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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 GitHub
parent 0bf6994f95
commit a599eb70e5
98 changed files with 16477 additions and 126 deletions
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383
test/experiments/test_laiyu_v.json Normal file
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{
"nodes": [
{
"id": "liquid_handler",
"name": "liquid_handler",
"parent": null,
"type": "device",
"class": "liquid_handler",
"position": {
"x": 0,
"y": 0,
"z": 0
},
"data": {},
"children": [
"deck"
],
"config": {
"deck": {
"_resource_child_name": "deck",
"_resource_type": "unilabos.devices.liquid_handling.laiyu.laiyu:TransformXYZDeck",
"name": "deck"
},
"backend": {
"type": "UniLiquidHandlerRvizBackend"
},
"simulator": true,
"total_height": 300,
"joint_config": "TransformXYZDeck",
"simulate_rviz": true
}
},
{
"id": "deck",
"name": "deck",
"children": [
"tip_rack",
"plate_well",
"tube_rack",
"bottle_rack"
],
"parent": "liquid_handler",
"type": "deck",
"class": "TransformXYZDeck",
"position": {
"x": 0,
"y": 0,
"z": 18
},
"config": {
"type": "TransformXYZDeck",
"size_x": 624.3,
"size_y": 565.2,
"size_z": 900,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
}
},
"data": {}
},
{
"id": "tip_rack",
"name": "tip_rack",
"children": [
"tip_rack_A1"
],
"parent": "deck",
"type": "tip_rack",
"class": "tiprack_box",
"position": {
"x": 150,
"y": 7,
"z": 103
},
"config": {
"type": "TipRack",
"size_x": 134,
"size_y": 96,
"size_z": 7.0,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "tip_rack",
"model": "tiprack_box",
"ordering": [
"A1"
]
},
"data": {}
},
{
"id": "tip_rack_A1",
"name": "tip_rack_A1",
"children": [],
"parent": "tip_rack",
"type": "container",
"class": "",
"position": {
"x": 11.12,
"y": 75,
"z": -91.54
},
"config": {
"type": "TipSpot",
"size_x": 9,
"size_y": 9,
"size_z": 95,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "tip_spot",
"model": null,
"prototype_tip": {
"type": "Tip",
"total_tip_length": 95,
"has_filter": false,
"maximal_volume": 1000.0,
"fitting_depth": 3.29
}
},
"data": {
"tip": null,
"tip_state": null,
"pending_tip": null
}
},
{
"id": "plate_well",
"name": "plate_well",
"children": [
"plate_well_A1"
],
"parent": "deck",
"type": "plate",
"class": "plate_96",
"position": {
"x": 161,
"y": 116,
"z": 48.5
},
"config": {
"type": "Plate",
"size_x": 127.76,
"size_y": 85.48,
"size_z": 45.5,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "plate",
"model": "plate_96",
"ordering": [
"A1"
]
},
"data": {}
},
{
"id": "plate_well_A1",
"name": "plate_well_A1",
"children": [],
"parent": "plate_well",
"type": "device",
"class": "",
"position": {
"x": 10.1,
"y": 70,
"z": 6.1
},
"config": {
"type": "Well",
"size_x": 8.2,
"size_y": 8.2,
"size_z": 38,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "well",
"model": null,
"max_volume": 2000,
"material_z_thickness": null,
"compute_volume_from_height": null,
"compute_height_from_volume": null,
"bottom_type": "unknown",
"cross_section_type": "rectangle"
},
"data": {
"liquids": [["water", 50.0]],
"pending_liquids": [["water", 50.0]],
"liquid_history": []
}
},
{
"id": "tube_rack",
"name": "tube_rack",
"children": [
"tube_rack_A1"
],
"parent": "deck",
"type": "container",
"class": "tube_container",
"position": {
"x": 0,
"y": 127,
"z": 0
},
"config": {
"type": "Plate",
"size_x": 151,
"size_y": 75,
"size_z": 75,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"model": "tube_container",
"ordering": [
"A1"
]
},
"data": {}
},
{
"id": "tube_rack_A1",
"name": "tube_rack_A1",
"children": [],
"parent": "tube_rack",
"type": "device",
"class": "",
"position": {
"x": 6,
"y": 38,
"z": 10
},
"config": {
"type": "Well",
"size_x": 34,
"size_y": 34,
"size_z": 117,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "tube",
"model": null,
"max_volume": 2000,
"material_z_thickness": null,
"compute_volume_from_height": null,
"compute_height_from_volume": null,
"bottom_type": "unknown",
"cross_section_type": "rectangle"
},
"data": {
"liquids": [["water", 50.0]],
"pending_liquids": [["water", 50.0]],
"liquid_history": []
}
}
,
{
"id": "bottle_rack",
"name": "bottle_rack",
"children": [
"bottle_rack_A1"
],
"parent": "deck",
"type": "container",
"class": "bottle_container",
"position": {
"x": 0,
"y": 0,
"z": 0
},
"config": {
"type": "Plate",
"size_x": 130,
"size_y": 117,
"size_z": 8,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "tube_rack",
"model": "bottle_container",
"ordering": [
"A1"
]
},
"data": {}
},
{
"id": "bottle_rack_A1",
"name": "bottle_rack_A1",
"children": [],
"parent": "bottle_rack",
"type": "device",
"class": "",
"position": {
"x": 25,
"y": 18.5,
"z": 8
},
"config": {
"type": "Well",
"size_x": 80,
"size_y": 80,
"size_z": 117,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "tube",
"model": null,
"max_volume": 2000,
"material_z_thickness": null,
"compute_volume_from_height": null,
"compute_height_from_volume": null,
"bottom_type": "unknown",
"cross_section_type": "rectangle"
},
"data": {
"liquids": [["water", 50.0]],
"pending_liquids": [["water", 50.0]],
"liquid_history": []
}
}
],
"links": []
}