake system
+
+initial_positions:
+  arm_base_joint: 0
+  arm_link_1_joint: 0
+  arm_link_2_joint: 0
+  arm_link_3_joint: 0
+  gripper_base_joint: 0
+  gripper_right_joint: 0.03
--- a/unilabos/device_mesh/devices/arm_slider/config/joint_limits.yaml
+++ b/unilabos/device_mesh/devices/arm_slider/config/joint_limits.yaml
@@ -0,0 +1,40 @@
+# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
+
+# For beginners, we downscale velocity and acceleration limits.
+# You can always specify higher scaling factors (<= 1.0) in your motion requests.  # Increase the values below to 1.0 to always move at maximum speed.
+default_velocity_scaling_factor: 0.1
+default_acceleration_scaling_factor: 0.1
+
+# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
+# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
+joint_limits:
+  arm_base_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  arm_link_1_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  arm_link_2_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  arm_link_3_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  gripper_base_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  gripper_right_joint:
+    has_velocity_limits: true
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
--- a/unilabos/device_mesh/devices/arm_slider/config/kinematics.yaml
+++ b/unilabos/device_mesh/devices/arm_slider/config/kinematics.yaml
@@ -0,0 +1,4 @@
+arm:
+  kinematics_solver: lma_kinematics_plugin/LMAKinematicsPlugin
+  kinematics_solver_search_resolution: 0.0050000000000000001
+  kinematics_solver_timeout: 0.0050000000000000001
--- a/unilabos/device_mesh/devices/arm_slider/config/macro.ros2_control.xacro
+++ b/unilabos/device_mesh/devices/arm_slider/config/macro.ros2_control.xacro
@@ -0,0 +1,56 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <xacro:macro name="arm_slider_ros2_control" params="device_name mesh_path">
+        <xacro:property name="initial_positions" value="${load_yaml(mesh_path + '/devices/arm_slider/config/initial_positions.yaml')['initial_positions']}"/>
+
+        <ros2_control name="${device_name}arm_slider" type="system">
+            <hardware>
+                <!-- By default, set up controllers for simulation. This won't work on real hardware -->
+                <plugin>mock_components/GenericSystem</plugin>
+            </hardware>
+            <joint name="${device_name}arm_base_joint">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['arm_base_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="${device_name}arm_link_1_joint">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['arm_link_1_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="${device_name}arm_link_2_joint">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['arm_link_2_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="${device_name}arm_link_3_joint">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['arm_link_3_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="${device_name}gripper_base_joint">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['gripper_base_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="${device_name}gripper_right_joint">
+                <command_interface name="position"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['gripper_right_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+
+        </ros2_control>
+    </xacro:macro>
+</robot>
--- a/unilabos/device_mesh/devices/arm_slider/config/macro.srdf.xacro
+++ b/unilabos/device_mesh/devices/arm_slider/config/macro.srdf.xacro
@@ -0,0 +1,46 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!--This does not replace URDF, and is not an extension of URDF.
+    This is a format for representing semantic information about the robot structure.
+    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
+-->
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+    <xacro:macro name="arm_slider_srdf" params="device_name">
+        <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+        <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+        <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+        <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
+        <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+        <group name="${device_name}arm">
+            <chain base_link="${device_name}arm_slideway" tip_link="${device_name}gripper_base"/>
+        </group>
+        <group name="${device_name}arm_gripper">
+            <joint name="${device_name}gripper_right_joint"/>
+        </group>
+        <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
+        <disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_link_2" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_link_1" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_link_3" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_base" link2="${device_name}arm_slideway" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}arm_link_2" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}arm_link_3" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}arm_slideway" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}gripper_base" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}gripper_left" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_1" link2="${device_name}gripper_right" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_2" link2="${device_name}arm_link_3" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}arm_link_2" link2="${device_name}arm_slideway" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_2" link2="${device_name}gripper_base" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_2" link2="${device_name}gripper_left" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_2" link2="${device_name}gripper_right" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_3" link2="${device_name}arm_slideway" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_3" link2="${device_name}gripper_base" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}arm_link_3" link2="${device_name}gripper_left" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_link_3" link2="${device_name}gripper_right" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_slideway" link2="${device_name}gripper_base" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_slideway" link2="${device_name}gripper_left" reason="Never"/>
+        <disable_collisions link1="${device_name}arm_slideway" link2="${device_name}gripper_right" reason="Never"/>
+        <disable_collisions link1="${device_name}gripper_base" link2="${device_name}gripper_left" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}gripper_base" link2="${device_name}gripper_right" reason="Adjacent"/>
+        <disable_collisions link1="${device_name}gripper_left" link2="${device_name}gripper_right" reason="Never"/>
+    </xacro:macro>
+</robot>
--- a/unilabos/device_mesh/devices/arm_slider/config/move_group.json
+++ b/unilabos/device_mesh/devices/arm_slider/config/move_group.json
@@ -0,0 +1,14 @@
+{
+    "arm":
+    {
+        "joint_names": [ 
+            "arm_base_joint",
+            "arm_link_1_joint",
+            "arm_link_2_joint",
+            "arm_link_3_joint",
+            "gripper_base_joint"
+            ],
+        "base_link_name": "device_link",
+        "end_effector_name": "gripper_base"
+    }
+}
--- a/unilabos/device_mesh/devices/arm_slider/config/moveit_controllers.yaml
+++ b/unilabos/device_mesh/devices/arm_slider/config/moveit_controllers.yaml
@@ -0,0 +1,29 @@
+# MoveIt uses this configuration for controller management
+
+moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
+
+moveit_simple_controller_manager:
+  controller_names:
+    - arm_controller
+    - gripper_controller
+
+  arm_controller:
+    type: FollowJointTrajectory
+    action_ns: follow_joint_trajectory
+    default: true
+    joints:
+      - arm_base_joint
+      - arm_link_1_joint
+      - arm_link_2_joint
+      - arm_link_3_joint
+      - gripper_base_joint
+    action_ns: follow_joint_trajectory
+    default: true
+  gripper_controller:
+    type: FollowJointTrajectory
+    action_ns: follow_joint_trajectory
+    default: true
+    joints:
+      - gripper_right_joint
+    action_ns: follow_joint_trajectory
+    default: true
--- a/unilabos/device_mesh/devices/arm_slider/config/moveit_planners.yaml
+++ b/unilabos/device_mesh/devices/arm_slider/config/moveit_planners.yaml
@@ -0,0 +1,2 @@
+planner_configs:
+  - ompl_interface/OMPLPlanner
--- a/unilabos/device_mesh/devices/arm_slider/config/pilz_cartesian_limits.yaml
+++ b/unilabos/device_mesh/devices/arm_slider/config/pilz_cartesian_limits.yaml
@@ -0,0 +1,6 @@
+# Limits for the Pilz planner
+cartesian_limits:
+  max_trans_vel: 1.0
+  max_trans_acc: 2.25
+  max_trans_dec: -5.0
+  max_rot_vel: 1.57
--- a/unilabos/device_mesh/devices/arm_slider/config/ros2_controllers.yaml
+++ b/unilabos/device_mesh/devices/arm_slider/config/ros2_controllers.yaml
@@ -0,0 +1,39 @@
+# This config file is used by ros2_control
+controller_manager:
+  ros__parameters:
+    update_rate: 100  # Hz
+
+    arm_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+
+    gripper_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+arm_controller:
+  ros__parameters:
+    joints:
+      - arm_base_joint
+      - arm_link_1_joint
+      - arm_link_2_joint
+      - arm_link_3_joint
+      - gripper_base_joint
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+      - velocity
+
+gripper_controller:
+  ros__parameters:
+    joints:
+      - gripper_right_joint
+    command_interfaces:
+      - position
+    state_interfaces:
+      - position
+      - velocity
--- a/unilabos/device_mesh/devices/arm_slider/joint_limit.yaml
+++ b/unilabos/device_mesh/devices/arm_slider/joint_limit.yaml
@@ -0,0 +1,44 @@
+joint_limits:
+
+  arm_base_joint:
+    effort: 50
+    velocity: 1.0
+    lower: 0
+    upper: 1.5
+
+  arm_link_1_joint:
+    effort: 50
+    velocity: 1.0
+    lower: 0
+    upper: 0.6
+
+  arm_link_2_joint:
+    effort: 50
+    velocity: 1.0
+    lower: !degrees  -95
+    upper: !degrees  95
+
+  arm_link_3_joint:
+    effort: 50
+    velocity: 1.0
+    lower: !degrees  -195
+    upper: !degrees  195
+
+  gripper_base_joint:
+    effort: 50
+    velocity: 1.0
+    lower: !degrees  -95
+    upper: !degrees  95
+
+
+  gripper_right_joint:
+    effort: 50
+    velocity: 1.0
+    lower: 0
+    upper: 0.03
+
+  gripper_left_joint:
+    effort: 50
+    velocity: 1.0
+    lower: 0
+    upper: 0.03
--- a/unilabos/device_mesh/devices/arm_slider/macro_device.xacro
+++ b/unilabos/device_mesh/devices/arm_slider/macro_device.xacro
@@ -0,0 +1,293 @@
+<?xml version="1.0" ?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="arm_slider">
+
+  <xacro:macro name="arm_slider" params="mesh_path:='' parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 rx:=0 ry:=0 r:=0">
+    <!-- Read .yaml files from disk, load content into properties -->
+    <xacro:property name= "joint_limit_parameters" value="${xacro.load_yaml(mesh_path + '/devices/arm_slider/joint_limit.yaml')}"/>
+
+    <!-- Extract subsections from yaml dictionaries -->
+    <xacro:property name= "sec_limits" value="${joint_limit_parameters['joint_limits']}"/>
+
+    <joint name="${station_name}${device_name}base_link_joint" type="fixed">
+      <origin xyz="${x} ${y} ${z}" rpy="${rx} ${ry} ${r}" />
+      <parent link="${parent_link}"/>
+      <child link="${station_name}${device_name}device_link"/>
+      <axis xyz="0 0 0"/>
+    </joint>
+
+    <link name="${station_name}${device_name}device_link"/>
+    <joint name="${station_name}${device_name}device_link_joint" type="fixed">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <parent link="${station_name}${device_name}device_link"/>
+      <child link="${station_name}${device_name}arm_slideway"/>
+      <axis xyz="0 0 0"/>
+    </joint>
+
+    <!-- JOINTS LIMIT PARAMETERS -->
+    <xacro:property name="limit_arm_base_joint"        value="${sec_limits['arm_base_joint']}" />
+    <xacro:property name="limit_arm_link_1_joint"      value="${sec_limits['arm_link_1_joint']}" />
+    <xacro:property name="limit_arm_link_2_joint"      value="${sec_limits['arm_link_2_joint']}" />
+    <xacro:property name="limit_arm_link_3_joint"      value="${sec_limits['arm_link_3_joint']}" />
+    <xacro:property name="limit_gripper_base_joint"    value="${sec_limits['gripper_base_joint']}" />
+    <xacro:property name="limit_gripper_right_joint"   value="${sec_limits['gripper_right_joint']}"/>
+    <xacro:property name="limit_gripper_left_joint"    value="${sec_limits['gripper_left_joint']}" />
+    <link name="${station_name}${device_name}arm_slideway">
+      <inertial>
+        <origin rpy="0 0 0" xyz="-0.913122246354019 -0.00141851388483838 0.0416079172839272"/>
+        <mass value="13.6578107753627"/>
+        <inertia ixx="0.0507627640890578" ixy="0.0245166532634714" ixz="-0.0112656803168519" iyy="5.2550852314372" iyz="0.000302974193920367" izz="5.26892263696439"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_slideway.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="0.752941176470588 0.752941176470588 0.752941176470588 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_slideway.STL"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="${station_name}${device_name}arm_base_joint" type="prismatic">
+      <origin rpy="0 0 0" xyz="0.307 0 0.1225"/>
+      <parent link="${station_name}${device_name}arm_slideway"/>
+      <child link="${station_name}${device_name}arm_base"/>
+      <axis xyz="1 0 0"/>
+      <limit 
+        effort="${limit_arm_base_joint['effort']}" 
+        lower="${limit_arm_base_joint['lower']}" 
+        upper="${limit_arm_base_joint['upper']}" 
+        velocity="${limit_arm_base_joint['velocity']}"/>
+    </joint>
+
+    <link name="${station_name}${device_name}arm_base">
+      <inertial>
+        <origin rpy="0 0 0" xyz="1.48458338655733E-06 -0.00831873687136486 0.351728466012153"/>
+        <mass value="16.1341586205194"/>
+        <inertia ixx="0.54871651759045" ixy="7.65476367433116E-07" ixz="2.0515139488158E-07" iyy="0.55113098995396" iyz="-5.13261457726806E-07" izz="0.0619081867727048"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_base.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_base.STL"/>
+        </geometry>
+      </collision>
+    </link>
+
+    <link name="${station_name}${device_name}arm_link_1">
+      <inertial>
+        <origin rpy="0 0 0" xyz="0 -0.0102223856758559 0.0348505130779933"/>
+        <mass value="0.828629227096429"/>
+        <inertia ixx="0.00119703598787112" ixy="-2.46083048832131E-19" ixz="1.43864352731199E-19" iyy="0.00108355785790042" iyz="1.88092240278693E-06" izz="0.00160914803816438"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_1.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_1.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}arm_link_1_joint" type="prismatic">
+      <origin rpy="0 0 0" xyz="0 0.1249 0.15"/>
+      <parent link="${station_name}${device_name}arm_base"/>
+      <child link="${station_name}${device_name}arm_link_1"/>
+      <axis xyz="0 0 1"/>
+      <limit 
+      effort="${limit_arm_link_1_joint['effort']}" 
+      lower="${limit_arm_link_1_joint['lower']}" 
+      upper="${limit_arm_link_1_joint['upper']}" 
+      velocity="${limit_arm_link_1_joint['velocity']}"/>
+    </joint>
+    <link name="${station_name}${device_name}arm_link_2">
+      <inertial>
+        <origin rpy="0 0 0" xyz="-3.33066907387547E-16 0.100000000000003 -0.0325000000000004"/>
+        <mass value="2.04764861029349"/>
+        <inertia ixx="0.0150150059448827" ixy="-1.28113733272213E-17" ixz="6.7561418872754E-19" iyy="0.00262980501315445" iyz="7.44451536320152E-18" izz="0.0162030186138787"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_2.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_2.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}arm_link_2_joint" type="revolute">
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <parent link="${station_name}${device_name}arm_link_1"/>
+      <child link="${station_name}${device_name}arm_link_2"/>
+      <axis xyz="0 0 1"/>
+      <limit 
+        effort="${limit_arm_link_2_joint['effort']}" 
+        lower="${limit_arm_link_2_joint['lower']}" 
+        upper="${limit_arm_link_2_joint['upper']}" 
+        velocity="${limit_arm_link_2_joint['velocity']}"/>
+    </joint>
+    <link name="${station_name}${device_name}arm_link_3">
+      <inertial>
+        <origin rpy="0 0 0" xyz="4.77395900588817E-15 0.0861257730831348 -0.0227999999999999"/>
+        <mass value="1.19870202871083"/>
+        <inertia ixx="0.00780783223764428" ixy="7.26567379579506E-18" ixz="1.02766851352053E-18" iyy="0.00109642607170081" iyz="-9.73775385060067E-18" izz="0.0084997384510058"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_3.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/arm_link_3.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}arm_link_3_joint" type="revolute">
+      <origin rpy="0 0 0" xyz="0 0.2 -0.0647"/>
+      <parent link="${station_name}${device_name}arm_link_2"/>
+      <child link="${station_name}${device_name}arm_link_3"/>
+      <axis xyz="0 0 1"/>
+      <limit 
+        effort="${limit_arm_link_3_joint['effort']}" 
+        lower="${limit_arm_link_3_joint['lower']}" 
+        upper="${limit_arm_link_3_joint['upper']}" 
+        velocity="${limit_arm_link_3_joint['velocity']}"/>
+    </joint>
+    <link name="${station_name}${device_name}gripper_base">
+      <inertial>
+        <origin rpy="0 0 0" xyz="-6.05365748571618E-05 0.0373027483464434 -0.0264392017534612"/>
+        <mass value="0.511925198394943"/>
+        <inertia ixx="0.000640463815051467" ixy="1.08132229596356E-06" ixz="7.165124649009E-07" iyy="0.000552164156414554" iyz="9.80000237347941E-06" izz="0.00103553457812823"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_base.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_base.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}gripper_base_joint" type="revolute">
+      <origin rpy="0 0 0" xyz="0 0.2 -0.045"/>
+      <parent link="${station_name}${device_name}arm_link_3"/>
+      <child link="${station_name}${device_name}gripper_base"/>
+      <axis xyz="0 0 1"/>
+      <limit 
+        effort="${limit_gripper_base_joint['effort']}" 
+        lower="${limit_gripper_base_joint['lower']}" 
+        upper="${limit_gripper_base_joint['upper']}" 
+        velocity="${limit_gripper_base_joint['velocity']}"/>
+    </joint>
+    <link name="${station_name}${device_name}gripper_right">
+      <inertial>
+        <origin rpy="0 0 0" xyz="0.0340005471193899 0.0339655085140826 -0.0325252119823062"/>
+        <mass value="0.013337481136229"/>
+        <inertia ixx="2.02427962974094E-05" ixy="1.78442722292145E-06" ixz="-4.36485961300289E-07" iyy="1.4816483393622E-06" iyz="2.60539468115799E-06" izz="1.96629693098755E-05"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_right.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 0 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_right.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}gripper_right_joint" type="prismatic">
+      <origin rpy="0 0 0" xyz="0 0.0942 -0.022277"/>
+      <parent link="${station_name}${device_name}gripper_base"/>
+      <child link="${station_name}${device_name}gripper_right"/>
+      <axis xyz="1 0 0"/>
+      <limit 
+        effort="${limit_gripper_right_joint['effort']}" 
+        lower="${limit_gripper_right_joint['lower']}" 
+        upper="${limit_gripper_right_joint['upper']}" 
+        velocity="${limit_gripper_right_joint['velocity']}"/>
+    </joint>
+    <link name="${station_name}${device_name}gripper_left">
+      <inertial>
+        <origin rpy="0 3.1416 0" xyz="-0.0340005471193521 0.0339655081029604 -0.0325252119827364"/>
+        <mass value="0.0133374811362292"/>
+        <inertia ixx="2.02427962974094E-05" ixy="-1.78442720812615E-06" ixz="4.36485961300305E-07" iyy="1.48164833936224E-06" iyz="2.6053946859901E-06" izz="1.96629693098755E-05"/>
+      </inertial>
+      <visual>
+        <origin rpy="0 3.1416 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_left.STL"/>
+        </geometry>
+        <material name="">
+          <color rgba="1 1 1 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin rpy="0 3.1416 0" xyz="0 0 0"/>
+        <geometry>
+          <mesh filename="file://${mesh_path}/devices/arm_slider/meshes/gripper_left.STL"/>
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${station_name}${device_name}gripper_left_joint" type="prismatic">
+      <origin rpy="0 3.1416 0" xyz="0 0.0942 -0.022277"/>
+      <parent link="${station_name}${device_name}gripper_base"/>
+      <child link="${station_name}${device_name}gripper_left"/>
+      <axis xyz="1 0 0"/>
+      <limit 
+        effort="${limit_gripper_left_joint['effort']}" 
+        lower="${limit_gripper_left_joint['lower']}" 
+        upper="${limit_gripper_left_joint['upper']}" 
+        velocity="${limit_gripper_left_joint['velocity']}"/>
+      <mimic joint="${station_name}${device_name}gripper_right_joint" multiplier="1" />
+    </joint>
+
+  </xacro:macro>
+</robot>
--- a/unilabos/device_mesh/devices/arm_slider/meshes/arm_base.STL
+++ b/unilabos/device_mesh/devices/arm_slider/meshes/arm_base.STL
--- a/unilabos/device_mesh/devices/arm_slider/meshes/arm_link_1.STL
+++ b/unilabos/device_mesh/devices/arm_slider/meshes/arm_link_1.STL
--- a/unilabos/device_mesh/devices/arm_slider/meshes/arm_link_2.STL
+++ b/unilabos/device_mesh/devices/arm_slider/meshes/arm_link_2.STL
--- a/unilabos/device_mesh/devices/arm_slider/meshes/arm_link_3.STL
+++ b/unilabos/device_mesh/devices/arm_slider/meshes/arm_link_3.STL
--- a/unilabos/device_mesh/devices/arm_slider/meshes/arm_slideway.STL
+++ b/unilabos/device_mesh/devices/arm_slider/meshes/arm_slideway.STL
--- a/unilabos/device_mesh/devices/arm_slider/meshes/gripper_base.STL
+++ b/unilabos/device_mesh/devices/arm_slider/meshes/gripper_base.STL
--- a/unilabos/device_mesh/devices/arm_slider/meshes/gripper_left.STL
+++ b/unilabos/device_mesh/devices/arm_slider/meshes/gripper_left.STL
--- a/unilabos/device_mesh/devices/arm_slider/meshes/gripper_right.STL
+++ b/unilabos/device_mesh/devices/arm_slider/meshes/gripper_right.STL
--- a/unilabos/device_mesh/ros2_controllers.yaml
+++ b/unilabos/device_mesh/ros2_controllers.yaml
@@ -1,30 +1,30 @@
-benyao_arm_controller:
+arm_slider_arm_controller:
  ros__parameters:
    command_interfaces:
    - position
    joints:
-    - benyao_arm_base_joint
-    - benyao_arm_link_1_joint
-    - benyao_arm_link_2_joint
-    - benyao_arm_link_3_joint
-    - benyao_gripper_base_joint
+    - 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
-benyao_gripper_controller:
+arm_slider_gripper_controller:
  ros__parameters:
    command_interfaces:
    - position
    joints:
-    - benyao_gripper_right_joint
+    - arm_slider_gripper_right_joint
    state_interfaces:
    - position
    - velocity
 controller_manager:
  ros__parameters:
-    benyao_arm_controller:
+    arm_slider_arm_controller:
      type: joint_trajectory_controller/JointTrajectoryController
-    benyao_gripper_controller:
+    arm_slider_gripper_controller:
      type: joint_trajectory_controller/JointTrajectoryController
    joint_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster
--- a/unilabos/device_mesh/view_robot.rviz
+++ b/unilabos/device_mesh/view_robot.rviz
@@ -9,7 +9,7 @@ Panels:
        - /MotionPlanning1/Scene Robot1
        - /MotionPlanning1/Planning Request1
      Splitter Ratio: 0.5016146302223206
-    Tree Height: 1112
+    Tree Height: 575
  - Class: rviz_common/Selection
    Name: Selection
  - Class: rviz_common/Tool Properties
@@ -105,83 +105,83 @@ Visualization Manager:
          Expand Link Details: false
          Expand Tree: false
          Link Tree Style: Links in Alphabetic Order
-          PLR_STATION_deck_device_link:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-          PLR_STATION_deck_first_link:
+          arm_slider_arm_base:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
-          PLR_STATION_deck_fourth_link:
+          arm_slider_arm_link_1:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
-          PLR_STATION_deck_main_link:
+          arm_slider_arm_link_2:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
-          PLR_STATION_deck_second_link:
+          arm_slider_arm_link_3:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
-          PLR_STATION_deck_socketTypeGenericSbsFootprint:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-          PLR_STATION_deck_socketTypeHEPAModule:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-          PLR_STATION_deck_third_link:
+          arm_slider_arm_slideway:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
-          benyao_arm_base:
+          arm_slider_device_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          arm_slider_gripper_base:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
-          benyao_arm_link_1:
+          arm_slider_gripper_left:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
-          benyao_arm_link_2:
+          arm_slider_gripper_right:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
-          benyao_arm_link_3:
+          deck_device_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          deck_first_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
-          benyao_arm_slideway:
+          deck_fourth_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
-          benyao_device_link:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-          benyao_gripper_base:
+          deck_main_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
-          benyao_gripper_left:
+          deck_second_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
-          benyao_gripper_right:
+          deck_socketTypeGenericSbsFootprint:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          deck_socketTypeHEPAModule:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          deck_third_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
@@ -256,83 +256,83 @@ Visualization Manager:
          Expand Link Details: false
          Expand Tree: false
          Link Tree Style: Links in Alphabetic Order
-          PLR_STATION_deck_device_link:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-          PLR_STATION_deck_first_link:
+          arm_slider_arm_base:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
-          PLR_STATION_deck_fourth_link:
+          arm_slider_arm_link_1:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
-          PLR_STATION_deck_main_link:
+          arm_slider_arm_link_2:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
-          PLR_STATION_deck_second_link:
+          arm_slider_arm_link_3:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
-          PLR_STATION_deck_socketTypeGenericSbsFootprint:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-          PLR_STATION_deck_socketTypeHEPAModule:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-          PLR_STATION_deck_third_link:
+          arm_slider_arm_slideway:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
-          benyao_arm_base:
+          arm_slider_device_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          arm_slider_gripper_base:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
-          benyao_arm_link_1:
+          arm_slider_gripper_left:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
-          benyao_arm_link_2:
+          arm_slider_gripper_right:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
-          benyao_arm_link_3:
+          deck_device_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          deck_first_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
-          benyao_arm_slideway:
+          deck_fourth_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
-          benyao_device_link:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-          benyao_gripper_base:
+          deck_main_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
-          benyao_gripper_left:
+          deck_second_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
-          benyao_gripper_right:
+          deck_socketTypeGenericSbsFootprint:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          deck_socketTypeHEPAModule:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          deck_third_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
@@ -377,7 +377,7 @@ Visualization Manager:
        Goal State Color: 250; 128; 0
        Interactive Marker Size: 0
        Joint Violation Color: 255; 0; 255
-        Planning Group: benyao_arm
+        Planning Group: arm_slider_arm
        Query Goal State: false
        Query Start State: false
        Show Workspace: false
@@ -400,83 +400,83 @@ Visualization Manager:
          Expand Link Details: false
          Expand Tree: false
          Link Tree Style: Links in Alphabetic Order
-          PLR_STATION_deck_device_link:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-          PLR_STATION_deck_first_link:
+          arm_slider_arm_base:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
-          PLR_STATION_deck_fourth_link:
+          arm_slider_arm_link_1:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
-          PLR_STATION_deck_main_link:
+          arm_slider_arm_link_2:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
-          PLR_STATION_deck_second_link:
+          arm_slider_arm_link_3:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
-          PLR_STATION_deck_socketTypeGenericSbsFootprint:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-          PLR_STATION_deck_socketTypeHEPAModule:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-          PLR_STATION_deck_third_link:
+          arm_slider_arm_slideway:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
-          benyao_arm_base:
+          arm_slider_device_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          arm_slider_gripper_base:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
-          benyao_arm_link_1:
+          arm_slider_gripper_left:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
-          benyao_arm_link_2:
+          arm_slider_gripper_right:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
-          benyao_arm_link_3:
+          deck_device_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          deck_first_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
-          benyao_arm_slideway:
+          deck_fourth_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
-          benyao_device_link:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-          benyao_gripper_base:
+          deck_main_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
-          benyao_gripper_left:
+          deck_second_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
            Value: true
-          benyao_gripper_right:
+          deck_socketTypeGenericSbsFootprint:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          deck_socketTypeHEPAModule:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          deck_third_link:
            Alpha: 1
            Show Axes: false
            Show Trail: false
@@ -564,28 +564,28 @@ Visualization Manager:
      Invert Z Axis: false
      Name: Current View
      Near Clip Distance: 0.009999999776482582
-      Pitch: 0.48479583859443665
+      Pitch: 0.4297958016395569
      Target Frame: <Fixed Frame>
      Value: Orbit (rviz)
-      Yaw: 0.042561568319797516
+      Yaw: 0.3525616228580475
    Saved: ~
 Window Geometry:
  Displays:
-    collapsed: false
-  Height: 2032
-  Hide Left Dock: false
+    collapsed: true
+  Height: 1061
+  Hide Left Dock: true
  Hide Right Dock: true
  MotionPlanning:
-    collapsed: false
+    collapsed: true
  MotionPlanning - Trajectory Slider:
    collapsed: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000003a30000079bfc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000027000004c60000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000002600000026fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000004f9000002c9000002b800ffffff000000010000010f00000387fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000003870000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000bc50000079b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000003a3000003f2fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007300000000170000027b000000ca00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004300fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670000000296000001730000013e00ffffff000000010000010f00000387fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b00000387000000a100fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000784000003f200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: true
-  Width: 3956
+  Width: 1924
  X: 140
  Y: 54
--- a/unilabos/devices/liquid_handling/biomek.py
+++ b/unilabos/devices/liquid_handling/biomek.py
@@ -10,7 +10,6 @@ from pylabrobot.resources import (
    Container,
    Coordinate,
 )
-import copy
 from unilabos_msgs.msg import Resource

 from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker  # type: ignore
@@ -62,7 +61,7 @@ class LiquidHandlerBiomek:
                            'LocalPattern': True, 
                            'Operation': 'Aspirate', 
                            'OverrideHeight': False, 
-                            'Pattern': (True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True),
+                            'Pattern': (True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True),
                            'Prototype': 'MC P300 High', 
                            'ReferencedPattern': '', 
                            'RowsFirst': False, 
@@ -451,8 +450,8 @@ class LiquidHandlerBiomek:
        """
        items = []

-        asp_params = copy.deepcopy(self.aspirate_techniques[aspirate_techniques])
-        dis_params = copy.deepcopy(self.dispense_techniques[dispense_techniques])
+        asp_params = self.aspirate_techniques.get(aspirate_techniques, {})
+        dis_params = self.dispense_techniques.get(dispense_techniques, {})

        asp_params['Position'] = source
        dis_params['Position'] = target
@@ -565,7 +564,7 @@ class LiquidHandlerBiomek:


 if __name__ == "__main__":
-
+  
    print("=== Biomek完整流程测试 ===")
    print("包含: 仪器设置 + 完整实验步骤")
    
@@ -969,6 +968,15 @@ if __name__ == "__main__":
        "liquid_volume": [],
        "liquid_input_wells": []
    },
+    {
+        "id": "working plate on P12",
+        "parent": "deck",
+        "slot_on_deck": "P12",
+        "class_name": "BCDeep96Round",
+        "liquid_type": [],
+        "liquid_volume": [],
+        "liquid_input_wells": []
+    },
    {
        "id": "working plate on P13",
        "parent": "deck",
--- a/unilabos/devices/liquid_handling/biomek_test.py
+++ b/unilabos/devices/liquid_handling/biomek_test.py
@@ -15,7 +15,6 @@ from typing import List, Sequence, Optional, Union, Literal
 import json
 import pathlib
 from typing import Sequence, Optional, List, Union, Literal
-import copy



@@ -68,7 +67,7 @@ class LiquidHandlerBiomek:
                            'LocalPattern': True, 
                            'Operation': 'Aspirate', 
                            'OverrideHeight': False, 
-                            'Pattern': (True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True),
+                            'Pattern': (True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True, True),
                            'Prototype': 'MC P300 High', 
                            'ReferencedPattern': '', 
                            'RowsFirst': False, 
@@ -352,9 +351,8 @@ class LiquidHandlerBiomek:
        """
        items = []

-        asp_params = copy.deepcopy(self.aspirate_techniques[aspirate_techniques])
-        dis_params = copy.deepcopy(self.dispense_techniques[dispense_techniques])
-
+        asp_params = self.aspirate_techniques.get(aspirate_techniques, {})
+        dis_params = self.dispense_techniques.get(dispense_techniques, {})

        asp_params['Position'] = source
        dis_params['Position'] = target
@@ -405,9 +403,7 @@ class LiquidHandlerBiomek:
        transfer_params["Solvent"] = 'Water'
        transfer_params["TipLocation"] = tip_rack
        tmp={'transfer': transfer_params}
-       
        self.temp_protocol["steps"].append(tmp)
-        

        return

@@ -876,6 +872,15 @@ if __name__ == "__main__":
        "liquid_volume": [],
        "liquid_input_wells": []
    },
+    {
+        "id": "working plate on P12",
+        "parent": "deck",
+        "slot_on_deck": "P12",
+        "class_name": "BCDeep96Round",
+        "liquid_type": [],
+        "liquid_volume": [],
+        "liquid_input_wells": []
+    },
    {
        "id": "working plate on P13",
        "parent": "deck",
@@ -963,7 +968,6 @@ if __name__ == "__main__":
        print(f"步骤 {step['step_number']}: {description}")
        
        if operation == 'transfer':
-            
            handler.transfer_biomek(
                source=parameters['source'],
                target=parameters['target'],
--- a/unilabos/devices/ros_dev/moveit_interface.py
+++ b/unilabos/devices/ros_dev/moveit_interface.py
@@ -292,9 +292,17 @@ class MoveitInterface:
                        )
                        end_pose = deep_pose

-                    retval_ik = self.moveit2[cmd_dict["move_group"]].compute_ik(
-                        position=end_pose, quat_xyzw=quaternion, constraints=Constraints(joint_constraints=constraints)
-                    )
+                    retval_ik = None
+                    retry = config.get("retry", 10)
+                    while retval_ik is None and retry > 0:
+                        retval_ik = self.moveit2[cmd_dict["move_group"]].compute_ik(
+                            position=end_pose, quat_xyzw=quaternion, constraints=Constraints(joint_constraints=constraints)
+                        )
+                        time.sleep(0.1)
+                        retry -= 1
+                    if retval_ik is None:
+                        result.success = False
+                        return result
                    position_ = [
                        retval_ik.position[retval_ik.name.index(i)]
                        for i in self.moveit2[cmd_dict["move_group"]].joint_names
--- a/unilabos/registry/devices/moveit_config.yaml
+++ b/unilabos/registry/devices/moveit_config.yaml
@@ -27,11 +27,11 @@ moveit.toyo_xyz:
    type: device
    mesh: toyo_xyz

-moveit.benyao_arm:
-  description: Benyao Arm
+moveit.arm_slider:
+  description: Arm with Slider
  model:
    type: device
-    mesh: benyao_arm
+    mesh: arm_slider
  class:
    module: unilabos.devices.ros_dev.moveit_interface:MoveitInterface
    type: python
--- a/unilabos/ros/nodes/base_device_node.py
+++ b/unilabos/ros/nodes/base_device_node.py
@@ -343,8 +343,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
            ADD_LIQUID_TYPE = other_calling_param.pop("ADD_LIQUID_TYPE", [])
            LIQUID_VOLUME = other_calling_param.pop("LIQUID_VOLUME", [])
            LIQUID_INPUT_SLOT = other_calling_param.pop("LIQUID_INPUT_SLOT", [])
-            slot = other_calling_param.pop("slot", -1)
-            if slot >= 0:  # slot为负数的时候采用assign方法
+            slot = other_calling_param.pop("slot", "-1")
+            if slot != "-1":  # slot为负数的时候采用assign方法
                other_calling_param["slot"] = slot
            # 本地拿到这个物料，可能需要先做初始化?
            if isinstance(resources, list):
@@ -368,16 +368,21 @@ class BaseROS2DeviceNode(Node, Generic[T]):
            # 如果driver自己就有assign的方法，那就使用driver自己的assign方法
            if hasattr(self.driver_instance, "create_resource"):
                create_resource_func = getattr(self.driver_instance, "create_resource")
-                create_resource_func(
-                    resource_tracker=self.resource_tracker,
-                    resources=request.resources,
-                    bind_parent_id=bind_parent_id,
-                    bind_location=location,
-                    liquid_input_slot=LIQUID_INPUT_SLOT,
-                    liquid_type=ADD_LIQUID_TYPE,
-                    liquid_volume=LIQUID_VOLUME,
-                    slot_on_deck=slot,
-                )
+                try:
+                    ret = create_resource_func(
+                        resource_tracker=self.resource_tracker,
+                        resources=request.resources,
+                        bind_parent_id=bind_parent_id,
+                        bind_location=location,
+                        liquid_input_slot=LIQUID_INPUT_SLOT,
+                        liquid_type=ADD_LIQUID_TYPE,
+                        liquid_volume=LIQUID_VOLUME,
+                        slot_on_deck=slot,
+                    )
+                    res.response = serialize_result_info("", True, ret)
+                except Exception as e:
+                    traceback.print_exc()
+                    res.response = serialize_result_info(traceback.format_exc(), False, {})
                return res
            # 接下来该根据bind_parent_id进行assign了，目前只有plr可以进行assign，不然没有办法输入到物料系统中
            resource = self.resource_tracker.figure_resource({"name": bind_parent_id})
@@ -403,9 +408,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                            empty_liquid_info_in[liquid_input_slot] = (liquid_type, liquid_volume)
                        plr_instance.set_well_liquids(empty_liquid_info_in)
                    if isinstance(resource, OTDeck) and "slot" in other_calling_param:
+                        other_calling_param["slot"] = int(other_calling_param["slot"])
                        resource.assign_child_at_slot(plr_instance, **other_calling_param)
                    else:
-                        _discard_slot = other_calling_param.pop("slot", -1)
+                        _discard_slot = other_calling_param.pop("slot", "-1")
                        resource.assign_child_resource(
                            plr_instance,
                            Coordinate(location["x"], location["y"], location["z"]),
--- a/unilabos/ros/nodes/presets/host_node.py
+++ b/unilabos/ros/nodes/presets/host_node.py
@@ -342,6 +342,7 @@ class HostNode(BaseROS2DeviceNode):
        bind_locations: list[Point],
        other_calling_params: list[str],
    ):
+        responses = []
        for resource, device_id, bind_parent_id, bind_location, other_calling_param in zip(
            resources, device_ids, bind_parent_ids, bind_locations, other_calling_params
        ):
@@ -367,8 +368,8 @@ class HostNode(BaseROS2DeviceNode):
                ensure_ascii=False,
            )
            response = sclient.call(request)
-            pass
-        pass
+            responses.append(response)
+        return responses

    def create_resource(
        self,
@@ -380,7 +381,7 @@ class HostNode(BaseROS2DeviceNode):
        liquid_input_slot: list[int],
        liquid_type: list[str],
        liquid_volume: list[int],
-        slot_on_deck: int,
+        slot_on_deck: str,
    ):
        init_new_res = initialize_resource(
            {
--- a/unilabos_msgs/action/ResourceCreateFromOuterEasy.action
+++ b/unilabos_msgs/action/ResourceCreateFromOuterEasy.action
@@ -6,7 +6,7 @@ geometry_msgs/Point bind_locations
 int32[] liquid_input_slot
 string[] liquid_type
 float32[] liquid_volume
-int32 slot_on_deck
+string slot_on_deck
 ---
 string return_info
 bool success
Author	SHA1	Message	Date
Xuwznln	d297abfd19	bump ver modify slot type	2025-06-10 03:46:28 +08:00
Xuwznln	9c515a252a	create_resource	2025-06-10 02:55:29 +08:00
Xuwznln	ea5e7a5ce2	Merge branch '37-biomek-i5i7' into dev # Conflicts: # README.md # README_zh.md # recipes/ros-humble-unilabos-msgs/recipe.yaml # recipes/unilabos/recipe.yaml # setup.py # unilabos/devices/liquid_handling/biomek.py # unilabos/devices/liquid_handling/biomek_test.py # unilabos/registry/devices/liquid_handler.yaml # unilabos/registry/registry.py # unilabos/ros/msgs/message_converter.py # unilabos_msgs/action/LiquidHandlerMoveBiomek.action # unilabos_msgs/action/LiquidHandlerTransferBiomek.action	2025-06-10 02:00:43 +08:00
Xuwznln	2e9a0a4677	fix move it	2025-06-10 01:55:39 +08:00
Xuwznln	4c7aa8a89a	fix move it	2025-06-10 01:53:58 +08:00
Xuwznln	d8a0c5e715	Device visualization (#41 ) * 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 * 提取lh的joint发布 * unify liquid_handler definition * 修改物料跟随与物料添加逻辑修改物料跟随与物料添加逻辑将joint_publisher类移出lh的backends，但仍需要对lh的backends进行一些改写 * Revert "修改物料跟随与物料添加逻辑" This reverts commit `498c997ad7`. * Reapply "修改物料跟随与物料添加逻辑" This reverts commit `3a60d2ae81`. * Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization" This reverts commit `fa727220af`, reversing changes made to `498c997ad7`. * 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 * add biomek.py demo implementation * 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。 * Test * fix biomek success type * Convert LH action to biomek. * Update biomek.py * 注册表上报handle和schema (param input) * 修复biomek缺少的字段 * delete 's' * Remove warnings * Update biomek.py * Biomek test * Update biomek.py * 新增transfer_biomek的msg * New transfer_biomek * Updated transfer_biomek * 更新transfer_biomek的msg * 更新transfer_biomek的msg * 支持Biomek创建 * new action * fix key name typo * New parameter for biomek to run. * Refine * Update * new actions * new actions * 1 * registry * fix biomek startup add action handles * fix handles not as default entry * 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 * biomek_test.py biomek_test.py是最新的版本，运行它会生成complete_biomek_protocol.json * Update biomek.py * biomek_test.py * fix liquid_handler.biomek handles * 修改物体attach时，多次赋值当前时间导致卡顿问题， * 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`. * 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`. * 添加缺少物料："plate_well_G12", * host node新增resource add时间统计 create_resource新增handle bump version to 0.9.2 * 修正物料上传时间改用biomek_test 增加ResultInfoEncoder 支持返回结果上传 * 正确发送return_info结果 * 同步执行状态信息 * 取消raiseValueError提示 * Update biomek_test.py * 0608 DONE * 同步了Biomek.py 现在应可用 * biomek switch back to non-test * temp disable initialize resource * add * fix tip resource data * liquid states * change to debug level * Revert "change to debug level" This reverts commit `5d9953c3e5`. * Reapply "change to debug level" This reverts commit `2487bb6ffc`. * fix tip resource data * add full device * add moveit yaml * 修复moveit 增加post_init阶段，给予ros_node反向 * remove necessary node * fix moveit action client * remove necessary imports * Update moveit_interface.py * fix handler_key uppercase * json add liquids * fix setup * add * change to "sources" and "targets" for lh * bump version * remove parent's parent link * change arm's name * change name --------- Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com> Co-authored-by: Junhan Chang <changjh@pku.edu.cn> Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com> Co-authored-by: qxw138 <qxw@stu.pku.edu.cn>	2025-06-10 01:28:09 +08:00
Xuwznln	6ae77e0408	temp disable initialize resource	2025-06-08 17:07:48 +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	526327727d	取消raiseValueError提示	2025-06-08 15:34:56 +08:00
Xuwznln	aaa86314e3	同步执行状态信息	2025-06-08 15:34:16 +08:00
Xuwznln	6a14104e6b	正确发送return_info结果	2025-06-08 15:06:38 +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
Xuwznln	c0b7f2decd	host node新增resource add时间统计 create_resource新增handle bump version to 0.9.2	2025-06-08 13:23:55 +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
Xuwznln	c7b9c6a825	fix handles not as default entry	2025-06-06 18:13:53 +08:00
Xuwznln	48c43d3303	fix biomek startup add action handles	2025-06-06 17:45:54 +08:00
Xuwznln	55be5e8188	registry	2025-06-06 17:21:19 +08:00
qxw138	1b9f3c666d	1	2025-06-06 14:44:17 +08:00
qxw138	097114d38c	new actions	2025-06-06 14:31:10 +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	46da42deef	Merge branch '37-biomek-i5i7' of https://github.com/dptech-corp/Uni-Lab-OS into 37-biomek-i5i7	2025-06-06 00:13:11 +08:00
Xuwznln	101c1bc3cc	fix key name typo	2025-06-05 22:15:57 +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
Xuwznln	39de3ac58e	更新transfer_biomek的msg	2025-06-05 15:41:16 +08:00
Xuwznln	b99969278c	更新transfer_biomek的msg	2025-06-05 15:30:51 +08:00
Guangxin Zhang	b957ad2f71	Merge branch '37-biomek-i5i7' of https://github.com/dptech-corp/Uni-Lab-OS into 37-biomek-i5i7	2025-06-04 21:49:27 +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
Xuwznln	c5a495f409	新增transfer_biomek的msg	2025-06-04 19:03:00 +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
Xuwznln	ea2e9c3e3a	fix biomek success type	2025-05-30 16:50:13 +08:00
Guangxin Zhang	0452a68180	Test	2025-05-30 16:03:49 +08:00
Xuwznln	90a0f3db9b	merge	2025-05-30 15:40:14 +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