Uni-Lab-OS/action_includes.md at 75f09034ffb2a9fae002a459127c576b9d583774

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Xuwznln 75f09034ff update docs, test examples

fix liquid_handler init bug

2025-11-18 18:42:27 +08:00

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基础通用操作

`SendCmd`

:language: yaml

`FloatSingleInput`

:language: yaml

`IntSingleInput`

:language: yaml

`Point3DSeparateInput`

:language: yaml

`StrSingleInput`

:language: yaml

`Wait`

:language: yaml

化学实验操作

Uni-Lab 化学操作指令集多数来自 XDL，包含有机合成实验中常见的操作。

物料添加

`Add`

:language: yaml

`AddSolid`

:language: yaml

液体转移与泵控制

`PumpTransfer`

:language: yaml

`SetPumpPosition`

:language: yaml

`Transfer`

:language: yaml

温度控制

`HeatChill`

:language: yaml

`HeatChillStart`

:language: yaml

`HeatChillStop`

:language: yaml

搅拌控制

`StartStir`

:language: yaml

`Stir`

:language: yaml

`StopStir`

:language: yaml

气体与真空控制

`EvacuateAndRefill`

:language: yaml

`Purge`

:language: yaml

`StartPurge`

:language: yaml

`StopPurge`

:language: yaml

分离与过滤

`Centrifuge`

:language: yaml

`Filter`

:language: yaml

`FilterThrough`

:language: yaml

`RunColumn`

:language: yaml

`Separate`

:language: yaml

化学处理

`AdjustPH`

:language: yaml

`Crystallize`

:language: yaml

`Dissolve`

:language: yaml

`Dry`

:language: yaml

`Evaporate`

:language: yaml

`Hydrogenate`

:language: yaml

`Recrystallize`

:language: yaml

`WashSolid`

:language: yaml

清洁与维护

`Clean`

:language: yaml

`CleanVessel`

:language: yaml

`EmptyIn`

:language: yaml

`ResetHandling`

:language: yaml

生物自动化操作

Uni-Lab 生物操作指令集多数来自 PyLabRobot，包含移液工作站的各类操作。

`LiquidHandlerAdd`

:language: yaml

`LiquidHandlerAspirate`

:language: yaml

`LiquidHandlerDiscardTips`

:language: yaml

`LiquidHandlerDispense`

:language: yaml

`LiquidHandlerDropTips`

:language: yaml

`LiquidHandlerDropTips96`

:language: yaml

`LiquidHandlerIncubateBiomek`

:language: yaml

`LiquidHandlerMix`

:language: yaml

`LiquidHandlerMoveBiomek`

:language: yaml

`LiquidHandlerMoveLid`

:language: yaml

`LiquidHandlerMovePlate`

:language: yaml

`LiquidHandlerMoveResource`

:language: yaml

`LiquidHandlerMoveTo`

:language: yaml

`LiquidHandlerOscillateBiomek`

:language: yaml

`LiquidHandlerPickUpTips`

:language: yaml

`LiquidHandlerPickUpTips96`

:language: yaml

`LiquidHandlerProtocolCreation`

:language: yaml

`LiquidHandlerRemove`

:language: yaml

`LiquidHandlerReturnTips`

:language: yaml

`LiquidHandlerReturnTips96`

:language: yaml

`LiquidHandlerSetGroup`

:language: yaml

`LiquidHandlerSetLiquid`

:language: yaml

`LiquidHandlerSetTipRack`

:language: yaml

`LiquidHandlerStamp`

:language: yaml

`LiquidHandlerTransfer`

:language: yaml

`LiquidHandlerTransferBiomek`

:language: yaml

`LiquidHandlerTransferGroup`

:language: yaml

专用工作站操作

反应工作站

`ReactionStationDripBack`

:language: yaml

`ReactionStationLiquidFeedBeaker`

:language: yaml

`ReactionStationLiquidFeedSolvents`

:language: yaml

`ReactionStationLiquidFeedTitration`

:language: yaml

`ReactionStationLiquidFeedVialsNonTitration`

:language: yaml

`ReactionStationProExecu`

:language: yaml

`ReactionStationReactorTakenOut`

:language: yaml

`ReactionStationReaTackIn`

:language: yaml

`ReactionStationSolidFeedVial`

:language: yaml

固体分配站

`SolidDispenseAddPowderTube`

:language: yaml

分液工作站

`DispenStationSolnPrep`

:language: yaml

`DispenStationVialFeed`

:language: yaml

后处理工作站

`PostProcessGrab`

:language: yaml

`PostProcessTriggerClean`

:language: yaml

`PostProcessTriggerPostPro`

:language: yaml

系统管理与资源调度

资源与布局管理

`DefaultLayoutRecommendLayout`

:language: yaml

`ResourceCreateFromOuter`

:language: yaml

`ResourceCreateFromOuterEasy`

:language: yaml

多工作站协调

`AGVTransfer`

:language: yaml

`WorkStationRun`

:language: yaml

机器人控制（ROS2 标准）

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。

机械臂与关节控制

`FollowJointTrajectory`

# The trajectory for all revolute, continuous or prismatic joints
trajectory_msgs/JointTrajectory trajectory
# The trajectory for all planar or floating joints (i.e. individual joints with more than one DOF)
trajectory_msgs/MultiDOFJointTrajectory multi_dof_trajectory

# Tolerances for the trajectory.  If the measured joint values fall
# outside the tolerances the trajectory goal is aborted.  Any
# tolerances that are not specified (by being omitted or set to 0) are
# set to the defaults for the action server (often taken from the
# parameter server).

# Tolerances applied to the joints as the trajectory is executed.  If
# violated, the goal aborts with error_code set to
# PATH_TOLERANCE_VIOLATED.
JointTolerance[] path_tolerance
JointComponentTolerance[] component_path_tolerance

# To report success, the joints must be within goal_tolerance of the
# final trajectory value.  The goal must be achieved by time the
# trajectory ends plus goal_time_tolerance.  (goal_time_tolerance
# allows some leeway in time, so that the trajectory goal can still
# succeed even if the joints reach the goal some time after the
# precise end time of the trajectory).
#
# If the joints are not within goal_tolerance after "trajectory finish
# time" + goal_time_tolerance, the goal aborts with error_code set to
# GOAL_TOLERANCE_VIOLATED
JointTolerance[] goal_tolerance
JointComponentTolerance[] component_goal_tolerance
builtin_interfaces/Duration goal_time_tolerance

---
int32 error_code
int32 SUCCESSFUL = 0
int32 INVALID_GOAL = -1
int32 INVALID_JOINTS = -2
int32 OLD_HEADER_TIMESTAMP = -3
int32 PATH_TOLERANCE_VIOLATED = -4
int32 GOAL_TOLERANCE_VIOLATED = -5

# Human readable description of the error code. Contains complementary
# information that is especially useful when execution fails, for instance:
# - INVALID_GOAL: The reason for the invalid goal (e.g., the requested
#   trajectory is in the past).
# - INVALID_JOINTS: The mismatch between the expected controller joints
#   and those provided in the goal.
# - PATH_TOLERANCE_VIOLATED and GOAL_TOLERANCE_VIOLATED: Which joint
#   violated which tolerance, and by how much.
string error_string

---
std_msgs/Header header
string[] joint_names
trajectory_msgs/JointTrajectoryPoint desired
trajectory_msgs/JointTrajectoryPoint actual
trajectory_msgs/JointTrajectoryPoint error

string[] multi_dof_joint_names
trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_desired
trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_actual
trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_error

`JointTrajectory`

trajectory_msgs/JointTrajectory trajectory
---

---

`PointHead`

geometry_msgs/PointStamped target
geometry_msgs/Vector3 pointing_axis
string pointing_frame
builtin_interfaces/Duration min_duration
float64 max_velocity
---

---
float64 pointing_angle_error

`SingleJointPosition`

float64 position
builtin_interfaces/Duration min_duration
float64 max_velocity
---

---
std_msgs/Header header
float64 position
float64 velocity
float64 error

夹爪控制

`GripperCommand`

GripperCommand command
---
float64 position  # The current gripper gap size (in meters)
float64 effort    # The current effort exerted (in Newtons)
bool stalled      # True iff the gripper is exerting max effort and not moving
bool reached_goal # True iff the gripper position has reached the commanded setpoint
---
float64 position  # The current gripper gap size (in meters)
float64 effort    # The current effort exerted (in Newtons)
bool stalled      # True iff the gripper is exerting max effort and not moving
bool reached_goal # True iff the gripper position has reached the commanded setpoint

`ParallelGripperCommand`

# Parallel grippers refer to an end effector where two opposing fingers grasp an object from opposite sides.
sensor_msgs/JointState command
# name: the name(s) of the joint this command is requesting
# position: desired position of each gripper joint (radians or meters)
# velocity: (optional, not used if empty) max velocity of the joint allowed while moving (radians or meters / second)
# effort: (optional, not used if empty) max effort of the joint allowed while moving (Newtons or Newton-meters)
---
sensor_msgs/JointState state # The current gripper state.
# position of each joint (radians or meters)
# optional: velocity of each joint (radians or meters / second)
# optional: effort of each joint (Newtons or Newton-meters)
bool stalled      # True if the gripper is exerting max effort and not moving
bool reached_goal # True if the gripper position has reached the commanded setpoint
---
sensor_msgs/JointState state # The current gripper state.
# position of each joint (radians or meters)
# optional: velocity of each joint (radians or meters / second)
# optional: effort of each joint (Newtons or Newton-meters)

导航与路径规划

`AssistedTeleop`

#goal definition
builtin_interfaces/Duration time_allowance
---
#result definition
builtin_interfaces/Duration total_elapsed_time
---
#feedback
builtin_interfaces/Duration current_teleop_duration

`BackUp`

#goal definition
geometry_msgs/Point target
float32 speed
builtin_interfaces/Duration time_allowance
---
#result definition
builtin_interfaces/Duration total_elapsed_time
---
#feedback definition
float32 distance_traveled

`ComputePathThroughPoses`

#goal definition
geometry_msgs/PoseStamped[] goals
geometry_msgs/PoseStamped start
string planner_id
bool use_start # If false, use current robot pose as path start, if true, use start above instead
---
#result definition
nav_msgs/Path path
builtin_interfaces/Duration planning_time
---
#feedback definition

`ComputePathToPose`

#goal definition
geometry_msgs/PoseStamped goal
geometry_msgs/PoseStamped start
string planner_id
bool use_start # If false, use current robot pose as path start, if true, use start above instead
---
#result definition
nav_msgs/Path path
builtin_interfaces/Duration planning_time
---
#feedback definition

`DriveOnHeading`

#goal definition
geometry_msgs/Point target
float32 speed
builtin_interfaces/Duration time_allowance
---
#result definition
builtin_interfaces/Duration total_elapsed_time
---
#feedback definition
float32 distance_traveled

`DummyBehavior`

#goal definition
std_msgs/String command
---
#result definition
builtin_interfaces/Duration total_elapsed_time
---
#feedback definition

`FollowPath`

#goal definition
nav_msgs/Path path
string controller_id
string goal_checker_id
---
#result definition
std_msgs/Empty result
---
#feedback definition
float32 distance_to_goal
float32 speed

`FollowWaypoints`

#goal definition
geometry_msgs/PoseStamped[] poses
---
#result definition
int32[] missed_waypoints
---
#feedback definition
uint32 current_waypoint

`NavigateThroughPoses`

#goal definition
geometry_msgs/PoseStamped[] poses
string behavior_tree
---
#result definition
std_msgs/Empty result
---
#feedback definition
geometry_msgs/PoseStamped current_pose
builtin_interfaces/Duration navigation_time
builtin_interfaces/Duration estimated_time_remaining
int16 number_of_recoveries
float32 distance_remaining
int16 number_of_poses_remaining

`NavigateToPose`

#goal definition
geometry_msgs/PoseStamped pose
string behavior_tree
---
#result definition
std_msgs/Empty result
---
#feedback definition
geometry_msgs/PoseStamped current_pose
builtin_interfaces/Duration navigation_time
builtin_interfaces/Duration estimated_time_remaining
int16 number_of_recoveries
float32 distance_remaining

`SmoothPath`

#goal definition
nav_msgs/Path path
string smoother_id
builtin_interfaces/Duration max_smoothing_duration
bool check_for_collisions
---
#result definition
nav_msgs/Path path
builtin_interfaces/Duration smoothing_duration
bool was_completed
---
#feedback definition

`Spin`

#goal definition
float32 target_yaw
builtin_interfaces/Duration time_allowance
---
#result definition
builtin_interfaces/Duration total_elapsed_time
---
#feedback definition
float32 angular_distance_traveled

`Wait` (Nav2)

注意：这是 ROS2 nav2_msgs 的标准 Wait action，与 unilabos_msgs 的 Wait action 不同。

#goal definition
builtin_interfaces/Duration time
---
#result definition
builtin_interfaces/Duration total_elapsed_time
---
#feedback definition
builtin_interfaces/Duration time_left

20 KiB Raw Blame History Unescape Escape

基础通用操作

SendCmd

FloatSingleInput

IntSingleInput

Point3DSeparateInput

StrSingleInput

Wait

化学实验操作

物料添加

Add

AddSolid

液体转移与泵控制

PumpTransfer

SetPumpPosition

Transfer

温度控制

HeatChill

HeatChillStart

HeatChillStop

搅拌控制

StartStir

Stir

StopStir

气体与真空控制

EvacuateAndRefill

Purge

StartPurge

StopPurge

分离与过滤

Centrifuge

Filter

FilterThrough

RunColumn

Separate

化学处理

AdjustPH

Crystallize

Dissolve

Dry

Evaporate

Hydrogenate

Recrystallize

WashSolid