mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2025-12-17 13:01:12 +00:00
4612 lines
125 KiB
Python
4612 lines
125 KiB
Python
import time
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import rclpy,json
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from rclpy.node import Node
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from std_msgs.msg import String,Header
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import numpy as np
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from moveit_msgs.srv import GetPlanningScene, ApplyPlanningScene
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from rclpy.callback_groups import ReentrantCallbackGroup
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from rclpy.qos import QoSProfile, QoSDurabilityPolicy, QoSReliabilityPolicy, QoSHistoryPolicy
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from moveit_msgs.msg import CollisionObject, AttachedCollisionObject, AllowedCollisionEntry
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from shape_msgs.msg import Mesh, MeshTriangle, SolidPrimitive
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from geometry_msgs.msg import Pose, PoseStamped, Point, Quaternion
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from rclpy.callback_groups import ReentrantCallbackGroup
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from rclpy.qos import QoSProfile, QoSDurabilityPolicy, QoSReliabilityPolicy, QoSHistoryPolicy
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from rclpy.task import Future
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import copy
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from typing import Tuple, Optional, Union, Any, List
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class ResourceMeshManager(Node):
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def __init__(self, resource_model: dict, resource_config: list, node_name: str):
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"""初始化资源网格管理器节点
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Args:
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resource_model (dict): 资源模型字典,包含资源的3D模型信息
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resource_config (dict): 资源配置字典,包含资源的配置信息
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node_name (str): 节点名称
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"""
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super().__init__(node_name)
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self.resource_model = resource_model
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self.resource_config = resource_config
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self.resource_config_dict = {item['id']: item for item in self.resource_config}
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self.move_group_ready = False
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self.resource_tf_dict = {}
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callback_group = ReentrantCallbackGroup()
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self._get_planning_scene_service = self.create_client(
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srv_type=GetPlanningScene,
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srv_name="get_planning_scene",
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qos_profile=QoSProfile(
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durability=QoSDurabilityPolicy.VOLATILE,
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reliability=QoSReliabilityPolicy.RELIABLE,
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history=QoSHistoryPolicy.KEEP_LAST,
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depth=1,
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),
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callback_group=callback_group,
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)
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self.__planning_scene = None
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self.__old_planning_scene = None
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self.__old_allowed_collision_matrix = None
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# Create a service for applying the planning scene
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self._apply_planning_scene_service = self.create_client(
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srv_type=ApplyPlanningScene,
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srv_name="apply_planning_scene",
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qos_profile=QoSProfile(
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durability=QoSDurabilityPolicy.VOLATILE,
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reliability=QoSReliabilityPolicy.RELIABLE,
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history=QoSHistoryPolicy.KEEP_LAST,
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depth=1,
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),
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callback_group=callback_group,
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)
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self.__collision_object_publisher = self.create_publisher(
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CollisionObject, "/collision_object", 10
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)
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self.__attached_collision_object_publisher = self.create_publisher(
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AttachedCollisionObject, "/attached_collision_object", 10
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)
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"""检查move_group节点是否已初始化完成"""
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def check_move_group_ready(self):
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while not self.move_group_ready:
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# 获取当前可用的节点列表
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if self._get_planning_scene_service.service_is_ready() and self._apply_planning_scene_service.service_is_ready():
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self.resource_mesh_setup()
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self.move_group_ready = True
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time.sleep(0.5)
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def resource_mesh_setup(self):
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"""move_group初始化完成后的设置"""
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self.get_logger().info('开始设置资源网格管理器')
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#遍历resource_config中的资源配置，判断panent是否在resource_model中，
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for resource_config in self.resource_config:
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if resource_config['parent'] in self.resource_model:
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# self.resource_tf_dict[resource_config['id']] = resource_config['parent']
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self.resource_tf_dict.update({resource_config['id']:{"parent":resource_config['parent'],
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"position":resource_config['position'],
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"rotation":resource_config['config']['rotation']}})
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elif resource_config['parent'] is None and resource_config['id'] in self.resource_model:
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self.resource_tf_dict.update({resource_config['id']:{'parent':'world',
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"position":resource_config['position'],
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"rotation":resource_config['config']['rotation']}})
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elif resource_config['parent'] not in self.resource_model and resource_config['parent'] is not None:
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self.resource_tf_dict.update({resource_config['id']:{'parent':f"{self.resource_config_dict[resource_config['parent']]['parent']}{resource_config['parent']}_device_link".replace("None",""),
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"position":resource_config['position'],
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"rotation":resource_config['config']['rotation']}})
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def add_collision_primitive(
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self,
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id: str,
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primitive_type: int,
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dimensions: Tuple[float, float, float],
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pose: Optional[Union[PoseStamped, Pose]] = None,
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position: Optional[Union[Point, Tuple[float, float, float]]] = None,
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quat_xyzw: Optional[
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Union[Quaternion, Tuple[float, float, float, float]]
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] = None,
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frame_id: Optional[str] = None,
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operation: int = CollisionObject.ADD,
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):
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"""
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Add collision object with a primitive geometry specified by its dimensions.
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`primitive_type` can be one of the following:
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- `SolidPrimitive.BOX`
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- `SolidPrimitive.SPHERE`
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- `SolidPrimitive.CYLINDER`
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- `SolidPrimitive.CONE`
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"""
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if (pose is None) and (position is None or quat_xyzw is None):
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raise ValueError(
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"Either `pose` or `position` and `quat_xyzw` must be specified!"
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)
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if isinstance(pose, PoseStamped):
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pose_stamped = pose
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elif isinstance(pose, Pose):
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pose_stamped = PoseStamped(
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header=Header(
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stamp=self.get_clock().now().to_msg(),
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frame_id=(
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frame_id if frame_id is not None else self.__base_link_name
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),
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),
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pose=pose,
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)
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else:
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if not isinstance(position, Point):
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position = Point(
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x=float(position[0]), y=float(position[1]), z=float(position[2])
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)
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if not isinstance(quat_xyzw, Quaternion):
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quat_xyzw = Quaternion(
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x=float(quat_xyzw[0]),
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y=float(quat_xyzw[1]),
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z=float(quat_xyzw[2]),
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w=float(quat_xyzw[3]),
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)
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pose_stamped = PoseStamped(
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header=Header(
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stamp=self.get_clock().now().to_msg(),
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frame_id=(
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frame_id if frame_id is not None else self.__base_link_name
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),
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),
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pose=Pose(position=position, orientation=quat_xyzw),
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)
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msg = CollisionObject(
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header=pose_stamped.header,
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id=id,
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operation=operation,
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pose=pose_stamped.pose,
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)
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msg.primitives.append(
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SolidPrimitive(type=primitive_type, dimensions=dimensions)
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)
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self.__collision_object_publisher.publish(msg)
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def add_collision_box(
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self,
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id: str,
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size: Tuple[float, float, float],
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pose: Optional[Union[PoseStamped, Pose]] = None,
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position: Optional[Union[Point, Tuple[float, float, float]]] = None,
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quat_xyzw: Optional[
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Union[Quaternion, Tuple[float, float, float, float]]
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] = None,
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frame_id: Optional[str] = None,
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operation: int = CollisionObject.ADD,
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):
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"""
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Add collision object with a box geometry specified by its size.
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"""
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assert len(size) == 3, "Invalid size of the box!"
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self.add_collision_primitive(
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id=id,
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primitive_type=SolidPrimitive.BOX,
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dimensions=size,
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pose=pose,
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position=position,
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quat_xyzw=quat_xyzw,
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frame_id=frame_id,
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operation=operation,
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)
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def add_collision_sphere(
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self,
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id: str,
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radius: float,
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pose: Optional[Union[PoseStamped, Pose]] = None,
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position: Optional[Union[Point, Tuple[float, float, float]]] = None,
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quat_xyzw: Optional[
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Union[Quaternion, Tuple[float, float, float, float]]
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] = None,
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frame_id: Optional[str] = None,
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operation: int = CollisionObject.ADD,
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):
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"""
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Add collision object with a sphere geometry specified by its radius.
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"""
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if quat_xyzw is None:
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quat_xyzw = Quaternion(x=0.0, y=0.0, z=0.0, w=1.0)
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self.add_collision_primitive(
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id=id,
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primitive_type=SolidPrimitive.SPHERE,
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dimensions=[
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radius,
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],
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pose=pose,
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position=position,
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quat_xyzw=quat_xyzw,
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frame_id=frame_id,
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operation=operation,
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)
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def add_collision_cylinder(
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self,
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id: str,
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height: float,
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radius: float,
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pose: Optional[Union[PoseStamped, Pose]] = None,
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position: Optional[Union[Point, Tuple[float, float, float]]] = None,
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quat_xyzw: Optional[
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Union[Quaternion, Tuple[float, float, float, float]]
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] = None,
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frame_id: Optional[str] = None,
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operation: int = CollisionObject.ADD,
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):
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"""
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Add collision object with a cylinder geometry specified by its height and radius.
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"""
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self.add_collision_primitive(
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id=id,
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primitive_type=SolidPrimitive.CYLINDER,
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dimensions=[height, radius],
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pose=pose,
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position=position,
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quat_xyzw=quat_xyzw,
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frame_id=frame_id,
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operation=operation,
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)
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def add_collision_cone(
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self,
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id: str,
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height: float,
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radius: float,
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pose: Optional[Union[PoseStamped, Pose]] = None,
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position: Optional[Union[Point, Tuple[float, float, float]]] = None,
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quat_xyzw: Optional[
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Union[Quaternion, Tuple[float, float, float, float]]
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] = None,
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frame_id: Optional[str] = None,
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operation: int = CollisionObject.ADD,
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):
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"""
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Add collision object with a cone geometry specified by its height and radius.
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"""
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self.add_collision_primitive(
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id=id,
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primitive_type=SolidPrimitive.CONE,
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dimensions=[height, radius],
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pose=pose,
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position=position,
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quat_xyzw=quat_xyzw,
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frame_id=frame_id,
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operation=operation,
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)
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def add_collision_mesh(
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self,
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filepath: Optional[str],
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id: str,
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pose: Optional[Union[PoseStamped, Pose]] = None,
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position: Optional[Union[Point, Tuple[float, float, float]]] = None,
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quat_xyzw: Optional[
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Union[Quaternion, Tuple[float, float, float, float]]
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] = None,
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frame_id: Optional[str] = None,
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operation: int = CollisionObject.ADD,
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scale: Union[float, Tuple[float, float, float]] = 1.0,
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mesh: Optional[Any] = None,
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):
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"""
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Add collision object with a mesh geometry. Either `filepath` must be
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specified or `mesh` must be provided.
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Note: This function required 'trimesh' Python module to be installed.
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"""
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# Load the mesh
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try:
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import trimesh
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except ImportError as err:
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raise ImportError(
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"Python module 'trimesh' not found! Please install it manually in order "
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"to add collision objects into the MoveIt 2 planning scene."
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) from err
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# Check the parameters
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if (pose is None) and (position is None or quat_xyzw is None):
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raise ValueError(
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"Either `pose` or `position` and `quat_xyzw` must be specified!"
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)
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if (filepath is None and mesh is None) or (
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filepath is not None and mesh is not None
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):
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raise ValueError("Exactly one of `filepath` or `mesh` must be specified!")
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if mesh is not None and not isinstance(mesh, trimesh.Trimesh):
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raise ValueError("`mesh` must be an instance of `trimesh.Trimesh`!")
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if isinstance(pose, PoseStamped):
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pose_stamped = pose
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elif isinstance(pose, Pose):
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pose_stamped = PoseStamped(
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header=Header(
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stamp=self.get_clock().now().to_msg(),
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frame_id=(
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frame_id if frame_id is not None else self.__base_link_name
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),
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),
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pose=pose,
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)
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else:
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if not isinstance(position, Point):
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position = Point(
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x=float(position[0]), y=float(position[1]), z=float(position[2])
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)
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if not isinstance(quat_xyzw, Quaternion):
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quat_xyzw = Quaternion(
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x=float(quat_xyzw[0]),
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y=float(quat_xyzw[1]),
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z=float(quat_xyzw[2]),
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w=float(quat_xyzw[3]),
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)
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pose_stamped = PoseStamped(
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header=Header(
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stamp=self.get_clock().now().to_msg(),
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frame_id=(
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frame_id if frame_id is not None else self.__base_link_name
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),
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),
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pose=Pose(position=position, orientation=quat_xyzw),
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)
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msg = CollisionObject(
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header=pose_stamped.header,
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id=id,
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operation=operation,
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pose=pose_stamped.pose,
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)
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if filepath is not None:
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mesh = trimesh.load(filepath)
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# Scale the mesh
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if isinstance(scale, float):
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scale = (scale, scale, scale)
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if not (scale[0] == scale[1] == scale[2] == 1.0):
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# If the mesh was passed in as a parameter, make a copy of it to
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# avoid transforming the original.
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if filepath is not None:
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mesh = mesh.copy()
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# Transform the mesh
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transform = np.eye(4)
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np.fill_diagonal(transform, scale)
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mesh.apply_transform(transform)
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||
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||
msg.meshes.append(
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Mesh(
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triangles=[MeshTriangle(vertex_indices=face) for face in mesh.faces],
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vertices=[
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Point(x=vert[0], y=vert[1], z=vert[2]) for vert in mesh.vertices
|
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],
|
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)
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)
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self.__collision_object_publisher.publish(msg)
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||
|
||
def remove_collision_object(self, id: str):
|
||
"""
|
||
Remove collision object specified by its `id`.
|
||
"""
|
||
|
||
msg = CollisionObject()
|
||
msg.id = id
|
||
msg.operation = CollisionObject.REMOVE
|
||
msg.header.stamp = self.get_clock().now().to_msg()
|
||
self.__collision_object_publisher.publish(msg)
|
||
|
||
def remove_collision_mesh(self, id: str):
|
||
"""
|
||
Remove collision mesh specified by its `id`.
|
||
Identical to `remove_collision_object()`.
|
||
"""
|
||
|
||
self.remove_collision_object(id)
|
||
|
||
def attach_collision_object(
|
||
self,
|
||
id: str,
|
||
link_name: Optional[str] = None,
|
||
touch_links: List[str] = [],
|
||
weight: float = 0.0,
|
||
):
|
||
"""
|
||
Attach collision object to the robot.
|
||
"""
|
||
|
||
if link_name is None:
|
||
link_name = self.__end_effector_name
|
||
|
||
msg = AttachedCollisionObject(
|
||
object=CollisionObject(id=id, operation=CollisionObject.ADD)
|
||
)
|
||
msg.link_name = link_name
|
||
msg.touch_links = touch_links
|
||
msg.weight = weight
|
||
|
||
self.__attached_collision_object_publisher.publish(msg)
|
||
|
||
def detach_collision_object(self, id: int):
|
||
"""
|
||
Detach collision object from the robot.
|
||
"""
|
||
|
||
msg = AttachedCollisionObject(
|
||
object=CollisionObject(id=id, operation=CollisionObject.REMOVE)
|
||
)
|
||
self.__attached_collision_object_publisher.publish(msg)
|
||
|
||
def detach_all_collision_objects(self):
|
||
"""
|
||
Detach collision object from the robot.
|
||
"""
|
||
|
||
msg = AttachedCollisionObject(
|
||
object=CollisionObject(operation=CollisionObject.REMOVE)
|
||
)
|
||
self.__attached_collision_object_publisher.publish(msg)
|
||
|
||
def move_collision(
|
||
self,
|
||
id: str,
|
||
position: Union[Point, Tuple[float, float, float]],
|
||
quat_xyzw: Union[Quaternion, Tuple[float, float, float, float]],
|
||
frame_id: Optional[str] = None,
|
||
):
|
||
"""
|
||
Move collision object specified by its `id`.
|
||
"""
|
||
|
||
msg = CollisionObject()
|
||
|
||
if not isinstance(position, Point):
|
||
position = Point(
|
||
x=float(position[0]), y=float(position[1]), z=float(position[2])
|
||
)
|
||
if not isinstance(quat_xyzw, Quaternion):
|
||
quat_xyzw = Quaternion(
|
||
x=float(quat_xyzw[0]),
|
||
y=float(quat_xyzw[1]),
|
||
z=float(quat_xyzw[2]),
|
||
w=float(quat_xyzw[3]),
|
||
)
|
||
|
||
pose = Pose()
|
||
pose.position = position
|
||
pose.orientation = quat_xyzw
|
||
msg.pose = pose
|
||
msg.id = id
|
||
msg.operation = CollisionObject.MOVE
|
||
msg.header.frame_id = (
|
||
frame_id if frame_id is not None else self.__base_link_name
|
||
)
|
||
msg.header.stamp = self.get_clock().now().to_msg()
|
||
|
||
self.__collision_object_publisher.publish(msg)
|
||
|
||
def update_planning_scene(self) -> bool:
|
||
"""
|
||
Gets the current planning scene. Returns whether the service call was
|
||
successful.
|
||
"""
|
||
|
||
if not self._get_planning_scene_service.service_is_ready():
|
||
self.get_logger().warn(
|
||
f"Service '{self._get_planning_scene_service.srv_name}' is not yet available. Better luck next time!"
|
||
)
|
||
return False
|
||
self.__planning_scene = self._get_planning_scene_service.call(
|
||
GetPlanningScene.Request()
|
||
).scene
|
||
return True
|
||
|
||
def allow_collisions(self, id: str, allow: bool) -> Optional[Future]:
|
||
"""
|
||
Takes in the ID of an element in the planning scene. Modifies the allowed
|
||
collision matrix to (dis)allow collisions between that object and all other
|
||
object.
|
||
|
||
If `allow` is True, a plan will succeed even if the robot collides with that object.
|
||
If `allow` is False, a plan will fail if the robot collides with that object.
|
||
Returns whether it successfully updated the allowed collision matrix.
|
||
|
||
Returns the future of the service call.
|
||
"""
|
||
# Update the planning scene
|
||
if not self.update_planning_scene():
|
||
return None
|
||
allowed_collision_matrix = self.__planning_scene.allowed_collision_matrix
|
||
self.__old_allowed_collision_matrix = copy.deepcopy(allowed_collision_matrix)
|
||
|
||
# Get the location in the allowed collision matrix of the object
|
||
j = None
|
||
if id not in allowed_collision_matrix.entry_names:
|
||
allowed_collision_matrix.entry_names.append(id)
|
||
else:
|
||
j = allowed_collision_matrix.entry_names.index(id)
|
||
# For all other objects, (dis)allow collisions with the object with `id`
|
||
for i in range(len(allowed_collision_matrix.entry_values)):
|
||
if j is None:
|
||
allowed_collision_matrix.entry_values[i].enabled.append(allow)
|
||
elif i != j:
|
||
allowed_collision_matrix.entry_values[i].enabled[j] = allow
|
||
# For the object with `id`, (dis)allow collisions with all other objects
|
||
allowed_collision_entry = AllowedCollisionEntry(
|
||
enabled=[allow for _ in range(len(allowed_collision_matrix.entry_names))]
|
||
)
|
||
if j is None:
|
||
allowed_collision_matrix.entry_values.append(allowed_collision_entry)
|
||
else:
|
||
allowed_collision_matrix.entry_values[j] = allowed_collision_entry
|
||
|
||
# Apply the new planning scene
|
||
if not self._apply_planning_scene_service.service_is_ready():
|
||
self.get_logger().warn(
|
||
f"Service '{self._apply_planning_scene_service.srv_name}' is not yet available. Better luck next time!"
|
||
)
|
||
return None
|
||
return self._apply_planning_scene_service.call_async(
|
||
ApplyPlanningScene.Request(scene=self.__planning_scene)
|
||
)
|
||
|
||
def process_allow_collision_future(self, future: Future) -> bool:
|
||
"""
|
||
Return whether the allow collision service call is done and has succeeded
|
||
or not. If it failed, reset the allowed collision matrix to the old one.
|
||
"""
|
||
if not future.done():
|
||
return False
|
||
|
||
# Get response
|
||
resp = future.result()
|
||
|
||
# If it failed, restore the old planning scene
|
||
if not resp.success:
|
||
self.__planning_scene.allowed_collision_matrix = (
|
||
self.__old_allowed_collision_matrix
|
||
)
|
||
|
||
return resp.success
|
||
|
||
def clear_all_collision_objects(self) -> Optional[Future]:
|
||
"""
|
||
Removes all attached and un-attached collision objects from the planning scene.
|
||
|
||
Returns a future for the ApplyPlanningScene service call.
|
||
"""
|
||
# Update the planning scene
|
||
if not self.update_planning_scene():
|
||
return None
|
||
self.__old_planning_scene = copy.deepcopy(self.__planning_scene)
|
||
|
||
# Remove all collision objects from the planning scene
|
||
self.__planning_scene.world.collision_objects = []
|
||
self.__planning_scene.robot_state.attached_collision_objects = []
|
||
|
||
# Apply the new planning scene
|
||
if not self._apply_planning_scene_service.service_is_ready():
|
||
self.get_logger().warn(
|
||
f"Service '{self._apply_planning_scene_service.srv_name}' is not yet available. Better luck next time!"
|
||
)
|
||
return None
|
||
return self._apply_planning_scene_service.call_async(
|
||
ApplyPlanningScene.Request(scene=self.__planning_scene)
|
||
)
|
||
|
||
if __name__ == '__main__':
|
||
model_s = '''
|
||
{'Plate1': '/home/z43/git_pj/Uni-Lab-OS/unilabos/device_mesh/resources/tecan_nested_tip_rack/meshes/plate.stl', 'Plate1_': '/home/z43/git_pj/Uni-Lab-OS/unilabos/device_mesh/resources/generic_labware_tube_10_75/meshes/0_base.stl'}
|
||
'''
|
||
resource_model = json.loads(model_s.replace("'",'"'))
|
||
|
||
config_s = '''
|
||
[
|
||
{
|
||
"id": "Gripper1",
|
||
"name": "假夹爪",
|
||
"children": [],
|
||
"parent": null,
|
||
"type": "device",
|
||
"class": "gripper.mock",
|
||
"position": {
|
||
"x": 620.6111111111111,
|
||
"y": 171,
|
||
"z": 0
|
||
},
|
||
"config": {},
|
||
"data": {}
|
||
},
|
||
{
|
||
"id": "Plate1",
|
||
"name": "Plate1",
|
||
"sample_id": null,
|
||
"children": [
|
||
"Plate1_A1",
|
||
"Plate1_B1",
|
||
"Plate1_C1",
|
||
"Plate1_D1",
|
||
"Plate1_E1",
|
||
"Plate1_F1",
|
||
"Plate1_G1",
|
||
"Plate1_H1",
|
||
"Plate1_A2",
|
||
"Plate1_B2",
|
||
"Plate1_C2",
|
||
"Plate1_D2",
|
||
"Plate1_E2",
|
||
"Plate1_F2",
|
||
"Plate1_G2",
|
||
"Plate1_H2",
|
||
"Plate1_A3",
|
||
"Plate1_B3",
|
||
"Plate1_C3",
|
||
"Plate1_D3",
|
||
"Plate1_E3",
|
||
"Plate1_F3",
|
||
"Plate1_G3",
|
||
"Plate1_H3",
|
||
"Plate1_A4",
|
||
"Plate1_B4",
|
||
"Plate1_C4",
|
||
"Plate1_D4",
|
||
"Plate1_E4",
|
||
"Plate1_F4",
|
||
"Plate1_G4",
|
||
"Plate1_H4",
|
||
"Plate1_A5",
|
||
"Plate1_B5",
|
||
"Plate1_C5",
|
||
"Plate1_D5",
|
||
"Plate1_E5",
|
||
"Plate1_F5",
|
||
"Plate1_G5",
|
||
"Plate1_H5",
|
||
"Plate1_A6",
|
||
"Plate1_B6",
|
||
"Plate1_C6",
|
||
"Plate1_D6",
|
||
"Plate1_E6",
|
||
"Plate1_F6",
|
||
"Plate1_G6",
|
||
"Plate1_H6",
|
||
"Plate1_A7",
|
||
"Plate1_B7",
|
||
"Plate1_C7",
|
||
"Plate1_D7",
|
||
"Plate1_E7",
|
||
"Plate1_F7",
|
||
"Plate1_G7",
|
||
"Plate1_H7",
|
||
"Plate1_A8",
|
||
"Plate1_B8",
|
||
"Plate1_C8",
|
||
"Plate1_D8",
|
||
"Plate1_E8",
|
||
"Plate1_F8",
|
||
"Plate1_G8",
|
||
"Plate1_H8",
|
||
"Plate1_A9",
|
||
"Plate1_B9",
|
||
"Plate1_C9",
|
||
"Plate1_D9",
|
||
"Plate1_E9",
|
||
"Plate1_F9",
|
||
"Plate1_G9",
|
||
"Plate1_H9",
|
||
"Plate1_A10",
|
||
"Plate1_B10",
|
||
"Plate1_C10",
|
||
"Plate1_D10",
|
||
"Plate1_E10",
|
||
"Plate1_F10",
|
||
"Plate1_G10",
|
||
"Plate1_H10",
|
||
"Plate1_A11",
|
||
"Plate1_B11",
|
||
"Plate1_C11",
|
||
"Plate1_D11",
|
||
"Plate1_E11",
|
||
"Plate1_F11",
|
||
"Plate1_G11",
|
||
"Plate1_H11",
|
||
"Plate1_A12",
|
||
"Plate1_B12",
|
||
"Plate1_C12",
|
||
"Plate1_D12",
|
||
"Plate1_E12",
|
||
"Plate1_F12",
|
||
"Plate1_G12",
|
||
"Plate1_H12"
|
||
],
|
||
"parent": "Gripper1",
|
||
"type": "device",
|
||
"class": "",
|
||
"position": {
|
||
"x": 620.6111111111111,
|
||
"y": 171,
|
||
"z": 0
|
||
},
|
||
"config": {
|
||
"type": "Plate",
|
||
"size_x": 127.76,
|
||
"size_y": 85.48,
|
||
"size_z": 15.7,
|
||
"rotation": {
|
||
"x": 0,
|
||
"y": 0,
|
||
"z": 0,
|
||
"type": "Rotation"
|
||
},
|
||
"category": "plate",
|
||
"model": "NEST 96 Well Plate 100 µL PCR Full Skirt",
|
||
"ordering": [
|
||
"A1",
|
||
"B1",
|
||
"C1",
|
||
"D1",
|
||
"E1",
|
||
"F1",
|
||
"G1",
|
||
"H1",
|
||
"A2",
|
||
"B2",
|
||
"C2",
|
||
"D2",
|
||
"E2",
|
||
"F2",
|
||
"G2",
|
||
"H2",
|
||
"A3",
|
||
"B3",
|
||
"C3",
|
||
"D3",
|
||
"E3",
|
||
"F3",
|
||
"G3",
|
||
"H3",
|
||
"A4",
|
||
"B4",
|
||
"C4",
|
||
"D4",
|
||
"E4",
|
||
"F4",
|
||
"G4",
|
||
"H4",
|
||
"A5",
|
||
"B5",
|
||
"C5",
|
||
"D5",
|
||
"E5",
|
||
"F5",
|
||
"G5",
|
||
"H5",
|
||
"A6",
|
||
"B6",
|
||
"C6",
|
||
"D6",
|
||
"E6",
|
||
"F6",
|
||
"G6",
|
||
"H6",
|
||
"A7",
|
||
"B7",
|
||
"C7",
|
||
"D7",
|
||
"E7",
|
||
"F7",
|
||
"G7",
|
||
"H7",
|
||
"A8",
|
||
"B8",
|
||
"C8",
|
||
"D8",
|
||
"E8",
|
||
"F8",
|
||
"G8",
|
||
"H8",
|
||
"A9",
|
||
"B9",
|
||
"C9",
|
||
"D9",
|
||
"E9",
|
||
"F9",
|
||
"G9",
|
||
"H9",
|
||
"A10",
|
||
"B10",
|
||
"C10",
|
||
"D10",
|
||
"E10",
|
||
"F10",
|
||
"G10",
|
||
"H10",
|
||
"A11",
|
||
"B11",
|
||
"C11",
|
||
"D11",
|
||
"E11",
|
||
"F11",
|
||
"G11",
|
||
"H11",
|
||
"A12",
|
||
"B12",
|
||
"C12",
|
||
"D12",
|
||
"E12",
|
||
"F12",
|
||
"G12",
|
||
"H12"
|
||
]
|
||
},
|
||
"data": {}
|
||
},
|
||
{
|
||
"id": "Plate1_A1",
|
||
"name": "Plate1_A1",
|
||
"sample_id": null,
|
||
"children": [],
|
||
"parent": "Plate1",
|
||
"type": "device",
|
||
"class": "",
|
||
"position": {
|
||
"x": 12.492,
|
||
"y": 72.352,
|
||
"z": 0.92
|
||
},
|
||
"config": {
|
||
"type": "Well",
|
||
"size_x": 3.776,
|
||
"size_y": 3.776,
|
||
"size_z": 14.78,
|
||
"rotation": {
|
||
"x": 0,
|
||
"y": 0,
|
||
"z": 0,
|
||
"type": "Rotation"
|
||
},
|
||
"category": "well",
|
||
"model": null,
|
||
"max_volume": 100,
|
||
"material_z_thickness": null,
|
||
"compute_volume_from_height": null,
|
||
"compute_height_from_volume": null,
|
||
"bottom_type": "unknown",
|
||
"cross_section_type": "circle"
|
||
},
|
||
"data": {
|
||
"liquids": [],
|
||
"pending_liquids": [],
|
||
"liquid_history": []
|
||
}
|
||
},
|
||
{
|
||
"id": "Plate1_B1",
|
||
"name": "Plate1_B1",
|
||
"sample_id": null,
|
||
"children": [],
|
||
"parent": "Plate1",
|
||
"type": "device",
|
||
"class": "",
|
||
"position": {
|
||
"x": 12.492,
|
||
"y": 63.352,
|
||
"z": 0.92
|
||
},
|
||
"config": {
|
||
"type": "Well",
|
||
"size_x": 3.776,
|
||
"size_y": 3.776,
|
||
"size_z": 14.78,
|
||
"rotation": {
|
||
"x": 0,
|
||
"y": 0,
|
||
"z": 0,
|
||
"type": "Rotation"
|
||
},
|
||
"category": "well",
|
||
"model": null,
|
||
"max_volume": 100,
|
||
"material_z_thickness": null,
|
||
"compute_volume_from_height": null,
|
||
"compute_height_from_volume": null,
|
||
"bottom_type": "unknown",
|
||
"cross_section_type": "circle"
|
||
},
|
||
"data": {
|
||
"liquids": [],
|
||
"pending_liquids": [],
|
||
"liquid_history": []
|
||
}
|
||
},
|
||
{
|
||
"id": "Plate1_C1",
|
||
"name": "Plate1_C1",
|
||
"sample_id": null,
|
||
"children": [],
|
||
"parent": "Plate1",
|
||
"type": "device",
|
||
"class": "",
|
||
"position": {
|
||
"x": 12.492,
|
||
"y": 54.352,
|
||
"z": 0.92
|
||
},
|
||
"config": {
|
||
"type": "Well",
|
||
"size_x": 3.776,
|
||
"size_y": 3.776,
|
||
"size_z": 14.78,
|
||
"rotation": {
|
||
"x": 0,
|
||
"y": 0,
|
||
"z": 0,
|
||
"type": "Rotation"
|
||
},
|
||
"category": "well",
|
||
"model": null,
|
||
"max_volume": 100,
|
||
"material_z_thickness": null,
|
||
"compute_volume_from_height": null,
|
||
"compute_height_from_volume": null,
|
||
"bottom_type": "unknown",
|
||
"cross_section_type": "circle"
|
||
},
|
||
"data": {
|
||
"liquids": [],
|
||
"pending_liquids": [],
|
||
"liquid_history": []
|
||
}
|
||
},
|
||
{
|
||
"id": "Plate1_D1",
|
||
"name": "Plate1_D1",
|
||
"sample_id": null,
|
||
"children": [],
|
||
"parent": "Plate1",
|
||
"type": "device",
|
||
"class": "",
|
||
"position": {
|
||
"x": 12.492,
|
||
"y": 45.352,
|
||
"z": 0.92
|
||
},
|
||
"config": {
|
||
"type": "Well",
|
||
"size_x": 3.776,
|
||
"size_y": 3.776,
|
||
"size_z": 14.78,
|
||
"rotation": {
|
||
"x": 0,
|
||
"y": 0,
|
||
"z": 0,
|
||
"type": "Rotation"
|
||
},
|
||
"category": "well",
|
||
"model": null,
|
||
"max_volume": 100,
|
||
"material_z_thickness": null,
|
||
"compute_volume_from_height": null,
|
||
"compute_height_from_volume": null,
|
||
"bottom_type": "unknown",
|
||
"cross_section_type": "circle"
|
||
},
|
||
"data": {
|
||
"liquids": [],
|
||
"pending_liquids": [],
|
||
"liquid_history": []
|
||
}
|
||
},
|
||
{
|
||
"id": "Plate1_E1",
|
||
"name": "Plate1_E1",
|
||
"sample_id": null,
|
||
"children": [],
|
||
"parent": "Plate1",
|
||
"type": "device",
|
||
"class": "",
|
||
"position": {
|
||
"x": 12.492,
|
||
"y": 36.352,
|
||
"z": 0.92
|
||
},
|
||
"config": {
|
||
"type": "Well",
|
||
"size_x": 3.776,
|
||
"size_y": 3.776,
|
||
"size_z": 14.78,
|
||
"rotation": {
|
||
"x": 0,
|
||
"y": 0,
|
||
"z": 0,
|
||
"type": "Rotation"
|
||
},
|
||
"category": "well",
|
||
"model": null,
|
||
"max_volume": 100,
|
||
"material_z_thickness": null,
|
||
"compute_volume_from_height": null,
|
||
"compute_height_from_volume": null,
|
||
"bottom_type": "unknown",
|
||
"cross_section_type": "circle"
|
||
},
|
||
"data": {
|
||
"liquids": [],
|
||
"pending_liquids": [],
|
||
"liquid_history": []
|
||
}
|
||
},
|
||
{
|
||
"id": "Plate1_F1",
|
||
"name": "Plate1_F1",
|
||
"sample_id": null,
|
||
"children": [],
|
||
"parent": "Plate1",
|
||
"type": "device",
|
||
"class": "",
|
||
"position": {
|
||
"x": 12.492,
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||
"z": 0.92
|
||
},
|
||
"config": {
|
||
"type": "Well",
|
||
"size_x": 3.776,
|
||
"size_y": 3.776,
|
||
"size_z": 14.78,
|
||
"rotation": {
|
||
"x": 0,
|
||
"y": 0,
|
||
"z": 0,
|
||
"type": "Rotation"
|
||
},
|
||
"category": "well",
|
||
"model": null,
|
||
"max_volume": 100,
|
||
"material_z_thickness": null,
|
||
"compute_volume_from_height": null,
|
||
"compute_height_from_volume": null,
|
||
"bottom_type": "unknown",
|
||
"cross_section_type": "circle"
|
||
},
|
||
"data": {
|
||
"liquids": [],
|
||
"pending_liquids": [],
|
||
"liquid_history": []
|
||
}
|
||
}
|
||
]
|
||
|
||
'''
|
||
resource_config = json.loads(config_s.replace("'",'"'))
|
||
rclpy.init()
|
||
resource_mesh_manager = ResourceMeshManager(resource_model, resource_config, 'resource_mesh_manager')
|
||
resource_mesh_manager.resource_mesh_setup()
|
||
print(json.dumps(resource_mesh_manager.resource_tf_dict, indent=4, ensure_ascii=False)) |