from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d from unilabos.resources.itemized_carrier import Bottle, BottleCarrier from unilabos.resources.bioyond.YB_bottles import ( YB_jia_yang_tou_da, YB_ye_Bottle, YB_ye_100ml_Bottle, YB_gao_nian_ye_Bottle, YB_fen_ye_5ml_Bottle, YB_fen_ye_20ml_Bottle, YB_pei_ye_xiao_Bottle, YB_pei_ye_da_Bottle, YB_Pipette_Tip, ) # 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial def BIOYOND_Electrolyte_6VialCarrier(name: str) -> BottleCarrier: """6瓶载架 - 2x3布局""" # 载架尺寸 (mm) carrier_size_x = 127.8 carrier_size_y = 85.5 carrier_size_z = 50.0 # 瓶位尺寸 bottle_diameter = 30.0 bottle_spacing_x = 42.0 # X方向间距 bottle_spacing_y = 35.0 # Y方向间距 # 计算起始位置 (居中排列) start_x = (carrier_size_x - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2 start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2 sites = create_ordered_items_2d( klass=ResourceHolder, num_items_x=3, num_items_y=2, dx=start_x, dy=start_y, dz=5.0, item_dx=bottle_spacing_x, item_dy=bottle_spacing_y, size_x=bottle_diameter, size_y=bottle_diameter, size_z=carrier_size_z, ) for k, v in sites.items(): v.name = f"{name}_{v.name}" carrier = BottleCarrier( name=name, size_x=carrier_size_x, size_y=carrier_size_y, size_z=carrier_size_z, sites=sites, model="Electrolyte_6VialCarrier", ) carrier.num_items_x = 3 carrier.num_items_y = 2 carrier.num_items_z = 1 # for i in range(6): # carrier[i] = YB_Solid_Vial(f"{name}_vial_{i+1}") return carrier def BIOYOND_Electrolyte_1BottleCarrier(name: str) -> BottleCarrier: """1瓶载架 - 单个中央位置""" # 载架尺寸 (mm) carrier_size_x = 127.8 carrier_size_y = 85.5 carrier_size_z = 100.0 # 烧杯尺寸 beaker_diameter = 80.0 # 计算中央位置 center_x = (carrier_size_x - beaker_diameter) / 2 center_y = (carrier_size_y - beaker_diameter) / 2 center_z = 5.0 carrier = BottleCarrier( name=name, size_x=carrier_size_x, size_y=carrier_size_y, size_z=carrier_size_z, sites=create_homogeneous_resources( klass=ResourceHolder, locations=[Coordinate(center_x, center_y, center_z)], resource_size_x=beaker_diameter, resource_size_y=beaker_diameter, name_prefix=name, ), model="Electrolyte_1BottleCarrier", ) carrier.num_items_x = 1 carrier.num_items_y = 1 carrier.num_items_z = 1 # carrier[0] = YB_Solution_Beaker(f"{name}_beaker_1") return carrier def YB_6StockCarrier(name: str) -> BottleCarrier: """6瓶载架 - 2x3布局""" # 载架尺寸 (mm) carrier_size_x = 127.8 carrier_size_y = 85.5 carrier_size_z = 50.0 # 瓶位尺寸 bottle_diameter = 20.0 bottle_spacing_x = 42.0 # X方向间距 bottle_spacing_y = 35.0 # Y方向间距 # 计算起始位置 (居中排列) start_x = (carrier_size_x - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2 start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2 sites = create_ordered_items_2d( klass=ResourceHolder, num_items_x=3, num_items_y=2, dx=start_x, dy=start_y, dz=5.0, item_dx=bottle_spacing_x, item_dy=bottle_spacing_y, size_x=bottle_diameter, size_y=bottle_diameter, size_z=carrier_size_z, ) for k, v in sites.items(): v.name = f"{name}_{v.name}" carrier = BottleCarrier( name=name, size_x=carrier_size_x, size_y=carrier_size_y, size_z=carrier_size_z, sites=sites, model="6StockCarrier", ) carrier.num_items_x = 3 carrier.num_items_y = 2 carrier.num_items_z = 1 ordering = ["A1", "A2", "A3", "B1", "B2", "B3"] # 自定义顺序 # for i in range(6): # carrier[i] = YB_Solid_Stock(f"{name}_vial_{ordering[i]}") return carrier def YB_6VialCarrier(name: str) -> BottleCarrier: """6瓶载架 - 2x3布局""" # 载架尺寸 (mm) carrier_size_x = 127.8 carrier_size_y = 85.5 carrier_size_z = 50.0 # 瓶位尺寸 bottle_diameter = 30.0 bottle_spacing_x = 42.0 # X方向间距 bottle_spacing_y = 35.0 # Y方向间距 # 计算起始位置 (居中排列) start_x = (carrier_size_x - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2 start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2 sites = create_ordered_items_2d( klass=ResourceHolder, num_items_x=3, num_items_y=2, dx=start_x, dy=start_y, dz=5.0, item_dx=bottle_spacing_x, item_dy=bottle_spacing_y, size_x=bottle_diameter, size_y=bottle_diameter, size_z=carrier_size_z, ) for k, v in sites.items(): v.name = f"{name}_{v.name}" carrier = BottleCarrier( name=name, size_x=carrier_size_x, size_y=carrier_size_y, size_z=carrier_size_z, sites=sites, model="6VialCarrier", ) carrier.num_items_x = 3 carrier.num_items_y = 2 carrier.num_items_z = 1 ordering = ["A1", "A2", "A3", "B1", "B2", "B3"] # 自定义顺序 # for i in range(3): # carrier[i] = YB_Solid_Vial(f"{name}_solidvial_{ordering[i]}") # for i in range(3, 6): # carrier[i] = YB_Liquid_Vial(f"{name}_liquidvial_{ordering[i]}") return carrier # 1瓶载架 - 单个中央位置 def YB_1BottleCarrier(name: str) -> BottleCarrier: # 载架尺寸 (mm) carrier_size_x = 127.8 carrier_size_y = 85.5 carrier_size_z = 20.0 # 烧杯尺寸 beaker_diameter = 60.0 # 计算中央位置 center_x = (carrier_size_x - beaker_diameter) / 2 center_y = (carrier_size_y - beaker_diameter) / 2 center_z = 5.0 carrier = BottleCarrier( name=name, size_x=carrier_size_x, size_y=carrier_size_y, size_z=carrier_size_z, sites=create_homogeneous_resources( klass=ResourceHolder, locations=[Coordinate(center_x, center_y, center_z)], resource_size_x=beaker_diameter, resource_size_y=beaker_diameter, name_prefix=name, ), model="1BottleCarrier", ) carrier.num_items_x = 1 carrier.num_items_y = 1 carrier.num_items_z = 1 carrier[0] = YB_ye_Bottle(f"{name}_flask_1") return carrier # 高粘液瓶载架 - 单个中央位置 def YB_1GaoNianYeBottleCarrier(name: str) -> BottleCarrier: # 载架尺寸 (mm) carrier_size_x = 127.8 carrier_size_y = 85.5 carrier_size_z = 20.0 # 烧杯尺寸 beaker_diameter = 60.0 # 计算中央位置 center_x = (carrier_size_x - beaker_diameter) / 2 center_y = (carrier_size_y - beaker_diameter) / 2 center_z = 5.0 carrier = BottleCarrier( name=name, size_x=carrier_size_x, size_y=carrier_size_y, size_z=carrier_size_z, sites=create_homogeneous_resources( klass=ResourceHolder, locations=[Coordinate(center_x, center_y, center_z)], resource_size_x=beaker_diameter, resource_size_y=beaker_diameter, name_prefix=name, ), model="1GaoNianYeBottleCarrier", ) carrier.num_items_x = 1 carrier.num_items_y = 1 carrier.num_items_z = 1 carrier[0] = YB_gao_nian_ye_Bottle(f"{name}_flask_1") return carrier # 100ml液体瓶载架 - 单个中央位置 def YB_1Bottle100mlCarrier(name: str) -> BottleCarrier: # 载架尺寸 (mm) carrier_size_x = 127.8 carrier_size_y = 85.5 carrier_size_z = 20.0 # 烧杯尺寸 beaker_diameter = 60.0 # 计算中央位置 center_x = (carrier_size_x - beaker_diameter) / 2 center_y = (carrier_size_y - beaker_diameter) / 2 center_z = 5.0 carrier = BottleCarrier( name=name, size_x=carrier_size_x, size_y=carrier_size_y, size_z=carrier_size_z, sites=create_homogeneous_resources( klass=ResourceHolder, locations=[Coordinate(center_x, center_y, center_z)], resource_size_x=beaker_diameter, resource_size_y=beaker_diameter, name_prefix=name, ), model="1Bottle100mlCarrier", ) carrier.num_items_x = 1 carrier.num_items_y = 1 carrier.num_items_z = 1 carrier[0] = YB_ye_100ml_Bottle(f"{name}_flask_1") return carrier # 5ml分液瓶板 - 4x2布局，8个位置 def YB_6x5ml_DispensingVialCarrier(name: str) -> BottleCarrier: # 载架尺寸 (mm) carrier_size_x = 127.8 carrier_size_y = 85.5 carrier_size_z = 50.0 # 瓶位尺寸 bottle_diameter = 15.0 bottle_spacing_x = 42.0 # X方向间距 bottle_spacing_y = 35.0 # Y方向间距 # 计算起始位置 (居中排列) start_x = (carrier_size_x - (4 - 1) * bottle_spacing_x - bottle_diameter) / 2 start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2 sites = create_ordered_items_2d( klass=ResourceHolder, num_items_x=4, num_items_y=2, dx=start_x, dy=start_y, dz=5.0, item_dx=bottle_spacing_x, item_dy=bottle_spacing_y, size_x=bottle_diameter, size_y=bottle_diameter, size_z=carrier_size_z, ) for k, v in sites.items(): v.name = f"{name}_{v.name}" carrier = BottleCarrier( name=name, size_x=carrier_size_x, size_y=carrier_size_y, size_z=carrier_size_z, sites=sites, model="6x5ml_DispensingVialCarrier", ) carrier.num_items_x = 4 carrier.num_items_y = 2 carrier.num_items_z = 1 ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"] for i in range(8): carrier[i] = YB_fen_ye_5ml_Bottle(f"{name}_vial_{ordering[i]}") return carrier # 20ml分液瓶板 - 4x2布局，8个位置 def YB_6x20ml_DispensingVialCarrier(name: str) -> BottleCarrier: # 载架尺寸 (mm) carrier_size_x = 127.8 carrier_size_y = 85.5 carrier_size_z = 70.0 # 瓶位尺寸 bottle_diameter = 20.0 bottle_spacing_x = 42.0 # X方向间距 bottle_spacing_y = 35.0 # Y方向间距 # 计算起始位置 (居中排列) start_x = (carrier_size_x - (4 - 1) * bottle_spacing_x - bottle_diameter) / 2 start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2 sites = create_ordered_items_2d( klass=ResourceHolder, num_items_x=4, num_items_y=2, dx=start_x, dy=start_y, dz=5.0, item_dx=bottle_spacing_x, item_dy=bottle_spacing_y, size_x=bottle_diameter, size_y=bottle_diameter, size_z=carrier_size_z, ) for k, v in sites.items(): v.name = f"{name}_{v.name}" carrier = BottleCarrier( name=name, size_x=carrier_size_x, size_y=carrier_size_y, size_z=carrier_size_z, sites=sites, model="6x20ml_DispensingVialCarrier", ) carrier.num_items_x = 4 carrier.num_items_y = 2 carrier.num_items_z = 1 ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"] for i in range(8): carrier[i] = YB_fen_ye_20ml_Bottle(f"{name}_vial_{ordering[i]}") return carrier # 配液瓶(小)板 - 4x2布局，8个位置 def YB_6x_SmallSolutionBottleCarrier(name: str) -> BottleCarrier: # 载架尺寸 (mm) carrier_size_x = 127.8 carrier_size_y = 85.5 carrier_size_z = 65.0 # 瓶位尺寸 bottle_diameter = 35.0 bottle_spacing_x = 42.0 # X方向间距 bottle_spacing_y = 35.0 # Y方向间距 # 计算起始位置 (居中排列) start_x = (carrier_size_x - (4 - 1) * bottle_spacing_x - bottle_diameter) / 2 start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2 sites = create_ordered_items_2d( klass=ResourceHolder, num_items_x=4, num_items_y=2, dx=start_x, dy=start_y, dz=5.0, item_dx=bottle_spacing_x, item_dy=bottle_spacing_y, size_x=bottle_diameter, size_y=bottle_diameter, size_z=carrier_size_z, ) for k, v in sites.items(): v.name = f"{name}_{v.name}" carrier = BottleCarrier( name=name, size_x=carrier_size_x, size_y=carrier_size_y, size_z=carrier_size_z, sites=sites, model="6x_SmallSolutionBottleCarrier", ) carrier.num_items_x = 4 carrier.num_items_y = 2 carrier.num_items_z = 1 ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"] for i in range(8): carrier[i] = YB_pei_ye_xiao_Bottle(f"{name}_bottle_{ordering[i]}") return carrier # 配液瓶(大)板 - 2x2布局，4个位置 def YB_4x_LargeSolutionBottleCarrier(name: str) -> BottleCarrier: # 载架尺寸 (mm) carrier_size_x = 127.8 carrier_size_y = 85.5 carrier_size_z = 95.0 # 瓶位尺寸 bottle_diameter = 55.0 bottle_spacing_x = 60.0 # X方向间距 bottle_spacing_y = 60.0 # Y方向间距 # 计算起始位置 (居中排列) start_x = (carrier_size_x - (2 - 1) * bottle_spacing_x - bottle_diameter) / 2 start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2 sites = create_ordered_items_2d( klass=ResourceHolder, num_items_x=2, num_items_y=2, dx=start_x, dy=start_y, dz=5.0, item_dx=bottle_spacing_x, item_dy=bottle_spacing_y, size_x=bottle_diameter, size_y=bottle_diameter, size_z=carrier_size_z, ) for k, v in sites.items(): v.name = f"{name}_{v.name}" carrier = BottleCarrier( name=name, size_x=carrier_size_x, size_y=carrier_size_y, size_z=carrier_size_z, sites=sites, model="4x_LargeSolutionBottleCarrier", ) carrier.num_items_x = 2 carrier.num_items_y = 2 carrier.num_items_z = 1 ordering = ["A1", "A2", "B1", "B2"] for i in range(4): carrier[i] = YB_pei_ye_da_Bottle(f"{name}_bottle_{ordering[i]}") return carrier # 加样头(大)板 - 1x1布局，1个位置 def YB_jia_yang_tou_da_1X1_carrier(name: str) -> BottleCarrier: # 载架尺寸 (mm) carrier_size_x = 127.8 carrier_size_y = 85.5 carrier_size_z = 95.0 # 瓶位尺寸 bottle_diameter = 35.0 bottle_spacing_x = 42.0 # X方向间距 bottle_spacing_y = 35.0 # Y方向间距 # 计算起始位置 (居中排列) start_x = (carrier_size_x - (1 - 1) * bottle_spacing_x - bottle_diameter) / 2 start_y = (carrier_size_y - (1 - 1) * bottle_spacing_y - bottle_diameter) / 2 sites = create_ordered_items_2d( klass=ResourceHolder, num_items_x=1, num_items_y=1, dx=start_x, dy=start_y, dz=5.0, item_dx=bottle_spacing_x, item_dy=bottle_spacing_y, size_x=bottle_diameter, size_y=bottle_diameter, size_z=carrier_size_z, ) for k, v in sites.items(): v.name = f"{name}_{v.name}" carrier = BottleCarrier( name=name, size_x=carrier_size_x, size_y=carrier_size_y, size_z=carrier_size_z, sites=sites, model="6x_LargeDispenseHeadCarrier", ) carrier.num_items_x = 1 carrier.num_items_y = 1 carrier.num_items_z = 1 carrier[0] = YB_jia_yang_tou_da(f"{name}_head_1") return carrier def YB_AdapterBlock(name: str) -> BottleCarrier: """适配器块 - 单个中央位置""" # 载架尺寸 (mm) carrier_size_x = 127.8 carrier_size_y = 85.5 carrier_size_z = 30.0 # 适配器尺寸 adapter_diameter = 80.0 # 计算中央位置 center_x = (carrier_size_x - adapter_diameter) / 2 center_y = (carrier_size_y - adapter_diameter) / 2 center_z = 0.0 carrier = BottleCarrier( name=name, size_x=carrier_size_x, size_y=carrier_size_y, size_z=carrier_size_z, sites=create_homogeneous_resources( klass=ResourceHolder, locations=[Coordinate(center_x, center_y, center_z)], resource_size_x=adapter_diameter, resource_size_y=adapter_diameter, name_prefix=name, ), model="AdapterBlock", ) carrier.num_items_x = 1 carrier.num_items_y = 1 carrier.num_items_z = 1 # 适配器块本身不包含瓶子，只是一个支撑结构 return carrier def YB_TipBox(name: str) -> BottleCarrier: """枪头盒 - 8x12布局，96个位置""" # 载架尺寸 (mm) carrier_size_x = 127.8 carrier_size_y = 85.5 carrier_size_z = 55.0 # 枪头尺寸 tip_diameter = 10.0 tip_spacing_x = 9.0 # X方向间距 tip_spacing_y = 9.0 # Y方向间距 # 计算起始位置 (居中排列) start_x = (carrier_size_x - (12 - 1) * tip_spacing_x - tip_diameter) / 2 start_y = (carrier_size_y - (8 - 1) * tip_spacing_y - tip_diameter) / 2 sites = create_ordered_items_2d( klass=ResourceHolder, num_items_x=12, num_items_y=8, dx=start_x, dy=start_y, dz=5.0, item_dx=tip_spacing_x, item_dy=tip_spacing_y, size_x=tip_diameter, size_y=tip_diameter, size_z=carrier_size_z, ) for k, v in sites.items(): v.name = f"{name}_{v.name}" carrier = BottleCarrier( name=name, size_x=carrier_size_x, size_y=carrier_size_y, size_z=carrier_size_z, sites=sites, model="TipBox", ) carrier.num_items_x = 12 carrier.num_items_y = 8 carrier.num_items_z = 1 # 创建96个枪头 for i in range(96): row = chr(65 + i // 12) # A-H col = (i % 12) + 1 # 1-12 carrier[i] = YB_Pipette_Tip(f"{name}_tip_{row}{col}") return carrier