3d sim (#97)

* 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>

test/experiments/test_laiyu.json

@@ -18,21 +18,21 @@
             "config": {
                 "deck": {
                     "_resource_child_name": "deck",
-                    "_resource_type": "pylabrobot.resources.opentrons.deck:OTDeck",
+                    "_resource_type": "unilabos.devices.liquid_handling.laiyu.laiyu:TransformXYZDeck",
                     "name": "deck"
                 },
                 "backend": {
-                    "type": "UniLiquidHandlerRvizBackend"
-                    
+                    "type": "UniLiquidHandlerLaiyuBackend",
+                    "port": "/dev/ttyUSB_CH340"
                 },
-                "simulator": true,
-                "total_height": 300
+                "simulator": false,
+                "total_height": 232.5
             }
         },
         {
             "id": "deck",
             "name": "deck",
-            "sample_id": null,
+            
             "children": [
                 "tip_rack",
                 "plate_well",
@@ -64,7 +64,7 @@
         {
             "id": "tip_rack",
             "name": "tip_rack",
-            "sample_id": null,
+            
             "children": [
                 "tip_rack_A1"
             ],
@@ -102,7 +102,7 @@
         {
             "id": "tip_rack_A1",
             "name": "tip_rack_A1",
-            "sample_id": null,
+            
             "children": [],
             "parent": "tip_rack",
             "type": "container",
@@ -144,7 +144,7 @@
         {
             "id": "plate_well",
             "name": "plate_well",
-            "sample_id": null,
+            
             "children": [
                 "plate_well_A1"
             ],
@@ -156,18 +156,6 @@
                 "y": 116,
                 "z": 48.5
             },
-            "pose": {
-                "position_3d": {
-                    "x": 161,
-                    "y": 116,
-                    "z": 48.5
-                },
-                "rotation": {
-                    "x": 0,
-                    "y": 0,
-                    "z": 0
-                }
-            },
             "config": {
                 "type": "Plate",
                 "size_x": 127.76,
@@ -195,7 +183,7 @@
         {
             "id": "plate_well_A1",
             "name": "plate_well_A1",
-            "sample_id": null,
+            
             "children": [],
             "parent": "plate_well",
             "type": "device",
@@ -236,7 +224,7 @@
         {
             "id": "tube_rack",
             "name": "tube_rack",
-            "sample_id": null,
+            
             "children": [
                 "tube_rack_A1"
             ],
@@ -271,7 +259,7 @@
         {
             "id": "tube_rack_A1",
             "name": "tube_rack_A1",
-            "sample_id": null,
+            
             "children": [],
             "parent": "tube_rack",
             "type": "device",
@@ -315,7 +303,7 @@
         {
             "id": "bottle_rack",
             "name": "bottle_rack",
-            "sample_id": null,
+            
             "children": [
                 "bottle_rack_A1"
             ],
@@ -351,7 +339,7 @@
         {
             "id": "bottle_rack_A1",
             "name": "bottle_rack_A1",
-            "sample_id": null,
+            
             "children": [],
             "parent": "bottle_rack",
             "type": "device",