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3d sim (#97)

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* 修改lh的json启动

* 修改lh的json启动

* 修改backend，做成sim的通用backend

* 修改yaml的地址，3D模型适配网页生产环境

* 添加laiyu硬件连接

* 修改移液枪的状态判断方法，

修改移液枪的状态判断方法，
添加三轴的表定点与零点之间的转换
添加三轴真实移动的backend

* 修改laiyu移液站

简化移动方法，
取消软件限制位置，
修改当值使用Z轴时也需要重新复位Z轴的问题

* 更新lh以及laiyu workshop

1,现在可以直接通过修改backend，适配其他的移液站，主类依旧使用LiquidHandler，不用重新编写

2,修改枪头判断标准，使用枪头自身判断而不是类的判断，

3,将归零参数用毫米计算，方便手动调整，

4,修改归零方式，上电使用机械归零，确定机械零点，手动归零设置工作区域零点方便计算，二者互不干涉

* 修改枪头动作

* 修改虚拟仿真方法

---------

Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: Junhan Chang <changjh@dp.tech>
This commit is contained in:
q434343
2025-11-15 02:50:17 +08:00
committed by Xuwznln
parent 304827fc8d
commit 448e0074b7
98 changed files with 16477 additions and 126 deletions
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237
unilabos/device_mesh/devices/dummy2_robot/dummy2.xacro Normal file
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<?xml version="1.0" ?>
<robot name="dummy2" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find dummy2_description)/urdf/materials.xacro" />
<xacro:include filename="$(find dummy2_description)/urdf/dummy2.trans" />
<xacro:include filename="$(find dummy2_description)/urdf/dummy2.gazebo" />
<link name="world" />
<joint name="world_joint" type="fixed">
<parent link="world" />
<child link = "base_link" />
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
</joint>
<link name="base_link">
<inertial>
<origin xyz="0.00010022425916431473 -6.186605493937309e-05 0.05493640543484716" rpy="0 0 0"/>
<mass value="1.2152141810431654"/>
<inertia ixx="0.002105" iyy="0.002245" izz="0.002436" ixy="-0.0" iyz="-1.1e-05" ixz="0.0"/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="J1_1">
<inertial>
<origin xyz="-0.00617659688932347 0.007029599744830012 0.012866826083045027" rpy="0 0 0"/>
<mass value="0.1332774369186824"/>
<inertia ixx="6e-05" iyy="5e-05" izz="8.8e-05" ixy="2.1e-05" iyz="-1.4e-05" ixz="8e-06"/>
</inertial>
<visual>
<origin xyz="-0.0001 0.000289 -0.097579" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.0001 0.000289 -0.097579" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J1_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="J2_1">
<inertial>
<origin xyz="0.019335709221765855 0.0019392793940843159 0.07795928103332703" rpy="0 0 0"/>
<mass value="1.9268013917303417"/>
<inertia ixx="0.006165" iyy="0.006538" izz="0.00118" ixy="-3e-06" iyz="4.7e-05" ixz="0.0007"/>
</inertial>
<visual>
<origin xyz="0.011539 -0.034188 -0.12478" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J2_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="0.011539 -0.034188 -0.12478" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J2_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="J3_1">
<inertial>
<origin xyz="-0.010672101243726572 -0.02723871972304964 0.04876701375652198" rpy="0 0 0"/>
<mass value="0.30531962155452225"/>
<inertia ixx="0.00029" iyy="0.000238" izz="0.000191" ixy="-1.3e-05" iyz="4.1e-05" ixz="3e-05"/>
</inertial>
<visual>
<origin xyz="-0.023811 -0.034188 -0.28278" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J3_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.023811 -0.034188 -0.28278" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J3_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="J4_1">
<inertial>
<origin xyz="-0.005237398377441591 0.06002028183461833 0.0005891767740203724" rpy="0 0 0"/>
<mass value="0.14051172121899885"/>
<inertia ixx="0.000245" iyy="7.9e-05" izz="0.00027" ixy="1.6e-05" iyz="-2e-06" ixz="1e-06"/>
</inertial>
<visual>
<origin xyz="-0.010649 -0.038288 -0.345246" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J4_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.010649 -0.038288 -0.345246" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J4_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="J5_1">
<inertial>
<origin xyz="-0.014389813882964664 0.07305218143664277 -0.0009243405950149497" rpy="0 0 0"/>
<mass value="0.7783315754227634"/>
<inertia ixx="0.000879" iyy="0.000339" izz="0.000964" ixy="0.000146" iyz="1e-06" ixz="-5e-06"/>
</inertial>
<visual>
<origin xyz="-0.031949 -0.148289 -0.345246" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J5_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.031949 -0.148289 -0.345246" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J5_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="J6_1">
<inertial>
<origin xyz="3.967160300787087e-07 0.0004995066702210837 1.4402781733924286e-07" rpy="0 0 0"/>
<mass value="0.0020561527568204153"/>
<inertia ixx="0.0" iyy="0.0" izz="0.0" ixy="0.0" iyz="0.0" ixz="0.0"/>
</inertial>
<visual>
<origin xyz="-0.012127 -0.267789 -0.344021" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J6_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.012127 -0.267789 -0.344021" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/J6_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<link name="camera">
<inertial>
<origin xyz="-0.0006059984983273845 0.0005864706438700462 0.04601775357664567" rpy="0 0 0"/>
<mass value="0.21961029019655884"/>
<inertia ixx="2.9e-05" iyy="0.000206" izz="0.000198" ixy="-0.0" iyz="2e-06" ixz="-0.0"/>
</inertial>
<visual>
<origin xyz="-0.012661 -0.239774 -0.37985" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/camera_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin xyz="-0.012661 -0.239774 -0.37985" rpy="0 0 0"/>
<geometry>
<mesh filename="file://$(find dummy2_description)/meshes/camera_1.stl" scale="0.001 0.001 0.001"/>
</geometry>
</collision>
</link>
<joint name="Joint1" type="revolute">
<origin xyz="0.0001 -0.000289 0.097579" rpy="0 0 0"/>
<parent link="base_link"/>
<child link="J1_1"/>
<axis xyz="-0.0 -0.0 1.0"/>
<limit upper="3.054326" lower="-3.054326" effort="100" velocity="100"/>
</joint>
<joint name="Joint2" type="revolute">
<origin xyz="-0.011639 0.034477 0.027201" rpy="0 0 0"/>
<parent link="J1_1"/>
<child link="J2_1"/>
<axis xyz="1.0 0.0 -0.0"/>
<limit upper="1.308997" lower="-2.007129" effort="100" velocity="100"/>
</joint>
<joint name="Joint3" type="revolute">
<origin xyz="0.03535 0.0 0.158" rpy="0 0 0"/>
<parent link="J2_1"/>
<child link="J3_1"/>
<axis xyz="-1.0 0.0 -0.0"/>
<limit upper="1.570796" lower="-1.047198" effort="100" velocity="100"/>
</joint>
<joint name="Joint4" type="revolute">
<origin xyz="-0.013162 0.0041 0.062466" rpy="0 0 0"/>
<parent link="J3_1"/>
<child link="J4_1"/>
<axis xyz="0.0 1.0 -0.0"/>
<limit upper="3.141593" lower="-3.141593" effort="100" velocity="100"/>
</joint>
<joint name="Joint5" type="revolute">
<origin xyz="0.0213 0.110001 0.0" rpy="0 0 0"/>
<parent link="J4_1"/>
<child link="J5_1"/>
<axis xyz="-1.0 -0.0 -0.0"/>
<limit upper="2.094395" lower="-1.919862" effort="100" velocity="100"/>
</joint>
<joint name="Joint6" type="continuous">
<origin xyz="-0.019822 0.1195 -0.001225" rpy="0 0 0"/>
<parent link="J5_1"/>
<child link="J6_1"/>
<axis xyz="0.0 -1.0 0.0"/>
</joint>
<joint name="camera" type="fixed">
<origin xyz="-0.019988 0.091197 0.024883" rpy="0 0 0"/>
<parent link="J5_1"/>
<child link="camera"/>
<axis xyz="1.0 -0.0 0.0"/>
<limit upper="0.0" lower="0.0" effort="100" velocity="100"/>
</joint>
</robot>