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https://github.com/dptech-corp/Uni-Lab-OS.git
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a599eb70e5
* 修改lh的json启动 * 修改lh的json启动 * 修改backend，做成sim的通用backend * 修改yaml的地址，3D模型适配网页生产环境 * 添加laiyu硬件连接 * 修改移液枪的状态判断方法， 修改移液枪的状态判断方法， 添加三轴的表定点与零点之间的转换 添加三轴真实移动的backend * 修改laiyu移液站 简化移动方法， 取消软件限制位置， 修改当值使用Z轴时也需要重新复位Z轴的问题 * 更新lh以及laiyu workshop 1,现在可以直接通过修改backend，适配其他的移液站，主类依旧使用LiquidHandler，不用重新编写 2,修改枪头判断标准，使用枪头自身判断而不是类的判断， 3,将归零参数用毫米计算，方便手动调整， 4,修改归零方式，上电使用机械归零，确定机械零点，手动归零设置工作区域零点方便计算，二者互不干涉 * 修改枪头动作 * 修改虚拟仿真方法 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: Junhan Chang <changjh@dp.tech>
233 lines
5.0 KiB
YAML
233 lines
5.0 KiB
YAML
disposal:
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category:
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- disposal
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- waste
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- resource_container
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class:
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module: unilabos.resources.disposal:Disposal
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type: unilabos
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description: 废料处理位置，用于处理实验废料
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handles:
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- data_key: disposal_access
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data_source: handle
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data_type: fluid
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handler_key: access
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io_type: target
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label: access
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side: NORTH
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icon: ''
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init_param_schema: {}
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registry_type: resource
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version: 1.0.0
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hplc_plate:
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category:
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- resource_container
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class:
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module: unilabos.devices.resource_container.container:PlateContainer
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type: python
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description: HPLC板
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handles: []
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icon: ''
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init_param_schema: {}
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model:
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mesh: hplc_plate/meshes/hplc_plate.stl
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path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/hplc_plate/modal.xacro
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mesh_tf:
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- 0
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- 0
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- 0
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- 0
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- 0
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- 3.1416
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type: resource
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registry_type: resource
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version: 1.0.0
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maintenance:
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category:
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- maintenance
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- position
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- resource_container
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class:
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module: unilabos.resources.maintenance:Maintenance
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type: unilabos
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description: 维护位置，用于设备维护和校准
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handles:
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- data_key: maintenance_access
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data_source: handle
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data_type: mechanical
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handler_key: access
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io_type: target
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label: access
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side: NORTH
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icon: ''
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init_param_schema: {}
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registry_type: resource
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version: 1.0.0
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plate:
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category:
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- plate
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- labware
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- resource_container
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class:
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module: unilabos.resources.plate:Plate
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type: unilabos
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description: 实验板，用于放置样品和试剂
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handles:
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- data_key: plate_access
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data_source: handle
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data_type: mechanical
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handler_key: access
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io_type: target
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label: access
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side: NORTH
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- data_key: sample_wells
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data_source: handle
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data_type: fluid
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handler_key: wells
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io_type: target
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label: wells
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side: CENTER
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icon: ''
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init_param_schema: {}
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registry_type: resource
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version: 1.0.0
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plate_96_high:
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category:
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- resource_container
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class:
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module: unilabos.devices.resource_container.container:PlateContainer
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type: python
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description: 96孔板
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handles: []
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icon: ''
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init_param_schema: {}
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model:
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mesh: plate_96_high/meshes/plate_96_high.stl
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path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96_high/modal.xacro
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mesh_tf:
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- 0
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- 0.086
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- 0
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- 1.5708
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- 0
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- 1.5708
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type: resource
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registry_type: resource
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version: 1.0.0
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tip_rack:
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category:
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- tip_rack
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- labware
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- resource_container
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class:
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module: unilabos.resources.tip_rack:TipRack
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type: unilabos
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description: 枪头架资源，用于存放和管理移液器枪头
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handles:
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- data_key: tip_access
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data_source: handle
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data_type: mechanical
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handler_key: access
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io_type: target
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label: access
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side: NORTH
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- data_key: tip_pickup
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data_source: handle
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data_type: mechanical
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handler_key: pickup
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io_type: target
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label: pickup
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side: SOUTH
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icon: ''
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init_param_schema: {}
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registry_type: resource
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version: 1.0.0
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tiprack_96_high:
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category:
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- resource_container
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class:
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module: unilabos.devices.resource_container.container:TipRackContainer
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type: python
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description: 96孔板
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handles: []
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icon: ''
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init_param_schema: {}
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model:
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children_mesh: generic_labware_tube_10_75/meshes/0_base.stl
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children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/generic_labware_tube_10_75/modal.xacro
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children_mesh_tf:
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- 0.0018
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- 0.0018
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- -0.03
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- -1.5708
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- 0
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- 0
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mesh: tiprack_96_high/meshes/tiprack_96_high.stl
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path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_96_high/modal.xacro
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mesh_tf:
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- 0
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- 0.086
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- 0
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- 1.5708
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- 0
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- 1.5708
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type: resource
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registry_type: resource
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version: 1.0.0
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tiprack_box:
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category:
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- resource_container
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class:
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module: unilabos.devices.resource_container.container:TipRackContainer
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type: python
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description: 96针头盒
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handles: []
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icon: ''
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init_param_schema: {}
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model:
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children_mesh: tip/meshes/tip.stl
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children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tip/modal.xacro
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children_mesh_tf:
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- 0.0045
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- 0.0045
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- 0
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- 0
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- 0
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- 0
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mesh: tiprack_box/meshes/tiprack_box.stl
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path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_box/modal.xacro
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mesh_tf:
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- 0
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- 0
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- 0
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- 0
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- 0
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- 0
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type: resource
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registry_type: resource
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version: 1.0.0
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plate_96:
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category:
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- resource_container
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class:
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module: unilabos.devices.resource_container.container:PlateContainer
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type: python
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description: 96孔板
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handles: []
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icon: ''
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init_param_schema: {}
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model:
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mesh: plate_96/meshes/plate_96.stl
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path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96/modal.xacro
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mesh_tf:
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- 0
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- 0
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- 0
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- 0
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- 0
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- 0
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type: resource
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registry_type: resource
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version: 1.0.0 |