mirror of
https://github.com/deepmodeling/Uni-Lab-OS
synced 2026-04-28 00:20:00 +00:00
修改移液部分代码，如果没有10ul枪头，则不使用10ul移液枪
This commit is contained in:
q434343
@@ -1196,6 +1196,27 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
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none_keys=none_keys,
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)
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@staticmethod
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def _tip_rack_is_10ul_range(rack: TipRack) -> bool:
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"""判断 tip 盒是否为 10µL 量程（对应右头）；优先用孔位上 prototype tip 的 maximal_volume。"""
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children = getattr(rack, "children", None) or []
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if children:
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spot = children[0]
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tr = getattr(spot, "tracker", None)
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tip = None
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if tr is not None:
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tip = getattr(tr, "_tip", None) or getattr(tr, "tip", None)
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if tip is None:
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tip = getattr(spot, "tip", None)
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mv = getattr(tip, "maximal_volume", None) if tip is not None else None
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if mv is not None:
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try:
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return float(mv) <= 10.0
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except (TypeError, ValueError):
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pass
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ident = f"{getattr(rack, 'model', '') or ''} {type(rack).__name__}".lower()
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return "10ul" in ident
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async def transfer_liquid(
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self,
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sources: Sequence[Container],
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@@ -1230,19 +1251,20 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
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_asp_list = asp_vols if isinstance(asp_vols, list) else [asp_vols]
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_dis_list = dis_vols if isinstance(dis_vols, list) else [dis_vols]
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if all(v <= 10.0 for v in _asp_list) and all(v <= 10.0 for v in _dis_list):
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use_channels = [1]
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mix_vol = max(min(mix_vol,10),0) if mix_vol is not None else None
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sources = await self._resolve_to_plr_resources(sources)
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targets = await self._resolve_to_plr_resources(targets)
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tip_racks = list(await self._resolve_to_plr_resources(tip_racks))
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change_slots = []
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change_slots.append(sources[0].parent)
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change_slots.append(targets[0].parent)
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if isinstance(tip_racks[0], TipRack):
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tip_rack = tip_racks[0]
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else:
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tip_rack = tip_racks[0].parent
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small_vols = all(v <= 10.0 for v in _asp_list) and all(v <= 10.0 for v in _dis_list)
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if small_vols and self._tip_rack_is_10ul_range(tip_rack):
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use_channels = [1]
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mix_vol = max(min(mix_vol, 10), 0) if mix_vol is not None else None
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change_slots = []
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change_slots.append(sources[0].parent)
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change_slots.append(targets[0].parent)
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change_slots.append(tip_rack)
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@@ -2,6 +2,7 @@ import json
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import time
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from copy import deepcopy
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from pathlib import Path
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from typing import Optional, Sequence
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from moveit_msgs.msg import JointConstraint, Constraints
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from rclpy.action import ActionClient
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@@ -171,173 +172,160 @@ class MoveitInterface:
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return True
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def pick_and_place(self, command: str):
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def pick_and_place(
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self,
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option: str,
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move_group: str,
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status: str,
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resource: Optional[str] = None,
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x_distance: Optional[float] = None,
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y_distance: Optional[float] = None,
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lift_height: Optional[float] = None,
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retry: Optional[int] = None,
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speed: Optional[float] = None,
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target: Optional[str] = None,
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constraints: Optional[Sequence[float]] = None,
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) -> None:
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"""
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Using MoveIt to make the robotic arm pick or place materials to a target point.
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使用 MoveIt 完成抓取/放置等序列（pick/place/side_pick/side_place）。
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Args:
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command: A JSON-formatted string that includes option, target, speed, lift_height, mt_height
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*option (string) : Action type: pick/place/side_pick/side_place
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*move_group (string): The move group moveit will plan
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*status(string) : Target pose
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resource(string) : The target resource
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x_distance (float) : The distance to the target in x direction(meters)
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y_distance (float) : The distance to the target in y direction(meters)
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lift_height (float) : The height at which the material should be lifted(meters)
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retry (float) : Retry times when moveit plan fails
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speed (float) : The speed of the movement, speed > 0
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Returns:
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None
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必选：option, move_group, status。
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可选：resource, x_distance, y_distance, lift_height, retry, speed, target, constraints。
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无返回值；失败时提前 return 或打印异常。
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"""
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result = SendCmd.Result()
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try:
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cmd_str = str(command).replace("'", '"')
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cmd_dict = json.loads(cmd_str)
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if option not in self.move_option:
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raise ValueError(f"Invalid option: {option}")
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if cmd_dict["option"] in self.move_option:
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option_index = self.move_option.index(cmd_dict["option"])
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place_flag = option_index % 2
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option_index = self.move_option.index(option)
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place_flag = option_index % 2
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config = {}
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function_list = []
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config: dict = {"move_group": move_group}
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if speed is not None:
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config["speed"] = speed
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if retry is not None:
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config["retry"] = retry
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status = cmd_dict["status"]
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joint_positions_ = self.joint_poses[cmd_dict["move_group"]][status]
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function_list = []
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joint_positions_ = self.joint_poses[move_group][status]
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config.update({k: cmd_dict[k] for k in ["speed", "retry", "move_group"] if k in cmd_dict})
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# 夹取 / 放置：绑定 resource 与 parent
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if not place_flag:
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if target is not None:
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function_list.append(lambda r=resource, t=target: self.resource_manager(r, t))
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else:
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ee = self.moveit2[move_group].end_effector_name
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function_list.append(lambda r=resource: self.resource_manager(r, ee))
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else:
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function_list.append(lambda r=resource: self.resource_manager(r, "world"))
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# 夹取
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if not place_flag:
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if "target" in cmd_dict.keys():
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function_list.append(lambda: self.resource_manager(cmd_dict["resource"], cmd_dict["target"]))
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else:
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function_list.append(
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lambda: self.resource_manager(
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cmd_dict["resource"], self.moveit2[cmd_dict["move_group"]].end_effector_name
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joint_constraint_msgs: list = []
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if constraints is not None:
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for i, c in enumerate(constraints):
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v = float(c)
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if v > 0:
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joint_constraint_msgs.append(
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JointConstraint(
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joint_name=self.moveit2[move_group].joint_names[i],
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position=joint_positions_[i],
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tolerance_above=v,
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tolerance_below=v,
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weight=1.0,
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)
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)
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else:
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function_list.append(lambda: self.resource_manager(cmd_dict["resource"], "world"))
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constraints = []
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if "constraints" in cmd_dict.keys():
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if lift_height is not None:
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retval = None
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attempts = config.get("retry", 10)
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while retval is None and attempts > 0:
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retval = self.moveit2[move_group].compute_fk(joint_positions_)
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time.sleep(0.1)
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attempts -= 1
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if retval is None:
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raise ValueError("Failed to compute forward kinematics")
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pose = [retval.pose.position.x, retval.pose.position.y, retval.pose.position.z]
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quaternion = [
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retval.pose.orientation.x,
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retval.pose.orientation.y,
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retval.pose.orientation.z,
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retval.pose.orientation.w,
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]
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for i in range(len(cmd_dict["constraints"])):
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v = float(cmd_dict["constraints"][i])
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if v > 0:
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constraints.append(
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JointConstraint(
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joint_name=self.moveit2[cmd_dict["move_group"]].joint_names[i],
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position=joint_positions_[i],
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tolerance_above=v,
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tolerance_below=v,
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weight=1.0,
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)
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)
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function_list = [
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lambda: self.moveit_task(
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position=[retval.pose.position.x, retval.pose.position.y, retval.pose.position.z],
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quaternion=quaternion,
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**config,
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cartesian=self.cartesian_flag,
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)
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] + function_list
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if "lift_height" in cmd_dict.keys():
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retval = None
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retry = config.get("retry", 10)
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while retval is None and retry > 0:
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retval = self.moveit2[cmd_dict["move_group"]].compute_fk(joint_positions_)
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time.sleep(0.1)
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retry -= 1
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if retval is None:
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result.success = False
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return result
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pose = [retval.pose.position.x, retval.pose.position.y, retval.pose.position.z]
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quaternion = [
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retval.pose.orientation.x,
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retval.pose.orientation.y,
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retval.pose.orientation.z,
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retval.pose.orientation.w,
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]
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pose[2] += float(lift_height)
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function_list.append(
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lambda p=pose.copy(), q=quaternion, cfg=config: self.moveit_task(
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position=p, quaternion=q, **cfg, cartesian=self.cartesian_flag
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)
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)
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end_pose = list(pose)
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if x_distance is not None or y_distance is not None:
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if x_distance is not None:
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deep_pose = deepcopy(pose)
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deep_pose[0] += float(x_distance)
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elif y_distance is not None:
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deep_pose = deepcopy(pose)
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deep_pose[1] += float(y_distance)
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function_list = [
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lambda: self.moveit_task(
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position=[retval.pose.position.x, retval.pose.position.y, retval.pose.position.z],
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quaternion=quaternion,
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**config,
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cartesian=self.cartesian_flag,
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lambda p=pose.copy(), q=quaternion, cfg=config: self.moveit_task(
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position=p, quaternion=q, **cfg, cartesian=self.cartesian_flag
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)
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] + function_list
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pose[2] += float(cmd_dict["lift_height"])
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function_list.append(
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lambda: self.moveit_task(
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position=pose, quaternion=quaternion, **config, cartesian=self.cartesian_flag
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lambda dp=deep_pose.copy(), q=quaternion, cfg=config: self.moveit_task(
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position=dp, quaternion=q, **cfg, cartesian=self.cartesian_flag
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)
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)
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end_pose = pose
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end_pose = list(deep_pose)
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if "x_distance" in cmd_dict.keys() or "y_distance" in cmd_dict.keys():
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if "x_distance" in cmd_dict.keys():
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deep_pose = deepcopy(pose)
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deep_pose[0] += float(cmd_dict["x_distance"])
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elif "y_distance" in cmd_dict.keys():
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deep_pose = deepcopy(pose)
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deep_pose[1] += float(cmd_dict["y_distance"])
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retval_ik = None
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attempts_ik = config.get("retry", 10)
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while retval_ik is None and attempts_ik > 0:
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retval_ik = self.moveit2[move_group].compute_ik(
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position=end_pose,
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quat_xyzw=quaternion,
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constraints=Constraints(joint_constraints=joint_constraint_msgs),
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)
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time.sleep(0.1)
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attempts_ik -= 1
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if retval_ik is None:
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raise ValueError("Failed to compute inverse kinematics")
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position_ = [
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retval_ik.position[retval_ik.name.index(i)] for i in self.moveit2[move_group].joint_names
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]
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jn = self.moveit2[move_group].joint_names
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function_list = [
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lambda pos=position_, names=jn, cfg=config: self.moveit_joint_task(
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joint_positions=pos, joint_names=names, **cfg
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)
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] + function_list
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else:
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function_list = [lambda cfg=config, jp=joint_positions_: self.moveit_joint_task(**cfg, joint_positions=jp)] + function_list
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function_list = [
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lambda: self.moveit_task(
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position=pose, quaternion=quaternion, **config, cartesian=self.cartesian_flag
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)
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] + function_list
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function_list.append(
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lambda: self.moveit_task(
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position=deep_pose, quaternion=quaternion, **config, cartesian=self.cartesian_flag
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)
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)
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end_pose = deep_pose
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retval_ik = None
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retry = config.get("retry", 10)
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while retval_ik is None and retry > 0:
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retval_ik = self.moveit2[cmd_dict["move_group"]].compute_ik(
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position=end_pose, quat_xyzw=quaternion, constraints=Constraints(joint_constraints=constraints)
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)
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time.sleep(0.1)
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retry -= 1
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if retval_ik is None:
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result.success = False
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return result
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position_ = [
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retval_ik.position[retval_ik.name.index(i)]
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for i in self.moveit2[cmd_dict["move_group"]].joint_names
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]
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function_list = [
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lambda: self.moveit_joint_task(
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joint_positions=position_,
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joint_names=self.moveit2[cmd_dict["move_group"]].joint_names,
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**config,
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)
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] + function_list
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for i in range(len(function_list)):
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if i == 0:
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self.cartesian_flag = False
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else:
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function_list = [
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lambda: self.moveit_joint_task(**config, joint_positions=joint_positions_)
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] + function_list
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self.cartesian_flag = True
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for i in range(len(function_list)):
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if i == 0:
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self.cartesian_flag = False
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else:
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self.cartesian_flag = True
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re = function_list[i]()
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if not re:
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print(i, re)
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result.success = False
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return result
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result.success = True
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re = function_list[i]()
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if not re:
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print(i, re)
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raise ValueError(f"Failed to execute moveit task: {i}")
|
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except Exception as e:
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print(e)
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self.cartesian_flag = False
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result.success = False
|
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return result
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raise e
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def set_status(self, command: str):
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"""
|
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@@ -173,48 +173,64 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
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type: object
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type: UniLabJsonCommand
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pick_and_place:
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feedback:
|
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status: status
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goal:
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command: command
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feedback: {}
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goal: {}
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goal_default:
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command: ''
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constraints: null
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lift_height: null
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move_group: null
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option: null
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resource: null
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retry: null
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speed: null
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status: null
|
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target: null
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x_distance: null
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y_distance: null
|
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handles: {}
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placeholder_keys: {}
|
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result:
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return_info: return_info
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success: success
|
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result: {}
|
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schema:
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description: ''
|
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description: pick_and_place 显式参数（UniLabJsonCommand）
|
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properties:
|
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feedback:
|
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additionalProperties: false
|
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feedback: {}
|
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goal:
|
||||
properties:
|
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constraints:
|
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items:
|
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type: number
|
||||
type: array
|
||||
lift_height:
|
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type: string
|
||||
move_group:
|
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type: string
|
||||
option:
|
||||
type: string
|
||||
resource:
|
||||
type: string
|
||||
retry:
|
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type: string
|
||||
speed:
|
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type: string
|
||||
status:
|
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type: string
|
||||
title: SendCmd_Feedback
|
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type: object
|
||||
goal:
|
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additionalProperties: false
|
||||
properties:
|
||||
command:
|
||||
target:
|
||||
type: string
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
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additionalProperties: false
|
||||
properties:
|
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return_info:
|
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x_distance:
|
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type: string
|
||||
success:
|
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type: boolean
|
||||
title: SendCmd_Result
|
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y_distance:
|
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type: string
|
||||
required:
|
||||
- option
|
||||
- move_group
|
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- status
|
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type: object
|
||||
result: {}
|
||||
required:
|
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- goal
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title: SendCmd
|
||||
title: pick_and_place参数
|
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type: object
|
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type: SendCmd
|
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type: UniLabJsonCommand
|
||||
set_position:
|
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feedback:
|
||||
status: status
|
||||
|
||||
@@ -684,48 +684,64 @@ linear_motion.toyo_xyz.sim:
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
pick_and_place:
|
||||
feedback:
|
||||
status: status
|
||||
goal:
|
||||
command: command
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
command: ''
|
||||
constraints: null
|
||||
lift_height: null
|
||||
move_group: null
|
||||
option: null
|
||||
resource: null
|
||||
retry: null
|
||||
speed: null
|
||||
status: null
|
||||
target: null
|
||||
x_distance: null
|
||||
y_distance: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
success: success
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
description: pick_and_place 显式参数（UniLabJsonCommand）
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: false
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
constraints:
|
||||
items:
|
||||
type: number
|
||||
type: array
|
||||
lift_height:
|
||||
type: string
|
||||
move_group:
|
||||
type: string
|
||||
option:
|
||||
type: string
|
||||
resource:
|
||||
type: string
|
||||
retry:
|
||||
type: string
|
||||
speed:
|
||||
type: string
|
||||
status:
|
||||
type: string
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
command:
|
||||
target:
|
||||
type: string
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
x_distance:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
title: SendCmd_Result
|
||||
y_distance:
|
||||
type: string
|
||||
required:
|
||||
- option
|
||||
- move_group
|
||||
- status
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: SendCmd
|
||||
title: pick_and_place参数
|
||||
type: object
|
||||
type: SendCmd
|
||||
type: UniLabJsonCommand
|
||||
set_position:
|
||||
feedback:
|
||||
status: status
|
||||
|
||||
@@ -543,7 +543,12 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
}
|
||||
)
|
||||
tree_response: SerialCommand.Response = await client.call_async(request)
|
||||
uuid_maps = json.loads(tree_response.response)
|
||||
_raw_resp = tree_response.response if tree_response else ""
|
||||
if _raw_resp:
|
||||
uuid_maps = json.loads(_raw_resp)
|
||||
else:
|
||||
uuid_maps = {}
|
||||
self._lab_logger.warning("Resource tree add 返回空响应，跳过 UUID 映射")
|
||||
self.resource_tracker.loop_update_uuid(input_resources, uuid_maps)
|
||||
self._lab_logger.info(f"Resource tree added. UUID mapping: {len(uuid_maps)} nodes")
|
||||
# 这里created_resources不包含parent_resource
|
||||
@@ -1729,10 +1734,25 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
try:
|
||||
function_args[arg_name] = self._convert_resources_sync(resource_data["uuid"])[0]
|
||||
except Exception as e:
|
||||
self.lab_logger().error(
|
||||
f"转换ResourceSlot参数 {arg_name} 失败: {e}\n{traceback.format_exc()}"
|
||||
# UUID 在资源树中不存在，尝试从传入的完整 dict 直接构建 PLR 资源
|
||||
self.lab_logger().warning(
|
||||
f"UUID查询 {arg_name} 失败，尝试从传入数据直接构建: {e}"
|
||||
)
|
||||
raise JsonCommandInitError(f"ResourceSlot参数转换失败: {arg_name}")
|
||||
try:
|
||||
fallback_tree = ResourceTreeSet.from_raw_dict_list([resource_data])
|
||||
if len(fallback_tree.trees) == 0:
|
||||
raise
|
||||
plr_list = fallback_tree.to_plr_resources()
|
||||
if not plr_list:
|
||||
raise
|
||||
plr_res = plr_list[0]
|
||||
figured = self.resource_tracker.figure_resource(plr_res, try_mode=True)
|
||||
function_args[arg_name] = figured[0] if figured else plr_res
|
||||
except Exception:
|
||||
self.lab_logger().error(
|
||||
f"转换ResourceSlot参数 {arg_name} 失败（含回退）: {e}\n{traceback.format_exc()}"
|
||||
)
|
||||
raise JsonCommandInitError(f"ResourceSlot参数转换失败: {arg_name}")
|
||||
|
||||
# 处理 ResourceSlot 列表
|
||||
elif isinstance(arg_type, tuple) and len(arg_type) == 2:
|
||||
@@ -1744,10 +1764,25 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
uuids = [r["uuid"] for r in resource_list if isinstance(r, dict) and "id" in r]
|
||||
function_args[arg_name] = self._convert_resources_sync(*uuids) if uuids else []
|
||||
except Exception as e:
|
||||
self.lab_logger().error(
|
||||
f"转换ResourceSlot列表参数 {arg_name} 失败: {e}\n{traceback.format_exc()}"
|
||||
self.lab_logger().warning(
|
||||
f"UUID查询列表 {arg_name} 失败，尝试从传入数据直接构建: {e}"
|
||||
)
|
||||
raise JsonCommandInitError(f"ResourceSlot列表参数转换失败: {arg_name}")
|
||||
try:
|
||||
dict_items = [r for r in resource_list if isinstance(r, dict) and "id" in r]
|
||||
fallback_tree = ResourceTreeSet.from_raw_dict_list(dict_items)
|
||||
if len(fallback_tree.trees) == 0:
|
||||
raise
|
||||
plr_list = fallback_tree.to_plr_resources()
|
||||
resolved = []
|
||||
for plr_res in plr_list:
|
||||
figured = self.resource_tracker.figure_resource(plr_res, try_mode=True)
|
||||
resolved.append(figured[0] if figured else plr_res)
|
||||
function_args[arg_name] = resolved
|
||||
except Exception:
|
||||
self.lab_logger().error(
|
||||
f"转换ResourceSlot列表参数 {arg_name} 失败（含回退）: {e}\n{traceback.format_exc()}"
|
||||
)
|
||||
raise JsonCommandInitError(f"ResourceSlot列表参数转换失败: {arg_name}")
|
||||
|
||||
# todo: 默认反报送
|
||||
return function(**function_args)
|
||||
|
||||
@@ -28,7 +28,7 @@
|
||||
"matrix_id": "",
|
||||
"simulator": false,
|
||||
"channel_num": 2,
|
||||
"step_mode": true,
|
||||
"step_mode": false,
|
||||
"calibration_points": {
|
||||
"line_1": [[452.07,21.19], [313.88,21.19], [176.87,21.19], [39.08,21.19]],
|
||||
"line_2": [[451.37,116.68], [313.28,116.88], [176.58,116.69], [38.58,117.18]],
|
||||
|
||||
Reference in New Issue
Block a user