| """Revolved containers with a separate closure link: GL 45 reagent bottles, the 2.5 L solvent bottle, wide-mouth powder jars, |
| screw vials, conical screw-cap tubes (one builder) and the Safe-Lock snap-cap tube (hinged lid). |
| |
| Each builder returns a LabwareAsset ready to export. Documented values (catalogue OD / height / capacity / thread / cap size) |
| are used exactly; neck / shoulder proportions are photo estimates; wall thicknesses are assumptions (sources.py). |
| """ |
| from __future__ import annotations |
|
|
| import math |
| from dataclasses import dataclass, field |
|
|
| import numpy as np |
|
|
| from labware_kit import (FRANKA_MAX_GRASP_M, HAND_ABOVE_TCP_M, LabwareAsset, Link, Prim, TOP_DOWN, fill_height, frame, |
| inner_volume_below, profile_volume, revolve, ring_boxes, top_down_frames) |
| from sources import pick |
|
|
| DENSITY = {"borosilicate_3_3": 2230.0, "soda_lime_glass": 2500.0, "pp": 900.0, "hdpe": 950.0, "ps": 1050.0, "pe": 950.0, |
| "stainless_18_10": 7900.0, "steel": 7850.0, "brass": 8500.0, "tin": 7290.0, "aluminium": 2700.0, "fused_silica": 2200.0, "pmp": 830.0} |
| GLASS_CLEAR = (0.86, 0.93, 0.96, 0.35) |
| GLASS_AMBER = (0.55, 0.30, 0.08, 0.72) |
| PP_BLUE = (0.10, 0.32, 0.78, 1.0) |
| PP_BLACK = (0.08, 0.08, 0.09, 1.0) |
| HDPE_WHITE = (0.94, 0.94, 0.92, 1.0) |
| PP_CLEAR = (0.92, 0.93, 0.92, 0.55) |
| CAP_WHITE = (0.96, 0.96, 0.96, 1.0) |
| CAP_ORANGE = (0.95, 0.45, 0.10, 1.0) |
| CAP_SILVER = (0.70, 0.71, 0.74, 1.0) |
| FINGER_PAD_HALF_M = 0.009 |
|
|
|
|
| @dataclass |
| class ScrewCapSpec: |
| slug: str |
| type_id: str |
| name_zh: str |
| name_en: str |
| family: str |
| nominal_ml: float |
| od_m: float |
| h_body_m: float |
| h_total_m: float |
| neck_r_m: float |
| neck_in_r_m: float |
| thread_zone_m: float |
| collar_r_m: float | None |
| collar_h_m: float |
| shoulder_dzdr: float |
| wall_m: float |
| bottom_m: float |
| body_material: str |
| body_rgba: tuple |
| cap_od_m: float |
| cap_h_m: float |
| cap_top_m: float |
| cap_material: str |
| cap_rgba: tuple |
| turns: float |
| pitch_m: float | None |
| thread_name: str |
| bottom_shape: str = "flat" |
| cone_h_m: float = 0.0 |
| tip_r_m: float = 0.0 |
| sources: tuple = () |
| dims_source: str = "" |
| cap_source: str = "" |
| nominal_source: str = "" |
| labware_class: str = "bottle" |
| storage_note_zh: str = "" |
| extra_limitations: tuple = () |
| n_ring: int = 16 |
| stands_upright: bool = True |
| notes_zh: str = "" |
| fits: tuple = () |
| maker: str = "" |
| model: str = "" |
| catalogue_no: str = "" |
|
|
|
|
| def _profiles(s: ScrewCapSpec): |
| """(outer, inner) (r, z) polylines; outer bottom-axis -> lip, inner lip -> bottom-axis.""" |
| R, H = s.od_m / 2, s.h_body_m |
| t, tb = s.wall_m, s.bottom_m |
| cap_z0 = s.h_total_m - s.cap_h_m |
| z_thread0 = H - s.thread_zone_m |
| cr = s.collar_r_m if s.collar_r_m else s.neck_r_m |
| z_c1 = min(z_thread0, cap_z0 - 0.0005) |
| z_c0 = z_c1 - (s.collar_h_m if s.collar_r_m else 0.0) |
| z_s = z_c0 - s.shoulder_dzdr * max(R - cr, 0.0) |
| f = min(0.004, R * 0.15) |
| outer, inner = [], [] |
| if s.bottom_shape == "flat": |
| outer += [(0.0, 0.0), (R - f, 0.0), (R, f)] |
| inner_bottom = [(R - t, tb + f * 0.7), (R - t - f * 0.7, tb), (0.0, tb)] |
| else: |
| ch = s.cone_h_m |
| outer += [(0.0, 0.0), (s.tip_r_m, 0.0005)] |
| if s.bottom_shape == "round": |
| for k in range(1, 6): |
| a = k / 6 * math.pi / 2 |
| outer.append((s.tip_r_m + (R - s.tip_r_m) * math.sin(a), ch * (1 - math.cos(a)))) |
| outer.append((R, ch)) |
| tip_in = max(s.tip_r_m - t, 0.0005) |
| inner_bottom = [(R - t, ch + t * 0.5), (tip_in, tb), (0.0, tb)] |
| if z_s > outer[-1][1] + 1e-4: |
| outer.append((R, z_s)) |
| if s.collar_r_m: |
| outer += [(cr, z_c0), (cr, z_c1)] |
| outer += [(s.neck_r_m, z_c1), (s.neck_r_m, H)] |
| |
| rin_body = R - t |
| inner += [(s.neck_in_r_m, H), (s.neck_in_r_m, z_c0 if s.collar_r_m else z_c1)] |
| z_s_in = z_s - t * 0.5 |
| if rin_body > s.neck_in_r_m + 1e-4: |
| inner.append((rin_body, max(z_s_in, inner_bottom[0][1] + 1e-3))) |
| inner += inner_bottom |
| return outer, inner, dict(R=R, H=H, cap_z0=cap_z0, z_c0=z_c0, z_c1=z_c1, z_s=z_s, cr=cr, f=f) |
|
|
|
|
| def _ring_collision(outer, inner, s: ScrewCapSpec, geo: dict) -> list[Prim]: |
| """Wall-ring boxes along the outer profile with the thickness reaching the inner profile, plus the bottom.""" |
| prims: list[Prim] = [] |
| R, n = geo["R"], s.n_ring |
| t_body = max(s.wall_m, 0.0015) |
| if s.bottom_shape == "flat": |
| prims.append(Prim("cylinder", [R - geo["f"] * 0.3, s.bottom_m], [0.0, 0.0, s.bottom_m / 2])) |
| z_body0 = geo["f"] * 0.5 |
| else: |
| |
| prims.append(Prim("cylinder", [max(s.tip_r_m, 0.002), max(s.bottom_m, 0.0015)], [0.0, 0.0, max(s.bottom_m, 0.0015) / 2])) |
| prims += ring_boxes(max(s.tip_r_m, 0.002), 0.0008, R, s.cone_h_m, t_body, n) |
| z_body0 = s.cone_h_m |
| z_s = geo["z_s"] |
| if z_s > z_body0 + 1e-3: |
| prims += ring_boxes(R, z_body0, R, z_s, t_body, n) |
| cr = geo["cr"] |
| z_neck0 = geo["z_c0"] if s.collar_r_m else geo["z_c1"] |
| if R - cr > 1e-4: |
| prims += ring_boxes(R, z_s, cr, z_neck0, max(t_body, 0.002), n) |
| if s.collar_r_m: |
| prims += ring_boxes(cr, geo["z_c0"], cr, geo["z_c1"], cr - s.neck_in_r_m, n) |
| prims += ring_boxes(s.neck_r_m, geo["z_c1"], s.neck_r_m, geo["H"], s.neck_r_m - s.neck_in_r_m, n) |
| return prims |
|
|
|
|
| def _cap_meshes(s: ScrewCapSpec): |
| ro, h, top = s.cap_od_m / 2, s.cap_h_m, s.cap_top_m |
| w = 2 * math.pi * s.neck_r_m / s.n_ring * 1.08 |
| ri = math.hypot(s.neck_r_m, w / 2) + 0.0003 |
| prof = [(0.0, h - top), (ri, h - top), (ri, 0.0), (ro, 0.0), (ro, h), (0.0, h)] |
| vis = revolve(prof, sections=48) |
| col = [Prim("cylinder", [ro, top], [0.0, 0.0, h - top / 2])] |
| col += ring_boxes(ro, 0.0, ro, h - top, ro - ri, max(12, s.n_ring)) |
| return vis, col, ri |
|
|
|
|
| def _outer_radius_at(outer, z): |
| pts = list(outer) |
| best = 0.0 |
| for (r0, z0), (r1, z1) in zip(pts[:-1], pts[1:]): |
| lo, hi = min(z0, z1), max(z0, z1) |
| if lo - 1e-9 <= z <= hi + 1e-9: |
| r = r0 if abs(z1 - z0) < 1e-12 else r0 + (r1 - r0) * (z - z0) / (z1 - z0) |
| best = max(best, r, max(r0, r1) if abs(z1 - z0) < 1e-12 else 0.0) |
| return best |
|
|
|
|
| def build_screwcap(s: ScrewCapSpec) -> LabwareAsset: |
| outer, inner, geo = _profiles(s) |
| body_mesh = revolve(outer + inner, sections=64) |
| cap_vis, cap_col, cap_ri = _cap_meshes(s) |
| cap_z0 = geo["cap_z0"] |
| assert cap_ri - s.neck_r_m > 0, "cap inner radius must clear the thread" |
| assert cap_z0 + s.cap_h_m - s.cap_top_m >= s.h_body_m - 1e-6, f"{s.slug}: cap top must clear the lip" |
| body_vol = body_mesh.volume |
| body_mass = body_vol * DENSITY[s.body_material] |
| cap_mass = cap_vis.volume * DENSITY[s.cap_material] |
| src = pick(*s.sources) |
| a = LabwareAsset(s.slug, s.type_id, s.name_zh, s.name_en, "containers", f"labware.container.{s.family}", "passive", |
| description_zh=s.notes_zh, sources=src) |
| body_col = _ring_collision(outer, inner, s, geo) |
| body = a.add(Link("body", "瓶身" if s.family != "tube" else "管身", "盛放试剂/样品；提供抓取部位、倾倒口与螺纹颈", |
| f"{s.body_material} 壳体；外径 {s.od_m*1000:.1f} mm、本体高 {s.h_body_m*1000:.1f} mm；内腔为 LiquidContents 的计数区", |
| visual=[(body_mesh, s.body_rgba)], collision=body_col, |
| solid_collision=[Prim("cylinder", [geo["R"], s.h_body_m], [0.0, 0.0, s.h_body_m / 2])], |
| mass_kg=body_mass, mass_evidence="assumption", |
| mass_note_zh=f"由建模壁厚体积 {body_vol*1e6:.1f} cm3 × {s.body_material} 密度 {DENSITY[s.body_material]:.0f} kg/m3 计算", |
| material=s.body_material, geometry_evidence="documented", |
| geometry_note_zh="外径与高度按目录值；肩部/颈圈比例按照片估计；壁厚为假设")) |
| turns_rad = 2 * math.pi * s.turns |
| cap = a.add(Link("cap", "螺旋盖", "密封瓶口；拧松后整体取下，可放回再拧紧", |
| f"{s.cap_material} 螺旋盖 Ø{s.cap_od_m*1000:.1f}×{s.cap_h_m*1000:.1f} mm；{s.thread_name} 螺纹", |
| parent="body", origin_m=[0.0, 0.0, cap_z0], |
| joint={"type": "revolute", "axis": [0, 0, 1], "limits": [0.0, round(turns_rad, 6)], "evidence": "assumption", |
| "source_ids": ["closure_turns"], |
| "note_zh": f"正方向 = 俯视逆时针 = 拧松；累计 {s.turns} 圈（{turns_rad:.3f} rad）后盖脱离螺纹（touch + intent：夹住盖 + 腕部转动即记账，不靠接触物理拧出）"}, |
| visual=[(cap_vis, s.cap_rgba)], collision=cap_col, |
| solid_collision=[Prim("cylinder", [s.cap_od_m / 2, s.cap_h_m], [0.0, 0.0, s.cap_h_m / 2])], |
| mass_kg=cap_mass, mass_evidence="assumption", |
| mass_note_zh=f"由建模体积 {cap_vis.volume*1e6:.2f} cm3 × {s.cap_material} 密度计算", |
| material=s.cap_material, geometry_evidence="documented", detachable=True, |
| geometry_note_zh="外径与高度按目录值；顶厚/裙厚为假设")) |
| |
| interior = [(r, z) for r, z in reversed(inner)] |
| brim = profile_volume(interior + [(0.0, s.h_body_m)]) |
| nominal = s.nominal_ml * 1e-6 |
| vol_table = [[round(h, 5), round(inner_volume_below(interior, h) * 1e6, 3)] for h in np.linspace(s.bottom_m, s.h_body_m, 21)] |
| top = s.h_total_m |
| |
| z_g = top - HAND_ABOVE_TCP_M + 0.004 |
| z_g = min(z_g, top - 0.006) |
| span = (z_g - FINGER_PAD_HALF_M, z_g + FINGER_PAD_HALF_M) |
| widths = [] |
| for z in np.linspace(max(span[0], 0.0), span[1], 19): |
| r = _outer_radius_at(outer, z) |
| if cap_z0 <= z <= top: |
| r = max(r, s.cap_od_m / 2) |
| widths.append(2 * r) |
| width = max(widths) |
| grasp_note = "俯抓瓶颈/肩部（手掌碰撞面在 TCP 上方 37 mm，须高于盖顶）；带盖与开盖后都可用" |
| body_grasp_ok = width <= FRANKA_MAX_GRASP_M |
| if not body_grasp_ok and s.cap_od_m <= FRANKA_MAX_GRASP_M: |
| z_g, width = cap_z0 + s.cap_h_m / 2, s.cap_od_m |
| span = (z_g - FINGER_PAD_HALF_M, z_g + FINGER_PAD_HALF_M) |
| grasp_note = f"瓶身外径 {s.od_m*1000:.0f} mm 超出 Franka 可抓宽度（≤74 mm）：只能在盖拧紧时抓盖搬运；开盖后瓶身不可由 Franka 抓取" |
| frames = top_down_frames(z_g, top, width, yaw_free=True, contact_z=span, note_zh=grasp_note) |
| frames["grasp"]["holds"] = "body" if body_grasp_ok else "cap_closed_only" |
| cap_mid = cap_z0 + s.cap_h_m / 2 |
| frames["cap_grasp"] = frame([0, 0, cap_mid], "base_link", width_m=round(s.cap_od_m, 5), |
| franka_ok=bool(s.cap_od_m <= FRANKA_MAX_GRASP_M), yaw_free=True, |
| note_zh="盖中心高度；夹住后绕 +Z 正向转动 = 拧松") |
| frames["cap_grasp_local"] = frame([0, 0, s.cap_h_m / 2], "cap", note_zh="同一抓取点，用盖自身坐标表示（盖已取下时）") |
| frames["cap_pre_grasp"] = frame([0, 0, top + 0.08], "base_link") |
| frames["cap_seat"] = frame([0, 0, cap_z0], "body", rot=[0.0, 0.0, 0.0, 1.0], |
| note_zh="盖 link 原点（盖底中心）拧紧时在瓶身坐标中的位姿；重新盖上 = 盖原点对准此位姿后反向转动") |
| frames["pour_lip"] = frame([s.neck_r_m, 0.0, s.h_body_m], "body", rot=[0.0, 0.0, 0.0, 1.0], |
| note_zh="+X 侧瓶口外缘；倾倒时最低点（Pour 原语按此计算越过目标杯沿的高度）") |
| a.labware = { |
| "type_id": s.type_id, "family": s.family, "labware_class": s.labware_class, "fits": list(s.fits or (s.labware_class,)), |
| "maker": s.maker, "model": s.model, "catalogue_no": s.catalogue_no, |
| "nominal_capacity_m3": nominal, "brim_capacity_m3": round(brim, 9), |
| "nominal_capacity_evidence": "documented", "nominal_source_id": s.nominal_source or s.dims_source, |
| "outer": {"diameter_m": s.od_m, "height_body_m": s.h_body_m, "height_with_cap_m": s.h_total_m, "source_id": s.dims_source}, |
| "interior": {"shape": "revolved", "radius_m": round(geo["R"] - s.wall_m, 5), "floor_m": s.bottom_m, "height_m": s.h_body_m, |
| "body_top_m": round(geo["z_s"], 5), "neck_radius_m": s.neck_in_r_m, |
| "nominal_fill_height_m": round(fill_height(interior, nominal), 5) if nominal < brim else None, |
| "volume_table_m_ml": vol_table, "profile_rz_m": [[round(r, 5), round(z, 5)] for r, z in interior], |
| "note_zh": "LiquidContents 计数圆柱可取 radius_m / floor_m / height_m；精确液位用 volume_table（高度 m → 体积 mL）"}, |
| "closure": {"type": "screw_cap", "thread": s.thread_name, "link": "cap", "joint": "cap_joint", "axis": [0, 0, 1], |
| "unscrew_sign": 1, "turns": s.turns, "pitch_m": s.pitch_m, "detach_after_rad": round(turns_rad, 6), |
| "lift_at_detach_m": round(s.turns * (s.pitch_m or 0.0), 5), "cap_seat_z_m": round(cap_z0, 5), |
| "clear_lift_m": round(s.h_body_m - cap_z0 + 0.002, 5), |
| "rule_zh": "开盖 = 夹住盖（cap_grasp）+ 腕部绕盖轴正向累计转动 ≥ detach_after_rad → 盖与瓶身分离为独立刚体（parts/cap.urdf），" |
| "盖可放到台面；盖回 = 盖对准 cap_seat + 反向转动同样角度 → 重新固连。容器需由存放位/夹具固定（单臂）。", |
| "parts": {"body": "parts/body.urdf", "cap": "parts/cap.urdf"}}, |
| "frames": frames, |
| "materials": {"body": s.body_material, "cap": s.cap_material}, |
| "empty_mass_kg": round(body_mass + cap_mass, 5), "mass_body_kg": round(body_mass, 5), "mass_cap_kg": round(cap_mass, 5), |
| "mass_evidence": "computed from modelled wall volume x material density (wall thickness assumed)", |
| "stands_upright": s.stands_upright, "franka_grasp_ok": bool(width <= FRANKA_MAX_GRASP_M), |
| "storage_note_zh": s.storage_note_zh, |
| } |
| |
| sid = s.dims_source |
| a.prop("body", "outer_diameter_m", s.od_m, "m", "瓶身外径（目录）", "documented", [sid]) |
| a.prop("body", "height_with_cap_m", s.h_total_m, "m", "带盖总高（目录或由目录推得）", "documented", [sid]) |
| a.prop("body", "nominal_capacity_m3", nominal, "m3", "标称容量（目录）", "documented", [s.nominal_source or sid]) |
| a.prop("body", "brim_capacity_m3", round(brim, 9), "m3", "建模内腔到瓶口的满口容量（由壁厚假设计算）", "assumption", ["wall_assumption"]) |
| a.prop("body", "wall_thickness_m", s.wall_m, "m", "壁厚（假设，厂家不公布）", "assumption", ["wall_assumption"]) |
| a.prop("cap", "outer_diameter_m", s.cap_od_m, "m", "盖外径", "documented" if s.cap_source else "assumption", |
| [s.cap_source] if s.cap_source else ["wall_assumption"]) |
| a.prop("cap", "release_turns", s.turns, "1", "拧下所需圈数", "assumption", ["closure_turns"]) |
| a.state_slots = {"closure.state": { |
| "component_ids": ["cap"], "value_schema": {"type": "string", "enum": ["closed", "loosened", "detached"]}, "unit": "1", |
| "reference_conditions": None, "meaning_zh": "盖的场景状态：拧紧 / 已拧松未脱离 / 已取下（由场景或宿主按 closure.rule 记录）", |
| "origin": "scene", "access": "read_only", "visibility": "agent", "read_binding": None, "write_via": None, |
| "sampling": {"mode": "instant", "time_domain": "simulation", "window_description": None}, "source_ids": ["closure_turns"]}} |
| a.mechanisms = {"closure.thread": { |
| "component_ids": ["body", "cap"], "state_ids": ["closure.state"], |
| "meaning_zh": "螺旋盖的开合规则（touch + intent）：夹住盖并转动的累计角度达到阈值即脱离；反向同角度即拧紧。不模拟螺纹接触力。", |
| "implementation": "qualitative", |
| "equations": ["state = detached if cumulative_unscrew_rad >= detach_after_rad (cap grasped)", |
| "state = closed if cap at cap_seat and cumulative_screw_rad >= detach_after_rad"], |
| "parameters": {"detach_after_rad": {"value": round(turns_rad, 6), "unit": "rad", "meaning_zh": "拧下所需累计转角", "evidence": "assumption", |
| "source_ids": ["closure_turns"], "uncertainty": "±0.5 圈"}, |
| "thread_pitch_m": {"value": s.pitch_m, "unit": "m", "meaning_zh": "螺距", "evidence": "documented" if s.thread_name == "GL45" else "assumption", |
| "source_ids": ["gl45_thread"] if s.thread_name == "GL45" else ["closure_turns"], "uncertainty": None}}, |
| "source_ids": ["closure_turns"], "limitations": ["不计螺纹摩擦、密封圈与扭矩；单臂开盖要求容器被存放位或夹具固定。"]}} |
| a.contract_ports = {"mouth": {"component_id": "body", "medium": "liquid", "direction": "bidirectional", "frame": "frame:pour_lip", |
| "meaning_zh": "瓶口：倒出/加入液体或粉末（开盖后）", |
| "connection_constraints": ["盖必须为 detached 状态才能倒出或加入", "倾倒属于机器人技能，转移量由宿主账本记录"]}} |
| a.limitations_zh = [ |
| "被动容器：没有主动硬件 API；开盖、倾倒、搬运属于机器人技能，内容物由宿主物质账本记录。", |
| "外径/高度/容量/螺纹/盖尺寸为目录值；肩部与颈圈比例为照片估计；壁厚与底厚为假设，空瓶质量由此计算。", |
| "开盖用 touch + intent 规则（closure.thread），不模拟螺纹接触；拧下后盖作为 parts/cap.urdf 独立刚体。", |
| "model.urdf 的瓶身碰撞为壁环盒 + 底盘（可装粒子液体）；只记账的存放容器可用 model_solid.urdf。", |
| ] + list(s.extra_limitations) |
| return a |
|
|
|
|
| |
| def gl45_spec(ml: int, amber: bool) -> ScrewCapSpec: |
| table = {100: (0.056, 0.105), 250: (0.070, 0.143), 500: (0.086, 0.181), 1000: (0.101, 0.230)} |
| od, hc = table[ml] |
| colour = "amber" if amber else "clear" |
| return ScrewCapSpec( |
| slug=f"duran_gl45_{ml}ml_{colour}", type_id=f"labware.duran_gl45_{ml}ml_{colour}", |
| name_zh=f"DURAN GL45 试剂瓶 {ml} mL（{'棕色' if amber else '透明'}，蓝色 PP 螺旋盖）", |
| name_en=f"DURAN GL 45 laboratory bottle {ml} mL, {colour}, PP screw cap", |
| family="reagent_bottle", nominal_ml=ml, od_m=od, h_body_m=round(hc - 0.005, 4), h_total_m=hc, |
| neck_r_m=0.0225, neck_in_r_m=0.0170, thread_zone_m=0.020, collar_r_m=0.0250, collar_h_m=0.006, shoulder_dzdr=1.3, |
| wall_m=0.0025 if ml >= 250 else 0.0022, bottom_m=0.004, body_material="borosilicate_3_3", |
| body_rgba=GLASS_AMBER if amber else GLASS_CLEAR, cap_od_m=0.058, cap_h_m=0.027, cap_top_m=0.003, cap_material="pp", |
| cap_rgba=PP_BLUE, turns=1.25, pitch_m=0.004, thread_name="GL45", |
| sources=("duran_gl45_amber", "duran_gl45_clear", "gl45_thread", "duran_gl45_cap", "iso3585", "pp_hdpe_density", |
| "wall_assumption", "neck_profile_estimate", "closure_turns", "robot_access") if amber else |
| ("duran_gl45_clear", "gl45_thread", "duran_gl45_cap", "iso3585", "pp_hdpe_density", "wall_assumption", |
| "neck_profile_estimate", "closure_turns", "robot_access"), |
| dims_source="duran_gl45_amber" if amber else "duran_gl45_clear", cap_source="duran_gl45_cap", |
| labware_class="bottle", fits=("bottle", "gl45_bottle"), |
| storage_note_zh="试剂/缓冲液/标准溶液；棕色瓶用于见光分解物质" if amber else "试剂/缓冲液/标准溶液/溶剂", |
| maker="DWK Life Sciences (DURAN)", model=f"DURAN {'GL 45 laboratory bottle, amber' if amber else 'Original GL 45 laboratory bottle, clear'}, {ml} mL, PP screw cap + pouring ring", |
| catalogue_no={100: "21801 24 5 / 21806 24 5", 250: "21801 36 5 / 21806 36 5", 500: "21801 44 5 / 21806 44 5", 1000: "21801 54 5 / 21806 54 5"}[ml].split(" / ")[1 if amber else 0], |
| notes_zh=f"DURAN Original GL 45 试剂瓶 {ml} mL（{colour}），带蓝色 PP 螺旋盖；外径 {od*1000:.0f} mm、带盖高 {hc*1000:.0f} mm（目录）。" |
| "盖为独立 link（俯视逆时针 1.25 圈拧下），抓取坐标在瓶颈/肩部（Franka ≤ 74 mm）。", |
| ) |
|
|
|
|
| def winchester_25l_spec() -> ScrewCapSpec: |
| return ScrewCapSpec( |
| slug="winchester_2500ml_amber", type_id="labware.winchester_2500ml_amber", |
| name_zh="2.5 L 棕色玻璃溶剂瓶（Winchester，黑色内衬螺旋盖）", name_en="Winchester solvent bottle 2.5 L, amber glass", |
| family="solvent_bottle", nominal_ml=2500, od_m=0.1329, h_body_m=0.292, h_total_m=0.297, |
| neck_r_m=0.0190, neck_in_r_m=0.0140, thread_zone_m=0.016, collar_r_m=0.0215, collar_h_m=0.006, shoulder_dzdr=0.9, |
| wall_m=0.0035, bottom_m=0.006, body_material="soda_lime_glass", body_rgba=GLASS_AMBER, |
| cap_od_m=0.042, cap_h_m=0.022, cap_top_m=0.003, cap_material="pp", cap_rgba=PP_BLACK, turns=1.0, pitch_m=0.0042, |
| thread_name="38 mm (SPI 400-type, assumed)", |
| sources=("winchester_25l", "pp_hdpe_density", "wall_assumption", "neck_profile_estimate", "closure_turns", "robot_access"), |
| dims_source="winchester_25l", cap_source="", labware_class="bottle", fits=("bottle", "solvent_bottle"), |
| storage_note_zh="2.5 L 溶剂（乙醇、丙酮、甲醇等易燃液体放易燃品柜）", |
| maker="Philip Harris (Findel Education)", model="Winchester bottle, amber glass, 2.5 L", catalogue_no="FE00001092", |
| extra_limitations=("瓶口螺纹与盖尺寸（38 mm、Ø42×22 mm）为假设：清单只给出高 297 mm、宽 132.9 mm；玻璃按钠钙玻璃 2500 kg/m3。", |
| "满瓶约 2.5 kg 液体 + 瓶重，超出单手倾倒的舒适范围；Franka 负载 3 kg 以内可搬运但倾倒需慢速。"), |
| notes_zh="2.5 L 棕色 Winchester 溶剂瓶：高 297 mm、宽 132.9 mm（Philip Harris FE00001092）；抓取点在瓶颈。", |
| ) |
|
|
|
|
| def nalgene_jar_spec(ml: int) -> ScrewCapSpec: |
| if ml == 250: |
| return ScrewCapSpec( |
| slug="nalgene_wm_hdpe_250ml", type_id="labware.nalgene_wm_hdpe_250ml", |
| name_zh="Nalgene 广口 HDPE 粉末瓶 250 mL（43 mm 螺旋盖）", name_en="Nalgene wide-mouth HDPE bottle 250 mL (powder jar)", |
| family="powder_jar", nominal_ml=250, od_m=0.061, h_body_m=0.118, h_total_m=0.131, |
| neck_r_m=0.0205, neck_in_r_m=0.0165, thread_zone_m=0.012, collar_r_m=None, collar_h_m=0.0, shoulder_dzdr=0.8, |
| wall_m=0.0012, bottom_m=0.0015, body_material="hdpe", body_rgba=HDPE_WHITE, |
| cap_od_m=0.0465, cap_h_m=0.017, cap_top_m=0.0025, cap_material="pp", cap_rgba=CAP_WHITE, turns=2.0, pitch_m=0.0042, |
| thread_name="43-415", sources=("nalgene_wm_250", "pp_hdpe_density", "wall_assumption", "neck_profile_estimate", "closure_turns", "robot_access"), |
| dims_source="nalgene_wm_250", cap_source="", labware_class="jar", fits=("jar", "powder_jar"), |
| storage_note_zh="固体试剂（盐、标准物质粉末）", n_ring=16, |
| maker="Thermo Scientific (Nalgene)", model="Wide-mouth HDPE packaging bottle 250 mL, 43-415 closure", catalogue_no="312189-0008", |
| extra_limitations=("盖外径 46.5 mm、高 17 mm 为假设（43-415 盖的典型尺寸）；瓶身高 118 mm 由总高 131 mm 减盖露出部分推得。",), |
| notes_zh="Nalgene 312189-0008 广口 HDPE 瓶：外径 61 mm、高 131 mm、瓶口内径 33 mm、43-415 盖；用作粉末瓶。") |
| return ScrewCapSpec( |
| slug="nalgene_wm_hdpe_1000ml", type_id="labware.nalgene_wm_hdpe_1000ml", |
| name_zh="Nalgene 广口 HDPE 粉末瓶 1 L（63 mm 螺旋盖）", name_en="Nalgene wide-mouth HDPE bottle 1 L (powder jar)", |
| family="powder_jar", nominal_ml=1000, od_m=0.091, h_body_m=0.188, h_total_m=0.199, |
| neck_r_m=0.0315, neck_in_r_m=0.0275, thread_zone_m=0.012, collar_r_m=None, collar_h_m=0.0, shoulder_dzdr=0.6, |
| wall_m=0.0016, bottom_m=0.002, body_material="hdpe", body_rgba=HDPE_WHITE, |
| cap_od_m=0.068, cap_h_m=0.020, cap_top_m=0.003, cap_material="pp", cap_rgba=CAP_WHITE, turns=1.0, pitch_m=0.0042, |
| thread_name="63 mm (SPI 400-type, assumed)", |
| sources=("nalgene_wm_1000", "pp_hdpe_density", "wall_assumption", "neck_profile_estimate", "closure_turns", "robot_access"), |
| dims_source="nalgene_wm_1000", cap_source="", labware_class="jar", fits=("jar", "powder_jar"), |
| storage_note_zh="大包装固体试剂", n_ring=16, |
| maker="Thermo Scientific (Nalgene)", model="Wide-mouth HDPE packaging bottle 1000 mL, 63 mm closure", catalogue_no="312189-0032", |
| extra_limitations=("盖外径 68 mm、高 20 mm 与螺纹类型为假设；瓶身高 188 mm 由总高 199 mm 推得（盖露出 11 mm）。",), |
| notes_zh="Nalgene 312189-0032 广口 HDPE 1 L 瓶：外径 91 mm、高 199 mm、63 mm 盖；瓶身 91 mm 超出 Franka 张开宽度，只能在盖拧紧时抓盖搬运。") |
|
|
|
|
| def vial_spec(kind: str) -> ScrewCapSpec: |
| if kind == "2ml": |
| return ScrewCapSpec( |
| slug="agilent_vial_2ml_screw", type_id="labware.agilent_vial_2ml_screw", |
| name_zh="Agilent 2 mL 螺口样品瓶（12×32 mm，9 mm 螺纹盖）", name_en="Agilent 5182-0715 2 mL screw-top vial 12 x 32 mm", |
| family="vial", nominal_ml=2.0, od_m=0.0116, h_body_m=0.0305, h_total_m=0.032, |
| neck_r_m=0.0047, neck_in_r_m=0.0033, thread_zone_m=0.0045, collar_r_m=None, collar_h_m=0.0, shoulder_dzdr=0.5, |
| wall_m=0.0007, bottom_m=0.0010, body_material="borosilicate_3_3", body_rgba=GLASS_CLEAR, |
| cap_od_m=0.0118, cap_h_m=0.0065, cap_top_m=0.0012, cap_material="pp", cap_rgba=PP_BLUE, turns=1.0, pitch_m=0.0015, |
| thread_name="9 mm short thread", sources=("agilent_5182_0715", "iso3585", "pp_hdpe_density", "wall_assumption", "closure_turns", "robot_access"), |
| dims_source="agilent_5182_0715", cap_source="agilent_5182_0715", labware_class="vial", fits=("vial", "vial_12x32"), |
| storage_note_zh="自动进样瓶；装样后放样品架或仪器托盘", n_ring=12, |
| maker="Agilent", model="Screw top vial 2 mL, clear, 12 x 32 mm", catalogue_no="5182-0715", |
| extra_limitations=("12×32 mm 为带盖外形；瓶身外径 11.6 mm、盖高 6.5 mm、颈部尺寸为按标准 9 mm 短螺纹瓶的假设。",), |
| notes_zh="Agilent 5182-0715 2 mL 螺口样品瓶，12×32 mm、12 mm 盖（9 mm 螺纹）。与 Matterix 现有 GC 样品瓶（chemsim/sample_vial）不同：这是螺口版本。") |
| return ScrewCapSpec( |
| slug="agilent_hs_vial_20ml", type_id="labware.agilent_hs_vial_20ml", |
| name_zh="Agilent 20 mL 螺口顶空瓶（22.75×75 mm，18 mm 磁性螺旋盖）", name_en="Agilent 5188-2753 20 mL screw-top headspace vial", |
| family="vial", nominal_ml=20.0, od_m=0.02275, h_body_m=0.075, h_total_m=0.0775, |
| neck_r_m=0.0090, neck_in_r_m=0.0063, thread_zone_m=0.008, collar_r_m=None, collar_h_m=0.0, shoulder_dzdr=0.7, |
| wall_m=0.0012, bottom_m=0.002, body_material="borosilicate_3_3", body_rgba=GLASS_CLEAR, |
| cap_od_m=0.0205, cap_h_m=0.0105, cap_top_m=0.0015, cap_material="steel", cap_rgba=CAP_SILVER, turns=1.0, pitch_m=0.0021, |
| thread_name="18 mm screw", bottom_shape="round", cone_h_m=0.004, tip_r_m=0.008, |
| sources=("agilent_5188_2753", "iso3585", "wall_assumption", "closure_turns", "robot_access"), |
| dims_source="agilent_5188_2753", cap_source="", labware_class="vial", fits=("vial", "headspace_vial_20ml"), |
| storage_note_zh="顶空进样瓶（HS 8697）", n_ring=12, |
| maker="Agilent", model="Headspace vial, screw top, 20 mL, 22.75 x 75 mm", catalogue_no="5188-2753", |
| extra_limitations=("盖外径 20.5 mm、高 10.5 mm（磁性钢盖 + 隔垫）与颈部尺寸为假设；22.75×75 mm 为瓶身（目录）。",), |
| notes_zh="Agilent 5188-2753 20 mL 螺口顶空瓶：22.75×75 mm、18 mm 螺旋盖、圆底。") |
|
|
|
|
| def falcon_spec(ml: int) -> ScrewCapSpec: |
| if ml == 15: |
| return ScrewCapSpec( |
| slug="falcon_tube_15ml", type_id="labware.falcon_tube_15ml", |
| name_zh="Falcon 15 mL 锥底离心管（352096，PE 螺旋盖）", name_en="Corning Falcon 352096 15 mL conical tube", |
| family="tube", nominal_ml=15.0, od_m=0.017, h_body_m=0.1105, h_total_m=0.120, |
| neck_r_m=0.0083, neck_in_r_m=0.0072, thread_zone_m=0.009, collar_r_m=None, collar_h_m=0.0, shoulder_dzdr=0.5, |
| wall_m=0.0009, bottom_m=0.0012, body_material="pp", body_rgba=PP_CLEAR, |
| cap_od_m=0.0205, cap_h_m=0.0125, cap_top_m=0.0015, cap_material="pe", cap_rgba=CAP_WHITE, turns=1.5, pitch_m=0.003, |
| thread_name="Falcon 15 mL", bottom_shape="conical", cone_h_m=0.022, tip_r_m=0.0015, |
| sources=("falcon_352096", "pp_hdpe_density", "wall_assumption", "closure_turns", "robot_access"), |
| dims_source="falcon_352096", cap_source="", labware_class="tube", fits=("tube", "conical_15ml"), |
| storage_note_zh="锥底管不能自立：放在管架中", n_ring=12, stands_upright=False, |
| maker="Corning (Falcon)", model="15 mL PP conical centrifuge tube", catalogue_no="352096", |
| extra_limitations=("17×120 mm 按带盖外形；锥底高 22 mm、盖 Ø20.5×12.5 mm 为照片估计。", "锥底管不能自立，需要管架（未建模；可用 LabUtopia test_tube_rack 或专用架）。"), |
| notes_zh="Corning Falcon 352096 15 mL PP 锥底离心管，约 17 mm 外径 × 120 mm 长。") |
| return ScrewCapSpec( |
| slug="falcon_tube_50ml", type_id="labware.falcon_tube_50ml", |
| name_zh="Falcon 50 mL 锥底离心管（352070，螺旋盖）", name_en="Corning Falcon 352070 50 mL conical tube", |
| family="tube", nominal_ml=50.0, od_m=0.0295, h_body_m=0.1035, h_total_m=0.115, |
| neck_r_m=0.0148, neck_in_r_m=0.0136, thread_zone_m=0.010, collar_r_m=None, collar_h_m=0.0, shoulder_dzdr=0.5, |
| wall_m=0.0011, bottom_m=0.0014, body_material="pp", body_rgba=PP_CLEAR, |
| cap_od_m=0.0345, cap_h_m=0.0135, cap_top_m=0.0016, cap_material="pe", cap_rgba=CAP_WHITE, turns=1.5, pitch_m=0.0035, |
| thread_name="Falcon 50 mL", bottom_shape="conical", cone_h_m=0.020, tip_r_m=0.002, |
| sources=("falcon_352070", "pp_hdpe_density", "wall_assumption", "closure_turns", "robot_access"), |
| dims_source="falcon_352070", cap_source="", labware_class="tube", fits=("tube", "conical_50ml"), |
| storage_note_zh="锥底管不能自立：放在管架中", n_ring=14, stands_upright=False, |
| maker="Corning (Falcon)", model="50 mL PP conical centrifuge tube", catalogue_no="352070", |
| extra_limitations=("30×115 mm 按带盖外形（管身外径取 29.5 mm）；锥底高 20 mm、盖 Ø34.5×13.5 mm 为照片估计。", "锥底管不能自立，需要管架。"), |
| notes_zh="Corning Falcon 352070 50 mL PP 锥底离心管，约 30 mm 外径 × 115 mm 长。") |
|
|
|
|
| def nalgene_hdpe_spec(kind: str) -> ScrewCapSpec: |
| """Narrow-mouth HDPE reagent bottles 500 mL / 1 L and the 500 mL wide-mouth jar (inventory types bottle_hdpe_500ml/_1000ml, jar_hdpe_500g).""" |
| common = dict(family="reagent_bottle", wall_m=0.0014, bottom_m=0.0018, body_material="hdpe", body_rgba=HDPE_WHITE, cap_material="pp", |
| cap_rgba=CAP_WHITE, collar_r_m=None, collar_h_m=0.0, labware_class="bottle", n_ring=16, maker="Thermo Scientific (Nalgene)") |
| if kind == "nm500": |
| return ScrewCapSpec(slug="nalgene_nm_hdpe_500ml", type_id="labware.nalgene_nm_hdpe_500ml", name_zh="Nalgene 窄口 HDPE 试剂瓶 500 mL（28 mm 盖）", |
| name_en="Nalgene narrow-mouth HDPE bottle 500 mL", nominal_ml=500, od_m=0.073, h_body_m=0.160, h_total_m=0.170, |
| neck_r_m=0.0140, neck_in_r_m=0.0105, thread_zone_m=0.011, shoulder_dzdr=0.9, cap_od_m=0.0315, cap_h_m=0.016, cap_top_m=0.0025, |
| turns=1.0, pitch_m=0.0042, thread_name="28 mm (SPI 400-type, assumed)", |
| sources=("nalgene_nm_500", "pp_hdpe_density", "wall_assumption", "neck_profile_estimate", "closure_turns", "robot_access"), |
| dims_source="nalgene_nm_500", fits=("bottle", "hdpe_bottle"), storage_note_zh="水溶液、碱液（HDPE 耐碱）", model="Narrow-mouth HDPE lab quality bottle 500 mL, 28 mm PP closure", |
| catalogue_no="2002-0016", extra_limitations=("盖外径 31.5 mm、高 16 mm 为 28 mm 盖的典型尺寸（假设）；瓶身高 160 mm 由总高 170 mm 推得。",), |
| notes_zh="Nalgene 2002-0016 窄口 HDPE 瓶 500 mL：外径 73 mm、高 170 mm、瓶口内径 21 mm、28 mm 盖。", **common) |
| if kind == "nm1000": |
| return ScrewCapSpec(slug="nalgene_nm_hdpe_1000ml", type_id="labware.nalgene_nm_hdpe_1000ml", name_zh="Nalgene 窄口 HDPE 试剂瓶 1 L（38-430 盖）", |
| name_en="Nalgene narrow-mouth HDPE bottle 1000 mL", nominal_ml=1000, od_m=0.092, h_body_m=0.205, h_total_m=0.217, |
| neck_r_m=0.0185, neck_in_r_m=0.0135, thread_zone_m=0.012, shoulder_dzdr=0.9, cap_od_m=0.042, cap_h_m=0.019, cap_top_m=0.003, |
| turns=1.0, pitch_m=0.0042, thread_name="38-430", |
| sources=("nalgene_nm_1000", "pp_hdpe_density", "wall_assumption", "neck_profile_estimate", "closure_turns", "robot_access"), |
| dims_source="nalgene_nm_1000", fits=("bottle", "hdpe_bottle"), storage_note_zh="水溶液、碱液", model="Narrow-mouth natural HDPE packaging bottle 1000 mL, 38-430 closure", |
| catalogue_no="312089-0032", extra_limitations=("盖外径 42 mm、高 19 mm 为 38-430 盖的典型尺寸（假设）；瓶身高 205 mm 由总高 217 mm 推得。",), |
| notes_zh="Nalgene 312089-0032 窄口 HDPE 1 L 瓶：外径 92 mm、高 217 mm、瓶口内径 27 mm、38-430 盖；抓取点在瓶颈。", **common) |
| common["family"], common["labware_class"] = "powder_jar", "jar" |
| return ScrewCapSpec(slug="nalgene_wm_hdpe_500ml", type_id="labware.nalgene_wm_hdpe_500ml", name_zh="Nalgene 广口 HDPE 粉末瓶 500 mL（53 mm 盖）", |
| name_en="Nalgene wide-mouth HDPE bottle 500 mL (powder jar)", nominal_ml=500, od_m=0.073, h_body_m=0.155, h_total_m=0.168, |
| neck_r_m=0.0255, neck_in_r_m=0.0220, thread_zone_m=0.012, shoulder_dzdr=0.8, cap_od_m=0.057, cap_h_m=0.018, cap_top_m=0.0028, |
| turns=2.0, pitch_m=0.0042, thread_name="53-415", |
| sources=("nalgene_wm_500", "pp_hdpe_density", "wall_assumption", "neck_profile_estimate", "closure_turns", "robot_access"), |
| dims_source="nalgene_wm_500", fits=("jar", "powder_jar"), storage_note_zh="约 500 g 固体试剂", model="Wide-mouth HDPE packaging bottle 500 mL, 53-415 closure", |
| catalogue_no="312189-0016", extra_limitations=("盖外径 57 mm、高 18 mm 为 53-415 盖的典型尺寸（假设）；瓶身高 155 mm 由总高 168 mm 推得。",), |
| notes_zh="Nalgene 312189-0016 广口 HDPE 瓶 500 mL：外径 73 mm、高 168 mm、瓶口内径 44 mm、53-415 盖；用作 500 g 粉末瓶。", **common) |
|
|
|
|
| |
| def build_safelock_15() -> LabwareAsset: |
| """Eppendorf Safe-Lock 1.5 mL (drawing p.6): hinged lid on a revolute joint (opens 90 deg per the drawing).""" |
| src = pick("eppendorf_safelock_15", "pp_hdpe_density", "wall_assumption", "robot_access") |
| a = LabwareAsset("eppendorf_safelock_1p5ml", "labware.eppendorf_safelock_1p5ml", "Eppendorf Safe-Lock 1.5 mL 微量离心管（翻盖）", |
| "Eppendorf Safe-Lock Tube 1.5 mL", "containers", "labware.container.tube", "passive", |
| description_zh="Eppendorf Safe-Lock 1.5 mL PP 管（0030120086）：长 38.9 mm、上段外径 10.8 mm、管口 2 mm 边沿、铰链翻盖；尺寸按 Eppendorf 技术数据表第 6 页图。", |
| sources=src) |
| L, rim_h = 0.0389, 0.002 |
| R_top, r_cone_top, tip_r = 0.0054, 0.00535, 0.0012 |
| z_cone = L - rim_h - 0.020 |
| t = 0.0008 |
| outer = [(0.0, 0.0), (tip_r, 0.0004), (0.0028, 0.0025), (r_cone_top, z_cone), (R_top, L - rim_h), (0.0062, L - rim_h), (0.0062, L)] |
| inner = [(0.0052, L), (R_top - t, L - rim_h - 0.001), (r_cone_top - t, z_cone), (0.002, 0.0028), (0.0, 0.0012)] |
| body_mesh = revolve(outer + inner, sections=48) |
| col = [Prim("cylinder", [0.0018, 0.0012], [0, 0, 0.0006])] |
| col += ring_boxes(0.0018, 0.0008, r_cone_top, z_cone, 0.0009, 12) |
| col += ring_boxes(r_cone_top, z_cone, R_top, L - rim_h, 0.0009, 12) |
| col += ring_boxes(0.0062, L - rim_h, 0.0062, L, 0.0062 - 0.0052, 12) |
| mass_body = body_mesh.volume * DENSITY["pp"] |
| a.add(Link("body", "管身", "盛放样品（≤1.5 mL）", "PP 锥底管；上段外径 10.8 mm", visual=[(body_mesh, PP_CLEAR)], collision=col, |
| solid_collision=[Prim("cylinder", [R_top, L], [0, 0, L / 2])], mass_kg=mass_body, mass_evidence="assumption", |
| mass_note_zh="建模体积 × PP 密度", material="pp", geometry_evidence="documented")) |
| |
| import trimesh |
| lid_r, lid_t = 0.0062, 0.0012 |
| plug = trimesh.creation.cylinder(radius=0.0050, height=0.0035, sections=32) |
| plug.apply_translation([0.0, -0.0063, -0.00175]) |
| disc = trimesh.creation.cylinder(radius=lid_r, height=lid_t, sections=32) |
| disc.apply_translation([0.0, -0.0063, lid_t / 2]) |
| tab = trimesh.creation.box(extents=[0.008, 0.007, lid_t]) |
| tab.apply_translation([0.0, -0.0063 - lid_r - 0.0025, lid_t / 2]) |
| lid_mesh = trimesh.util.concatenate([disc, plug, tab]) |
| mass_lid = (disc.volume + plug.volume + tab.volume) * DENSITY["pp"] |
| a.add(Link("lid", "翻盖（Safe-Lock）", "密封管口；向上翻开 90°", "PP 翻盖，铰链在 +Y 侧管沿；带推开用的舌片（−Y 侧）", |
| parent="body", origin_m=[0.0, 0.0063, L], |
| joint={"type": "revolute", "axis": [-1, 0, 0], "limits": [0.0, round(math.pi / 2, 6)], "evidence": "documented", |
| "source_ids": ["eppendorf_safelock_15"], |
| "note_zh": "正方向 = 盖绕铰链向上翻开（数据表图示开盖 90°）；开盖 = 推舌片向上（touch + intent）"}, |
| visual=[(lid_mesh, PP_CLEAR)], collision=[Prim("cylinder", [lid_r, lid_t], [0.0, -0.0063, lid_t / 2]), |
| Prim("box", [0.008, 0.007, lid_t], [0.0, -0.0063 - lid_r - 0.0025, lid_t / 2])], |
| solid_collision=[Prim("cylinder", [lid_r, lid_t], [0.0, -0.0063, lid_t / 2])], |
| mass_kg=mass_lid, mass_evidence="assumption", mass_note_zh="建模体积 × PP 密度", material="pp", geometry_evidence="documented")) |
| interior = [(r, z) for r, z in reversed(inner)] |
| brim = profile_volume(interior + [(0.0, L)]) |
| z_g = L - 0.012 |
| frames = top_down_frames(z_g, L + 0.0015, 2 * R_top, yaw_free=False, contact_z=(z_g - 0.009, z_g + 0.009), |
| note_zh="俯抓管上段（外径 10.8 mm）；手指沿 Y 合拢会碰铰链，宜沿 X 合拢（yaw 90°）") |
| frames["grasp"]["rot_xyzw"] = [0.70710678, 0.70710678, 0.0, 0.0] |
| frames["lid_tab"] = frame([0.0, -0.0063 - lid_r - 0.0045 + 0.0063, L + 0.0006], "base_link", rot=[0.0, 0.0, 0.0, 1.0], |
| note_zh="翻盖舌片：向上推（+Z）即开盖") |
| frames["cap_seat"] = frame([0.0, 0.0063, L], "body", rot=[0.0, 0.0, 0.0, 1.0], note_zh="盖铰链原点（关闭位）") |
| a.labware = { |
| "type_id": a.asset_type_id, "family": "tube", "labware_class": "tube", "fits": ["tube", "microtube_1p5ml"], |
| "maker": "Eppendorf", "model": "Safe-Lock Tubes 1.5 mL, PP, colourless", "catalogue_no": "0030120086", |
| "nominal_capacity_m3": 1.5e-6, "brim_capacity_m3": round(brim, 10), "nominal_capacity_evidence": "documented", |
| "nominal_source_id": "eppendorf_safelock_15", |
| "outer": {"diameter_m": 0.0108, "height_body_m": L, "height_closed_m": 0.041, "source_id": "eppendorf_safelock_15"}, |
| "interior": {"shape": "revolved", "radius_m": R_top - t, "floor_m": 0.0012, "height_m": L, "body_top_m": L - rim_h, |
| "nominal_fill_height_m": round(fill_height(interior, 1.5e-6), 5), |
| "volume_table_m_ml": [[round(h, 5), round(inner_volume_below(interior, h) * 1e6, 4)] for h in np.linspace(0.0012, L, 11)], |
| "profile_rz_m": [[round(r, 5), round(z, 5)] for r, z in interior]}, |
| "closure": {"type": "hinged_lid", "link": "lid", "joint": "lid_joint", "axis": [-1, 0, 0], "open_rad": round(math.pi / 2, 6), |
| "rule_zh": "开盖 = 推舌片（lid_tab）向上，盖关节转到 open_rad；关盖 = 压回 0。翻盖不脱离管身。"}, |
| "frames": frames, "materials": {"body": "pp", "lid": "pp"}, |
| "empty_mass_kg": round(mass_body + mass_lid, 6), "mass_evidence": "computed from modelled volume x PP density", |
| "stands_upright": False, "franka_grasp_ok": True, "storage_note_zh": "放在管架或冰箱的管盒中（锥底不能自立）", |
| } |
| a.prop("body", "outer_diameter_m", 0.0108, "m", "上段外径（数据表图）", "documented", ["eppendorf_safelock_15"]) |
| a.prop("body", "length_m", L, "m", "管长（数据表图）", "documented", ["eppendorf_safelock_15"]) |
| a.prop("body", "nominal_capacity_m3", 1.5e-6, "m3", "标称容量", "documented", ["eppendorf_safelock_15"]) |
| a.state_slots = {"closure.state": { |
| "component_ids": ["lid"], "value_schema": {"type": "string", "enum": ["closed", "open"]}, "unit": "1", "reference_conditions": None, |
| "meaning_zh": "翻盖状态（由场景按盖关节角记录）", "origin": "scene", "access": "read_only", "visibility": "agent", |
| "read_binding": None, "write_via": None, "sampling": {"mode": "instant", "time_domain": "simulation", "window_description": None}, |
| "source_ids": ["eppendorf_safelock_15"]}} |
| a.contract_ports = {"mouth": {"component_id": "body", "medium": "liquid", "direction": "bidirectional", "frame": "frame:grasp", |
| "meaning_zh": "管口：移液进出", "connection_constraints": ["翻盖须为 open"]}} |
| a.limitations_zh = ["被动容器；翻盖开合由机器人推舌片（touch + intent）。", "锥底管不能自立，需要管架（未建模）。", |
| "外形按 Eppendorf 数据表图；壁厚、盖厚为假设。"] |
| return a |
|
|
|
|
| ALL_CONTAINER_BUILDERS = {} |
| for _ml in (100, 250, 500, 1000): |
| for _amber in (False, True): |
| _s = gl45_spec(_ml, _amber) |
| ALL_CONTAINER_BUILDERS[_s.slug] = (lambda s=_s: build_screwcap(s)) |
| for _fn in (winchester_25l_spec, lambda: nalgene_jar_spec(250), lambda: nalgene_jar_spec(1000), lambda: vial_spec("2ml"), |
| lambda: vial_spec("20ml"), lambda: falcon_spec(15), lambda: falcon_spec(50)): |
| _s = _fn() |
| ALL_CONTAINER_BUILDERS[_s.slug] = (lambda s=_s: build_screwcap(s)) |
| ALL_CONTAINER_BUILDERS["eppendorf_safelock_1p5ml"] = build_safelock_15 |
| for _k in ("nm500", "nm1000", "wm500"): |
| _s = nalgene_hdpe_spec(_k) |
| ALL_CONTAINER_BUILDERS[_s.slug] = (lambda s=_s: build_screwcap(s)) |
|
|
