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3b67020 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 | """Mettler Toledo Quantos powder-dosing labware (2026-10-23).
* labware.mt_quantos_qh016_bnmw - QH016-BNMW powder dosing head: geometry REUSED from the mt_quantos_q2 instrument asset's
`dosing_head` part (mesh objects + collision proxies), re-based to the outlet tip; real model data from the Quantos operating
instructions (p.102 technical data, p.107 part number, p.21 installation, p.29 filling, p.94 storage).
* labware.mt_quantos_head_container - the plastic container each head is delivered and stored in (manual p.27, p.94); used as the
head's holder on the bench shelf (Mettler lists no head rack among the Quantos accessories, manual p.107-110).
* target vial: the Agilent 20 mL screw-top vial already in the catalog (real model, fits the Quantos sample-container limits of
manual p.103); the instrument asset's `sample_container` part is an authored placeholder (its contract says the size is not a
maker dimension), so it is not exported as a type.
Fit checks against the instrument asset (head_slot, container seat, powder outlet) are computed here and stored in
labware.instrument_fit; tests/test_labware_assets.py asserts them.
"""
from __future__ import annotations
import json
import math
import numpy as np
import trimesh
from labware_kit import (FRANKA_MAX_GRASP_M, HAND_ABOVE_TCP_M, ROOT, LabwareAsset, Link, Prim, frame, obb_overlap, revolve, ring_boxes,
top_down_frames, transform_prim)
from sources import SOURCES as _GLOBAL_SOURCES
QDIR = ROOT / "assets" / "basic40_batch02" / "t5_automation" / "mt_quantos_q2"
MAN = "references/manuals/mt_quantos_q2_xpe206dr/operating_manual__quantos_operating_instructions.pdf"
TID = "instrument.mt_quantos_q2_xpe206dr"
SRC = {
"quantos_manual": {"kind": "manufacturer", "reference": f"METTLER TOLEDO Quantos operating instructions ({MAN}, local copy, page references only)",
"locator": "p.21 installing a dosing head (slide onto the dosing head support until it stops, press down into the holding pins); p.27 heads are "
"supplied in a plastic container; p.29 preparing a head (unscrew the powder container, fill, screw back, insert); p.94 store heads in the "
"delivered plastic container; p.102 QH016-BNMW: powder container thread DIN 18 mm, volume 16 mL, target range 0.1-250 mg, 250 dosings, "
"typical offset 0.2 mg and sd 0.2 mg (CaCO3, 50 mg, 1 %); p.103 sample containers (QB1/QB3/QB7): height 31-178 mm, opening >= 6 mm, "
"diameter up to 100 mm, weighing platform 78 x 73 mm; p.107 accessories: QH016-BNMW part no. 11141503 (no head rack listed p.107-110)",
"note": "Real-model data for the dosing head, its storage and the target container limits.", "licence": "facts"},
"quantos_asset": {"kind": "code", "reference": "Chemistry-Sim assets/basic40_batch02/t5_automation/mt_quantos_q2 (geometry_manifest.json, collision_proxies.json, meshes/dosing_head.obj, ports head_slot / powder_outlet / container_seat)",
"locator": "components dosing_head, head_slot, balance_pan, sample_container; ports head_slot (0, -0.039, 0.245), powder_outlet (0, -0.031, 0.200), container_seat (0, -0.031, 0.069)",
"note": "Reused head geometry and the instrument interfaces for the fit check (authored geometry; the asset marks its part sizes as not maker CAD).", "licence": "project"},
"quantos_assumption": {"kind": "assumption", "reference": "head mass, head-container size", "locator": "engineering value",
"note": "Head mass from the modelled volume x 1200 kg/m3 (plastic body, steel pin; Mettler gives no mass). The delivered plastic container's size is not "
"published: an open PP cup O70 x 60 mm sized to hold the head upright with its upper 50 mm free for a top-down grasp.",
"licence": "n/a"},
"robot_access": _GLOBAL_SOURCES["robot_access"],
}
for _k, _v in SRC.items():
_GLOBAL_SOURCES.setdefault(_k, _v)
AMBER = (0.55, 0.30, 0.10, 0.85)
BLACK = (0.06, 0.07, 0.08, 1.0)
SILVER = (0.70, 0.74, 0.78, 1.0)
PP_NATURAL = (0.93, 0.93, 0.90, 0.8)
TIP = np.array([0.0, -0.031, 0.200]) # outlet tip in the instrument frame = head origin (powder_outlet port)
def _proxies(part: str) -> list[Prim]:
cp = json.loads((QDIR / "collision_proxies.json").read_text(encoding="utf-8"))["components"][part]
out = []
for p in cp:
if p["shape"] == "cylinder":
out.append(Prim("cylinder", [p["radius_m"], p["length_m"]], list(p["origin_m"]), list(p["rpy_rad"])))
elif p["shape"] == "box":
out.append(Prim("box", list(p["dimensions_m"]), list(p["origin_m"]), list(p["rpy_rad"])))
return out
def _shift(prims, d):
return [Prim(p.shape, list(p.size_m), list(np.asarray(p.origin_m) + d), list(p.rpy_rad)) for p in prims]
def build_head() -> LabwareAsset:
a = LabwareAsset("mt_quantos_qh016_bnmw", "labware.mt_quantos_qh016_bnmw", "METTLER TOLEDO Quantos 粉末加样头 QH016-BNMW（16 mL，11141503）",
"METTLER TOLEDO Quantos powder dosing head QH016-BNMW, 16 mL", "consumables", "labware.consumable.dosing_head", "passive",
description_zh="Quantos 粉末加样头 QH016-BNMW（零件号 11141503）：16 mL 粉末容器（DIN 18 mm 螺纹）、目标 0.1–250 mg、建议 250 次加样（手册 p.102、p.107）。"
"几何直接取自 mt_quantos_q2 实例的 dosing_head 部件（4 个网格对象 + 4 个碰撞基元），原点移到出粉口下端。",
sources={k: _GLOBAL_SOURCES[k] for k in ("quantos_manual", "quantos_asset", "quantos_assumption", "robot_access")})
sc = trimesh.load(QDIR / "meshes" / "dosing_head.obj", split_object=True, group_material=False, force="scene", process=False)
geoms = sorted(sc.geometry.values(), key=lambda g: g.bounds[0][2]) # tip, outlet body, cap, powder bottle (by height)
names_cols = [("outlet_tip", BLACK), ("outlet_body", SILVER), ("bottle_cap", BLACK), ("powder_bottle", AMBER)]
visual = []
for (nm, col), g in zip(names_cols, geoms):
m = g.copy()
m.apply_translation(-TIP)
visual.append((m, col, {"name": nm} if visual else {}))
col = _shift(_proxies("dosing_head"), -TIP)
vol = sum(float(abs(g.volume)) for g in geoms)
a.add(Link("body", "加样头（含粉末瓶）", "装粉并按质量目标出粉；RFID 记录物质与剩余量", "塑料机身 + 钢制计量销 + 琥珀色粉末瓶（倒装在头上）",
visual=visual, collision=col, mass_kg=vol * 1200.0, mass_evidence="assumption",
mass_note_zh=f"网格体积 {vol*1e6:.1f} cm3 × 1200 kg/m3（Mettler 未公布质量）", material="pp_pom_steel",
geometry_evidence="documented", geometry_note_zh="网格与碰撞基元复用 mt_quantos_q2 的 dosing_head 部件（作者几何，非厂家 CAD）"))
top = float(max(g.bounds[1][2] for g in geoms) - TIP[2])
# top-down grasp on the inclined powder bottle (24 deg about X), fingers closing along X across its 24-26 mm
z_g = top - HAND_ABOVE_TCP_M + 0.004
ax = np.array([0.0, -math.sin(0.4188790204786391), math.cos(0.4188790204786391)])
c0 = np.array([0.0, -0.056, 0.278]) - TIP
y_g = float(c0[1] + ax[1] * (z_g - c0[2]) / ax[2])
fr = top_down_frames(z_g, top, 0.026, yaw_free=False, xy=(0.0, y_g), contact_z=(z_g - 0.009, z_g + 0.009),
note_zh="俯抓倾斜的粉末瓶上部（宽 26 mm），手指沿 X 合拢；手掌碰撞面高于瓶顶")
fr["grasp"]["rot_xyzw"] = [0.70710678, 0.70710678, 0.0, 0.0]
# installed pose and insertion path (manual p.21: slide onto the support until it stops, then press down into the pins)
seat = [float(v) for v in TIP]
fr["instrument_seat"] = frame(seat, "instrument:" + TID, rot=[0, 0, 0, 1],
note_zh="头原点（出粉口下端）装好后在 Quantos 坐标中的位置 = 实例 powder_outlet 端口")
fr["insert_pre"] = frame([seat[0], seat[1] - 0.030, seat[2] + 0.003], "instrument:" + TID, rot=[0, 0, 0, 1],
note_zh="插入前：在支架前方 30 mm、高 3 mm；沿 +Y 滑入到底，再下压 3 mm 进定位销（手册 p.21）")
a.labware = {"type_id": a.asset_type_id, "family": "dosing_head", "labware_class": "quantos_powder_head", "fits": ["quantos_head_slot", "quantos_head_container"],
"maker": "METTLER TOLEDO", "model": "Quantos powder dosing head QH016-BNMW (16 mL, DIN 18 mm container thread)", "catalogue_no": "11141503",
"nominal_capacity_m3": 1.6e-5, "nominal_capacity_evidence": "documented (manual p.102: volume 16 mL)",
"dosing": {"target_range_kg": [1e-7, 2.5e-4], "min_dose_kg": 1e-7, "recommended_dosings": 250,
"typical_offset_kg_at_50mg": 2e-7, "typical_sd_kg_at_50mg": 2e-7, "source_id": "quantos_manual"},
"rfid_zh": "头内 RFID 存物质名、批号、装填量与剩余量（手册 p.28）；运行层 head.set_content / head.select 对应",
"frames": fr, "empty_mass_kg": round(vol * 1200.0, 5), "franka_grasp_ok": True, "stands_upright": False,
"storage_note_zh": "存放在随头附带的塑料容器中（labware.mt_quantos_head_container，手册 p.94）；吸湿粉末（如 KBr）长期存放放干燥柜"}
a.prop("body", "volume_m3", 1.6e-5, "m3", "粉末容器容积 16 mL", "documented", ["quantos_manual"])
a.prop("body", "container_thread", "DIN 18 mm", "1", "粉末容器螺纹", "documented", ["quantos_manual"])
a.prop("body", "authored_size_m", [0.026, 0.0589, round(top, 4)], "m", "复用网格外形（作者几何）", "assumption", ["quantos_asset"])
a.contract_ports = {"powder_outlet": {"component_id": "body", "medium": "mechanical", "direction": "out", "frame": "frame:instrument_seat",
"meaning_zh": "出粉口（装在 Quantos 上时位于样品容器正上方）",
"connection_constraints": ["加样由 Quantos 运行层 dosing.* 完成；粉末量由宿主账本记录（头减少 = 容器增加）"]}}
a.limitations_zh = ["几何复用 Quantos 实例的 dosing_head 作者网格与碰撞基元（非厂家 CAD）；容积、螺纹、加样范围与零件号按 Mettler 手册。",
"质量为按体积估计的假设；粉末质量由账本记录，不计入空头质量。",
"插入按手册是水平滑入支架再下压（不是竖直插入）；锁紧由仪器在开始加样或写头数据时完成（手册 p.22）。"]
a.labware["instrument_fit"] = {TID: head_fit(col)}
return a
def head_fit(col_local: list[Prim]) -> dict:
"""Head collision proxies at the installed pose vs the instrument's head_slot proxies; port inside the head; outlet over the seat."""
T = trimesh.transformations.translation_matrix(TIP)
head_w = [transform_prim(p, T) for p in col_local]
slot = _proxies("head_slot")
overlaps = [(i, j) for i, h in enumerate(head_w) for j, s in enumerate(slot) if obb_overlap(h, s, tol=1e-4)]
# insertion path of the manual p.21 (slide on along +Y at +3 mm, then press down 3 mm) against the open support (instrument 1.2.2)
path = [(0.0, -0.030 * k / 10, 0.003) for k in range(10, -1, -1)] + [(0.0, 0.0, 0.003 * k / 6) for k in range(5, -1, -1)]
path_hits = [list(off) for off in path for h in col_local for s in slot
if obb_overlap(transform_prim(h, trimesh.transformations.translation_matrix(TIP + np.array(off))), s, tol=1e-4)]
man = json.loads((QDIR / "geometry_manifest.json").read_text(encoding="utf-8"))
ports = dict(man["ports"]) if isinstance(man["ports"], list) else man["ports"]
hb = np.array(next(c for k, c in man["components"].items() if k == "dosing_head")["bbox_m"])
port = np.array(ports["head_slot"]["position_m"])
port_in = bool(np.all(port >= hb[0] - 0.002) and np.all(port <= hb[1] + 0.002))
outlet = np.array(ports["powder_outlet"]["position_m"])
seat = np.array(ports["container_seat"]["position_m"])
head_names = {0: "powder_bottle", 1: "bottle_cap", 2: "outlet_body", 3: "outlet_tip"}
interface_ok = port_in and abs(outlet[0] - seat[0]) < 1e-6 and abs(outlet[1] - seat[1]) < 1e-6
return {"slot": "head_slot", "seat_pose_m": [float(v) for v in TIP], "insert_direction": [0.0, 1.0, 0.0], "press_down_m": 0.003,
"head_slot_port_inside_head": port_in,
"outlet_above_container_seat_xy": bool(abs(outlet[0] - seat[0]) < 1e-6 and abs(outlet[1] - seat[1]) < 1e-6),
"ok": bool(interface_ok),
"collision_free_against_instrument_proxies": not overlaps,
"proxy_overlaps": [{"head": head_names.get(i, i), "instrument_head_slot_proxy_index": j} for i, j in overlaps],
"insertion_path_clear": not path_hits, "insertion_path_hits_m": path_hits[:5],
"note_zh": "安装位与仪器接口一致（head_slot 端口在头内、出粉口在样品座正上方）。仪器 1.2.2 起 head_slot 是开放式投料头支架（背板、上下叉臂、"
"四颗定位销；说明书 p.11、p.21）：装好的头与支架代理不相交，沿 +Y 滑入（高 3 mm）再下压 3 mm 的路径也不相交；头的出粉体落在下叉臂上。"
"仿真里仍按 touch + intent 把头运动学挂接到 seat_pose。",
"method": "OBB separating-axis test of the head's collision proxies at the installed pose and along the manual's insertion path against the instrument's head_slot proxies"}
def build_head_container() -> LabwareAsset:
a = LabwareAsset("mt_quantos_head_container", "labware.mt_quantos_head_container", "Quantos 加样头存放容器（随头附带的塑料容器，开口放置）",
"Quantos dosing-head storage container (supplied with each head)", "consumables", "labware.consumable.head_container", "passive",
description_zh="每个 Quantos 加样头随附的塑料容器（手册 p.27 运输/存放，p.94 防吸潮存放）。Mettler 附件表（p.107–110）没有加样头架，"
"所以加样头放在各自容器里、容器放在台面阶梯架上（机器人俯抓可达）。容器尺寸未公布，按头的外形取假设。",
sources={k: _GLOBAL_SOURCES[k] for k in ("quantos_manual", "quantos_assumption", "robot_access")})
R, H, t = 0.035, 0.060, 0.0015
outer = [(0.0, 0.0), (R - 0.003, 0.0), (R, 0.003), (R, H)]
inner = [(R - t, H), (R - t, t + 0.002), (R - t - 0.002, t), (0.0, t)]
cup = revolve(outer + inner, sections=48)
col = [Prim("cylinder", [R - 0.001, t], [0, 0, t / 2])] + ring_boxes(R, 0.002, R, H, 0.002, 16)
a.add(Link("body", "存放容器", "竖直容纳一个加样头（出粉口朝下）", "PP 开口杯（盖在默认实验室里取下，便于机器人取放）",
visual=[(cup, PP_NATURAL)], collision=col, mass_kg=abs(cup.volume) * 900.0, mass_evidence="assumption",
mass_note_zh="建模体积 × PP 900 kg/m3", material="pp", geometry_evidence="assumption"))
head_y = 0.0195 # head origin offset so that the inclined bottle is centred in the cup
a.ports = [{"name": "head", "kind": "holder", "part": "body", "position_m": [0.0, head_y, t], "insert_axis": [0.0, 0.0, -1.0], "capture_m": 0.01,
"radius_m": 0.03, "moves_with": "body", "fits": ["quantos_powder_head"],
"note_zh": "加样头原点（出粉口下端）放到杯底这里；头上部约 50 mm 露出杯口供俯抓"}]
fr = top_down_frames(H * 0.6, H, 2 * R, yaw_free=True, contact_z=(H * 0.6 - 0.009, H * 0.6 + 0.009), note_zh="杯外径 70 mm（≤74 mm，可抓）")
fr["head_seat"] = frame([0.0, head_y, t], "base_link", rot=[0, 0, 0, 1], note_zh="加样头在杯中的位置（头坐标原点）")
a.labware = {"type_id": a.asset_type_id, "family": "head_container", "labware_class": "quantos_head_container", "fits": ["bottle", "jar"],
"maker": "METTLER TOLEDO (supplied with each dosing head)", "model": "Plastic container delivered with Quantos dosing heads (manual p.27, p.94)",
"catalogue_no": None, "frames": fr, "empty_mass_kg": round(abs(cup.volume) * 900.0, 5), "franka_grasp_ok": True, "stands_upright": True,
"holds": "labware.mt_quantos_qh016_bnmw", "storage_place_zh": "台面阶梯架 bench_shelf（T2 后层），每杯一个加样头"}
a.prop("body", "size_m", [2 * R, H], "m", "外径 × 高（假设：厂家未公布）", "assumption", ["quantos_assumption"])
a.limitations_zh = ["容器为 Mettler 随头附带的实物（手册 p.27/p.94），尺寸未公布：Ø70×60 mm 为按加样头外形取的假设。",
"实际容器带盖；默认实验室里盖已取下（机器人直接取头），吸湿粉末长期存放仍应盖好或放干燥柜。"]
return a
def target_vial_with_fit():
"""The Agilent 20 mL screw-top vial (already built) + its fit check against the Quantos sample-container limits (manual p.103)."""
import containers
a = containers.build_screwcap(containers.vial_spec("20ml"))
man = json.loads((QDIR / "geometry_manifest.json").read_text(encoding="utf-8"))
ports = dict(man["ports"]) if isinstance(man["ports"], list) else man["ports"]
seat_z = float(ports["container_seat"]["position_m"][2])
outlet_z = float(ports["powder_outlet"]["position_m"][2])
lw = a.labware
h_open, h_capped = lw["outer"]["height_body_m"], lw["outer"]["height_with_cap_m"]
opening = 2 * lw["interior"]["neck_radius_m"]
od = lw["outer"]["diameter_m"]
limits = {"height_m": [0.031, 0.178], "min_opening_m": 0.006, "max_diameter_m": 0.100, "platform_m": [0.078, 0.073]}
ok = limits["height_m"][0] <= h_open <= limits["height_m"][1] and opening >= limits["min_opening_m"] and od <= limits["max_diameter_m"]
lw.setdefault("instrument_fit", {})[TID] = {
"slot": "container_seat (balance pan)", "limits_source": "quantos_manual p.103 (QB1/QB3/QB7 column)", "limits": limits,
"vial_height_open_m": h_open, "vial_opening_m": round(opening, 5), "vial_diameter_m": od,
"seat_z_m": seat_z, "outlet_z_m": outlet_z, "outlet_gap_open_vial_m": round(outlet_z - seat_z - h_open, 4),
"note_zh": "开盖后上机；出粉口在瓶口正上方（实例 powder_outlet 与 container_seat 同 XY）；Quantos 用头高调节把出粉口降到瓶口上 0.5–1 mm（手册 p.23），实例未建该运动",
"ok": bool(ok)}
a.sources.setdefault("quantos_manual", _GLOBAL_SOURCES["quantos_manual"])
a.sources.setdefault("quantos_asset", _GLOBAL_SOURCES["quantos_asset"])
return a
BUILDERS = {
"mt_quantos_qh016_bnmw": build_head,
"mt_quantos_head_container": build_head_container,
"agilent_hs_vial_20ml": target_vial_with_fit,
}
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