mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2025-12-17 04:51:10 +00:00
9bd72b48e1
modify workstation_architecture docs bioyond_HR (#133) * feat: Enhance Bioyond synchronization and resource management - Implemented synchronization for all material types (consumables, samples, reagents) from Bioyond, logging detailed information for each type. - Improved error handling and logging during synchronization processes. - Added functionality to save Bioyond material IDs in UniLab resources for future updates. - Enhanced the `sync_to_external` method to handle material movements correctly, including querying and creating materials in Bioyond. - Updated warehouse configurations to support new storage types and improved layout for better resource management. - Introduced new resource types such as reactors and tip boxes, with detailed specifications. - Modified warehouse factory to support column offsets for naming conventions (e.g., A05-D08). - Improved resource tracking by merging extra attributes instead of overwriting them. - Added a new method for updating resources in Bioyond, ensuring better synchronization of resource changes. * feat: 添加TipBox和Reactor的配置到bottles.yaml * fix: 修复液体投料方法中的volume参数处理逻辑 修复solid_feeding_vials方法中的volume参数处理逻辑，优化solvents参数的使用条件 更新液体投料方法，支持通过溶剂信息自动计算体积，添加solvents参数并更新文档描述 Add batch creation methods for vial and solution tasks 添加批量创建90%10%小瓶投料任务和二胺溶液配置任务的功能，更新相关参数和默认值
539 lines
11 KiB
Markdown
539 lines
11 KiB
Markdown
## 简单单变量动作函数
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### `SendCmd`
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```{literalinclude} ../../unilabos_msgs/action/SendCmd.action
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:language: yaml
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```
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----
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## 常量有机化学操作
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Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab.io/chemputer/xdl/standard/full_steps_specification.html#)，包含有机合成实验中常见的操作，如加热、搅拌、冷却等。
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### `Clean`
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```{literalinclude} ../../unilabos_msgs/action/Clean.action
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:language: yaml
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```
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----
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### `HeatChillStart`
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```{literalinclude} ../../unilabos_msgs/action/HeatChillStart.action
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:language: yaml
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```
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----
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### `HeatChillStop`
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```{literalinclude} ../../unilabos_msgs/action/HeatChillStop.action
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:language: yaml
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```
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----
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### `PumpTransfer`
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```{literalinclude} ../../unilabos_msgs/action/PumpTransfer.action
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:language: yaml
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```
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----
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## 移液工作站及相关生物自动化设备操作
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Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.org/user_guide/index.html)，包含生物实验中常见的操作，如移液、混匀、离心等。
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### `LiquidHandlerDiscardTips`
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```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerDiscardTips.action
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:language: yaml
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```
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----
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### `LiquidHandlerDropTips`
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```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerDropTips.action
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:language: yaml
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```
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----
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### `LiquidHandlerDropTips96`
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```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerDropTips96.action
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:language: yaml
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```
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----
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### `LiquidHandlerMoveLid`
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```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMoveLid.action
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:language: yaml
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```
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----
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### `LiquidHandlerMovePlate`
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```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMovePlate.action
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:language: yaml
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```
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----
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### `LiquidHandlerMoveResource`
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```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMoveResource.action
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:language: yaml
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```
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----
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### `LiquidHandlerPickUpTips`
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```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerPickUpTips.action
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:language: yaml
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```
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----
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### `LiquidHandlerPickUpTips96`
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```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerPickUpTips96.action
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:language: yaml
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```
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----
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### `LiquidHandlerReturnTips`
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```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerReturnTips.action
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:language: yaml
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```
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----
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### `LiquidHandlerReturnTips96`
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```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerReturnTips96.action
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:language: yaml
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```
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----
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### `LiquidHandlerStamp`
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```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerStamp.action
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:language: yaml
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```
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----
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## 多工作站及小车运行、物料转移
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### `AGVTransfer`
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```{literalinclude} ../../unilabos_msgs/action/AGVTransfer.action
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:language: yaml
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```
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----
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### `WorkStationRun`
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```{literalinclude} ../../unilabos_msgs/action/WorkStationRun.action
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:language: yaml
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```
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----
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## 机械臂、夹爪等机器人设备
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Uni-Lab 机械臂、机器人、夹爪和导航指令集沿用 ROS2 的 `control_msgs` 和 `nav2_msgs`：
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### `FollowJointTrajectory`
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```yaml
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# The trajectory for all revolute, continuous or prismatic joints
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trajectory_msgs/JointTrajectory trajectory
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# The trajectory for all planar or floating joints (i.e. individual joints with more than one DOF)
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trajectory_msgs/MultiDOFJointTrajectory multi_dof_trajectory
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# Tolerances for the trajectory. If the measured joint values fall
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# outside the tolerances the trajectory goal is aborted. Any
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# tolerances that are not specified (by being omitted or set to 0) are
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# set to the defaults for the action server (often taken from the
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# parameter server).
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# Tolerances applied to the joints as the trajectory is executed. If
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# violated, the goal aborts with error_code set to
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# PATH_TOLERANCE_VIOLATED.
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JointTolerance[] path_tolerance
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JointComponentTolerance[] component_path_tolerance
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# To report success, the joints must be within goal_tolerance of the
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# final trajectory value. The goal must be achieved by time the
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# trajectory ends plus goal_time_tolerance. (goal_time_tolerance
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# allows some leeway in time, so that the trajectory goal can still
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# succeed even if the joints reach the goal some time after the
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# precise end time of the trajectory).
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#
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# If the joints are not within goal_tolerance after "trajectory finish
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# time" + goal_time_tolerance, the goal aborts with error_code set to
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# GOAL_TOLERANCE_VIOLATED
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JointTolerance[] goal_tolerance
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JointComponentTolerance[] component_goal_tolerance
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builtin_interfaces/Duration goal_time_tolerance
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---
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int32 error_code
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int32 SUCCESSFUL = 0
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int32 INVALID_GOAL = -1
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int32 INVALID_JOINTS = -2
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int32 OLD_HEADER_TIMESTAMP = -3
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int32 PATH_TOLERANCE_VIOLATED = -4
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int32 GOAL_TOLERANCE_VIOLATED = -5
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# Human readable description of the error code. Contains complementary
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# information that is especially useful when execution fails, for instance:
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# - INVALID_GOAL: The reason for the invalid goal (e.g., the requested
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# trajectory is in the past).
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# - INVALID_JOINTS: The mismatch between the expected controller joints
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# and those provided in the goal.
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# - PATH_TOLERANCE_VIOLATED and GOAL_TOLERANCE_VIOLATED: Which joint
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# violated which tolerance, and by how much.
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string error_string
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---
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std_msgs/Header header
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string[] joint_names
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trajectory_msgs/JointTrajectoryPoint desired
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trajectory_msgs/JointTrajectoryPoint actual
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trajectory_msgs/JointTrajectoryPoint error
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string[] multi_dof_joint_names
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trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_desired
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trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_actual
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trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_error
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```
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----
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### `GripperCommand`
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```yaml
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GripperCommand command
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---
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float64 position # The current gripper gap size (in meters)
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float64 effort # The current effort exerted (in Newtons)
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bool stalled # True iff the gripper is exerting max effort and not moving
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bool reached_goal # True iff the gripper position has reached the commanded setpoint
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---
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float64 position # The current gripper gap size (in meters)
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float64 effort # The current effort exerted (in Newtons)
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bool stalled # True iff the gripper is exerting max effort and not moving
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bool reached_goal # True iff the gripper position has reached the commanded setpoint
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```
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----
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### `JointTrajectory`
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```yaml
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trajectory_msgs/JointTrajectory trajectory
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---
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---
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```
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----
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### `ParallelGripperCommand`
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```yaml
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# Parallel grippers refer to an end effector where two opposing fingers grasp an object from opposite sides.
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sensor_msgs/JointState command
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# name: the name(s) of the joint this command is requesting
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# position: desired position of each gripper joint (radians or meters)
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# velocity: (optional, not used if empty) max velocity of the joint allowed while moving (radians or meters / second)
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# effort: (optional, not used if empty) max effort of the joint allowed while moving (Newtons or Newton-meters)
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---
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sensor_msgs/JointState state # The current gripper state.
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# position of each joint (radians or meters)
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# optional: velocity of each joint (radians or meters / second)
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# optional: effort of each joint (Newtons or Newton-meters)
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bool stalled # True if the gripper is exerting max effort and not moving
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bool reached_goal # True if the gripper position has reached the commanded setpoint
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---
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sensor_msgs/JointState state # The current gripper state.
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# position of each joint (radians or meters)
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# optional: velocity of each joint (radians or meters / second)
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# optional: effort of each joint (Newtons or Newton-meters)
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```
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----
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### `PointHead`
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```yaml
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geometry_msgs/PointStamped target
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geometry_msgs/Vector3 pointing_axis
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string pointing_frame
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builtin_interfaces/Duration min_duration
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float64 max_velocity
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---
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---
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float64 pointing_angle_error
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```
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----
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### `SingleJointPosition`
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```yaml
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float64 position
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builtin_interfaces/Duration min_duration
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float64 max_velocity
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---
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---
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std_msgs/Header header
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float64 position
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float64 velocity
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float64 error
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```
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----
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### `AssistedTeleop`
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```yaml
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#goal definition
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builtin_interfaces/Duration time_allowance
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---
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#result definition
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builtin_interfaces/Duration total_elapsed_time
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---
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#feedback
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builtin_interfaces/Duration current_teleop_duration
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```
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----
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### `BackUp`
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```yaml
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#goal definition
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geometry_msgs/Point target
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float32 speed
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builtin_interfaces/Duration time_allowance
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---
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#result definition
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builtin_interfaces/Duration total_elapsed_time
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---
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#feedback definition
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float32 distance_traveled
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```
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----
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### `ComputePathThroughPoses`
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```yaml
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#goal definition
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geometry_msgs/PoseStamped[] goals
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geometry_msgs/PoseStamped start
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string planner_id
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bool use_start # If false, use current robot pose as path start, if true, use start above instead
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---
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#result definition
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nav_msgs/Path path
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builtin_interfaces/Duration planning_time
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---
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#feedback definition
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```
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----
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### `ComputePathToPose`
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```yaml
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#goal definition
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geometry_msgs/PoseStamped goal
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geometry_msgs/PoseStamped start
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string planner_id
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bool use_start # If false, use current robot pose as path start, if true, use start above instead
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---
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#result definition
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nav_msgs/Path path
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builtin_interfaces/Duration planning_time
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---
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#feedback definition
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```
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----
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### `DriveOnHeading`
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```yaml
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#goal definition
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geometry_msgs/Point target
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float32 speed
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builtin_interfaces/Duration time_allowance
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---
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#result definition
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builtin_interfaces/Duration total_elapsed_time
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---
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#feedback definition
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float32 distance_traveled
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```
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----
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### `DummyBehavior`
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```yaml
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#goal definition
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std_msgs/String command
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---
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#result definition
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builtin_interfaces/Duration total_elapsed_time
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---
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#feedback definition
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```
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----
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### `FollowPath`
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```yaml
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#goal definition
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nav_msgs/Path path
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string controller_id
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string goal_checker_id
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---
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#result definition
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std_msgs/Empty result
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---
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#feedback definition
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float32 distance_to_goal
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float32 speed
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```
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----
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### `FollowWaypoints`
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```yaml
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#goal definition
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geometry_msgs/PoseStamped[] poses
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---
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#result definition
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int32[] missed_waypoints
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---
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#feedback definition
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uint32 current_waypoint
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```
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----
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### `NavigateThroughPoses`
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```yaml
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#goal definition
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geometry_msgs/PoseStamped[] poses
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string behavior_tree
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---
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#result definition
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std_msgs/Empty result
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---
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#feedback definition
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geometry_msgs/PoseStamped current_pose
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builtin_interfaces/Duration navigation_time
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builtin_interfaces/Duration estimated_time_remaining
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int16 number_of_recoveries
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float32 distance_remaining
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int16 number_of_poses_remaining
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```
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----
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### `NavigateToPose`
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```yaml
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#goal definition
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geometry_msgs/PoseStamped pose
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string behavior_tree
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---
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#result definition
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std_msgs/Empty result
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---
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#feedback definition
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geometry_msgs/PoseStamped current_pose
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builtin_interfaces/Duration navigation_time
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builtin_interfaces/Duration estimated_time_remaining
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int16 number_of_recoveries
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float32 distance_remaining
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```
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----
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### `SmoothPath`
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```yaml
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#goal definition
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nav_msgs/Path path
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string smoother_id
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builtin_interfaces/Duration max_smoothing_duration
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bool check_for_collisions
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---
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#result definition
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nav_msgs/Path path
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builtin_interfaces/Duration smoothing_duration
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bool was_completed
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---
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#feedback definition
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```
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----
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### `Spin`
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```yaml
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#goal definition
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float32 target_yaw
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builtin_interfaces/Duration time_allowance
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---
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#result definition
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builtin_interfaces/Duration total_elapsed_time
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---
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#feedback definition
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float32 angular_distance_traveled
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```
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----
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### `Wait`
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```yaml
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#goal definition
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builtin_interfaces/Duration time
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---
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#result definition
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builtin_interfaces/Duration total_elapsed_time
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---
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#feedback definition
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builtin_interfaces/Duration time_left
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```
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----
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