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>

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -7,6 +7,8 @@ from collections import Counter
 from typing import List, Sequence, Optional, Literal, Union, Iterator, Dict, Any, Callable, Set, cast
 
 from pylabrobot.liquid_handling import LiquidHandler, LiquidHandlerBackend, LiquidHandlerChatterboxBackend, Strictness
+from unilabos.devices.liquid_handling.rviz_backend import UniLiquidHandlerRvizBackend
+from unilabos.devices.liquid_handling.laiyu.backend.laiyu_v_backend import UniLiquidHandlerLaiyuBackend
 from pylabrobot.liquid_handling.liquid_handler import TipPresenceProbingMethod
 from pylabrobot.liquid_handling.standard import GripDirection
 from pylabrobot.resources import (
@@ -29,12 +31,15 @@ from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 
 
 class LiquidHandlerMiddleware(LiquidHandler):
-    def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8):
+    def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8, total_height: float = 310, **kwargs):
         self._simulator = simulator
         self.channel_num = channel_num
+        joint_config = kwargs.get("joint_config", None)
         if simulator:
-            self._simulate_backend = LiquidHandlerChatterboxBackend(channel_num)
+            self._simulate_backend = UniLiquidHandlerRvizBackend(channel_num,total_height, joint_config=joint_config, lh_device_id = deck.name)
             self._simulate_handler = LiquidHandlerAbstract(self._simulate_backend, deck, False)
+        if hasattr(backend, "total_height"):
+            backend.total_height = total_height
         super().__init__(backend, deck)
 
     async def setup(self, **backend_kwargs):
@@ -217,7 +222,6 @@ class LiquidHandlerMiddleware(LiquidHandler):
             offsets,
             liquid_height,
             blow_out_air_volume,
-            spread,
             **backend_kwargs,
         )
 
@@ -540,16 +544,51 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
     support_touch_tip = True
     _ros_node: BaseROS2DeviceNode
 
-    def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool=False, channel_num:int = 8):
+    def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool=False, channel_num:int = 8,total_height: float = 310,**backend_kwargs):
         """Initialize a LiquidHandler.
 
         Args:
           backend: Backend to use.
           deck: Deck to use.
         """
+        backend_type = None
+        if isinstance(backend, dict) and "type" in backend:
+            backend_dict = backend.copy()
+            type_str = backend_dict.pop("type")
+            try:
+                # Try to get class from string using globals (current module), or fallback to pylabrobot or unilabos namespaces
+                backend_cls = None
+                if type_str in globals():
+                    backend_cls = globals()[type_str]
+                else:
+                    # Try resolving dotted notation, e.g. "xxx.yyy.ClassName"
+                    components = type_str.split(".")
+                    mod = None
+                    if len(components) > 1:
+                        module_name = ".".join(components[:-1])
+                        try:
+                            import importlib
+                            mod = importlib.import_module(module_name)
+                        except ImportError:
+                            mod = None
+                        if mod is not None:
+                            backend_cls = getattr(mod, components[-1], None)
+                    if backend_cls is None:
+                        # Try pylabrobot style import (if available)
+                        try:
+                            import pylabrobot
+                            backend_cls = getattr(pylabrobot, type_str, None)
+                        except Exception:
+                            backend_cls = None
+                if backend_cls is not None and isinstance(backend_cls, type):
+                    backend_type = backend_cls(**backend_dict)  # pass the rest of dict as kwargs
+            except Exception as exc:
+                raise RuntimeError(f"Failed to convert backend type '{type_str}' to class: {exc}")
+        else:
+            backend_type = backend
         self._simulator = simulator
         self.group_info = dict()
-        super().__init__(backend, deck, simulator, channel_num)
+        super().__init__(backend_type, deck, simulator, channel_num,total_height,**backend_kwargs)
 
     def post_init(self, ros_node: BaseROS2DeviceNode):
         self._ros_node = ros_node