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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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45
unilabos/device_mesh/devices/dummy2_robot/config/dummy2.srdf Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<!--This does not replace URDF, and is not an extension of URDF.
This is a format for representing semantic information about the robot structure.
A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
-->
<robot name="dummy2">
<!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
<!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
<!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
<!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
<!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
<group name="dummy2_arm">
<joint name="virtual_joint"/>
<joint name="Joint1"/>
<joint name="Joint2"/>
<joint name="Joint3"/>
<joint name="Joint4"/>
<joint name="Joint5"/>
<joint name="Joint6"/>
</group>
<!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
<group_state name="home" group="dummy2_arm">
<joint name="Joint1" value="0"/>
<joint name="Joint2" value="0"/>
<joint name="Joint3" value="0"/>
<joint name="Joint4" value="0"/>
<joint name="Joint5" value="0"/>
<joint name="Joint6" value="0"/>
</group_state>
<!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
<virtual_joint name="virtual_joint" type="fixed" parent_frame="world" child_link="base_link"/>
<!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
<disable_collisions link1="J1_1" link2="J2_1" reason="Adjacent"/>
<disable_collisions link1="J1_1" link2="J3_1" reason="Never"/>
<disable_collisions link1="J1_1" link2="J4_1" reason="Never"/>
<disable_collisions link1="J1_1" link2="base_link" reason="Adjacent"/>
<disable_collisions link1="J2_1" link2="J3_1" reason="Adjacent"/>
<disable_collisions link1="J3_1" link2="J4_1" reason="Adjacent"/>
<disable_collisions link1="J3_1" link2="J5_1" reason="Never"/>
<disable_collisions link1="J3_1" link2="J6_1" reason="Never"/>
<disable_collisions link1="J3_1" link2="base_link" reason="Never"/>
<disable_collisions link1="J4_1" link2="J5_1" reason="Adjacent"/>
<disable_collisions link1="J4_1" link2="J6_1" reason="Never"/>
<disable_collisions link1="J5_1" link2="J6_1" reason="Adjacent"/>
</robot>