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Merge remote-tracking branch 'origin/dev' into feature/organic-extraction

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This commit is contained in:
ZiWei
2026-04-27 11:13:13 +08:00
parent d68fc5e380 195fad9398
commit c4a2f68649
60 changed files with 3222 additions and 476 deletions
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1
unilabos/registry/ast_registry_scanner.py
View File

@@ -825,6 +825,7 @@ def _extract_class_body(
action_args.setdefault("placeholder_keys", {})
action_args.setdefault("always_free", False)
action_args.setdefault("is_protocol", False)
action_args.setdefault("feedback_interval", 1.0)
action_args.setdefault("description", "")
action_args.setdefault("auto_prefix", False)
action_args.setdefault("parent", False)

16
unilabos/registry/decorators.py
View File

@@ -343,6 +343,7 @@ def action(
auto_prefix: bool = False,
parent: bool = False,
node_type: Optional["NodeType"] = None,
feedback_interval: Optional[float] = None,
):
"""
动作方法装饰器
@@ -378,9 +379,16 @@ def action(
"""
def decorator(func: F) -> F:
@wraps(func)
def wrapper(*args, **kwargs):
return func(*args, **kwargs)
import asyncio as _asyncio
if _asyncio.iscoroutinefunction(func):
@wraps(func)
async def wrapper(*args, **kwargs):
return await func(*args, **kwargs)
else:
@wraps(func)
def wrapper(*args, **kwargs):
return func(*args, **kwargs)
# action_type 为哨兵值 => 用户没传, 视为 None (UniLabJsonCommand)
resolved_type = None if action_type is _ACTION_TYPE_UNSET else action_type
@@ -399,6 +407,8 @@ def action(
"auto_prefix": auto_prefix,
"parent": parent,
}
if feedback_interval is not None:
meta["feedback_interval"] = feedback_interval
if node_type is not None:
meta["node_type"] = node_type.value if isinstance(node_type, NodeType) else str(node_type)
wrapper._action_registry_meta = meta # type: ignore[attr-defined]

2
unilabos/registry/devices/hotel.yaml
View File

@@ -31,6 +31,6 @@ hotel.thermo_orbitor_rs2_hotel:
type: object
model:
mesh: thermo_orbitor_rs2_hotel
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/thermo_orbitor_rs2_hotel/macro_device.xacro
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/thermo_orbitor_rs2_hotel/macro_device.xacro
type: device
version: 1.0.0

2
unilabos/registry/devices/robot_arm.yaml
View File

@@ -329,7 +329,7 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
type: object
model:
mesh: arm_slider
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/arm_slider/macro_device.xacro
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/arm_slider/macro_device.xacro
type: device
version: 1.0.0
robotic_arm.UR:

8
unilabos/registry/devices/virtual_device.yaml
View File

@@ -3960,6 +3960,14 @@ virtual_separator:
io_type: source
label: bottom_phase_out
side: SOUTH
- data_key: top_outlet
data_source: executor
data_type: fluid
description: 上相（轻相）液体输出口
handler_key: topphaseout
io_type: source
label: top_phase_out
side: NORTH
- data_key: mechanical_port
data_source: handle
data_type: mechanical

12
unilabos/registry/registry.py
View File

@@ -238,6 +238,7 @@ class Registry:
"class_name": "unilabos_class",
},
"always_free": True,
"feedback_interval": 300.0,
},
"test_latency": test_latency_action,
"auto-test_resource": test_resource_action,
@@ -829,8 +830,9 @@ class Registry:
raw_handles = (action_args or {}).get("handles")
handles = normalize_ast_action_handles(raw_handles) if isinstance(raw_handles, list) else (raw_handles or {})
# placeholder_keys: 优先用装饰器显式配置，否则从参数类型检测
pk = (action_args or {}).get("placeholder_keys") or detect_placeholder_keys(params)
# placeholder_keys: 先从参数类型自动检测，再用装饰器显式配置覆盖/补充
pk = detect_placeholder_keys(params)
pk.update((action_args or {}).get("placeholder_keys") or {})
# 从方法返回值类型生成 result schema
result_schema = None
@@ -852,6 +854,8 @@ class Registry:
}
if (action_args or {}).get("always_free") or method_info.get("always_free"):
entry["always_free"] = True
_fb_iv = (action_args or {}).get("feedback_interval", method_info.get("feedback_interval", 1.0))
entry["feedback_interval"] = _fb_iv
nt = normalize_enum_value((action_args or {}).get("node_type"), NodeType)
if nt:
entry["node_type"] = nt
@@ -975,10 +979,12 @@ class Registry:
"schema": schema,
"goal_default": goal_default,
"handles": handles,
"placeholder_keys": action_args.get("placeholder_keys") or detect_placeholder_keys(method_params),
"placeholder_keys": {**detect_placeholder_keys(method_params), **(action_args.get("placeholder_keys") or {})},
}
if action_args.get("always_free") or method_info.get("always_free"):
action_entry["always_free"] = True
_fb_iv = action_args.get("feedback_interval", method_info.get("feedback_interval", 1.0))
action_entry["feedback_interval"] = _fb_iv
nt = normalize_enum_value(action_args.get("node_type"), NodeType)
if nt:
action_entry["node_type"] = nt

14
unilabos/registry/resources/common/resource_container.yaml
View File

@@ -17,7 +17,7 @@ hplc_plate:
- 0
- 0
- 3.1416
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/hplc_plate/modal.xacro
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/hplc_plate/modal.xacro
type: resource
version: 1.0.0
plate_96:
@@ -39,7 +39,7 @@ plate_96:
- 0
- 0
- 0
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96/modal.xacro
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96/modal.xacro
type: resource
version: 1.0.0
plate_96_high:
@@ -61,7 +61,7 @@ plate_96_high:
- 1.5708
- 0
- 1.5708
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96_high/modal.xacro
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96_high/modal.xacro
type: resource
version: 1.0.0
tiprack_96_high:
@@ -76,7 +76,7 @@ tiprack_96_high:
init_param_schema: {}
model:
children_mesh: generic_labware_tube_10_75/meshes/0_base.stl
children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/generic_labware_tube_10_75/modal.xacro
children_mesh_path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/generic_labware_tube_10_75/modal.xacro
children_mesh_tf:
- 0.0018
- 0.0018
@@ -92,7 +92,7 @@ tiprack_96_high:
- 1.5708
- 0
- 1.5708
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_96_high/modal.xacro
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_96_high/modal.xacro
type: resource
version: 1.0.0
tiprack_box:
@@ -107,7 +107,7 @@ tiprack_box:
init_param_schema: {}
model:
children_mesh: tip/meshes/tip.stl
children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tip/modal.xacro
children_mesh_path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tip/modal.xacro
children_mesh_tf:
- 0.0045
- 0.0045
@@ -123,6 +123,6 @@ tiprack_box:
- 0
- 0
- 0
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_box/modal.xacro
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_box/modal.xacro
type: resource
version: 1.0.0

8
unilabos/registry/resources/laiyu/container.yaml
View File

@@ -11,7 +11,7 @@ bottle_container:
init_param_schema: {}
model:
children_mesh: bottle/meshes/bottle.stl
children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/bottle/modal.xacro
children_mesh_path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/bottle/modal.xacro
children_mesh_tf:
- 0.04
- 0.04
@@ -27,7 +27,7 @@ bottle_container:
- 0
- 0
- 0
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/bottle_container/modal.xacro
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/bottle_container/modal.xacro
type: resource
version: 1.0.0
tube_container:
@@ -43,7 +43,7 @@ tube_container:
init_param_schema: {}
model:
children_mesh: tube/meshes/tube.stl
children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tube/modal.xacro
children_mesh_path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tube/modal.xacro
children_mesh_tf:
- 0.017
- 0.017
@@ -59,6 +59,6 @@ tube_container:
- 0
- 0
- 0
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tube_container/modal.xacro
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tube_container/modal.xacro
type: resource
version: 1.0.0

2
unilabos/registry/resources/laiyu/deck.yaml
View File

@@ -10,6 +10,6 @@ TransformXYZDeck:
init_param_schema: {}
model:
mesh: liquid_transform_xyz
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/liquid_transform_xyz/macro_device.xacro
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/liquid_transform_xyz/macro_device.xacro
type: device
version: 1.0.0

4
unilabos/registry/resources/opentrons/deck.yaml
View File

@@ -10,7 +10,7 @@ OTDeck:
init_param_schema: {}
model:
mesh: opentrons_liquid_handler
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/opentrons_liquid_handler/macro_device.xacro
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/opentrons_liquid_handler/macro_device.xacro
type: device
version: 1.0.0
hplc_station:
@@ -25,6 +25,6 @@ hplc_station:
init_param_schema: {}
model:
mesh: hplc_station
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/hplc_station/macro_device.xacro
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/hplc_station/macro_device.xacro
type: device
version: 1.0.0

6
unilabos/registry/resources/opentrons/plates.yaml
View File

@@ -109,7 +109,7 @@ nest_96_wellplate_100ul_pcr_full_skirt:
init_param_schema: {}
model:
children_mesh: generic_labware_tube_10_75/meshes/0_base.stl
children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/generic_labware_tube_10_75/modal.xacro
children_mesh_path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/generic_labware_tube_10_75/modal.xacro
children_mesh_tf:
- 0.0018
- 0.0018
@@ -125,7 +125,7 @@ nest_96_wellplate_100ul_pcr_full_skirt:
- -1.5708
- 0
- 1.5708
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
type: resource
version: 1.0.0
nest_96_wellplate_200ul_flat:
@@ -158,7 +158,7 @@ nest_96_wellplate_2ml_deep:
- -1.5708
- 0
- 1.5708
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
type: resource
version: 1.0.0
thermoscientificnunc_96_wellplate_1300ul:

2
unilabos/registry/resources/opentrons/tip_racks.yaml
View File

@@ -69,7 +69,7 @@ opentrons_96_filtertiprack_1000ul:
- -1.5708
- 0
- 1.5708
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
type: resource
version: 1.0.0
opentrons_96_filtertiprack_10ul: