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https://github.com/dptech-corp/Uni-Lab-OS.git
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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>
This commit is contained in:
q434343
GitHub
@@ -31,6 +31,7 @@ hplc_plate:
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init_param_schema: {}
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model:
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mesh: hplc_plate/meshes/hplc_plate.stl
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path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/hplc_plate/modal.xacro
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mesh_tf:
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- 0
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- 0
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@@ -102,6 +103,7 @@ plate_96_high:
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init_param_schema: {}
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model:
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mesh: plate_96_high/meshes/plate_96_high.stl
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path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96_high/modal.xacro
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mesh_tf:
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- 0
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- 0.086
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@@ -152,6 +154,7 @@ tiprack_96_high:
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init_param_schema: {}
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model:
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children_mesh: generic_labware_tube_10_75/meshes/0_base.stl
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children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/generic_labware_tube_10_75/modal.xacro
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children_mesh_tf:
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- 0.0018
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- 0.0018
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@@ -160,6 +163,7 @@ tiprack_96_high:
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- 0
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- 0
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mesh: tiprack_96_high/meshes/tiprack_96_high.stl
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path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_96_high/modal.xacro
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mesh_tf:
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- 0
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- 0.086
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@@ -170,3 +174,60 @@ tiprack_96_high:
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type: resource
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registry_type: resource
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version: 1.0.0
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tiprack_box:
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category:
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- resource_container
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class:
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module: unilabos.devices.resource_container.container:TipRackContainer
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type: python
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description: 96针头盒
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handles: []
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icon: ''
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init_param_schema: {}
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model:
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children_mesh: tip/meshes/tip.stl
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children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tip/modal.xacro
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children_mesh_tf:
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- 0.0045
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- 0.0045
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- 0
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- 0
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- 0
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- 0
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mesh: tiprack_box/meshes/tiprack_box.stl
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path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_box/modal.xacro
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mesh_tf:
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- 0
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- 0
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- 0
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- 0
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- 0
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- 0
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type: resource
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registry_type: resource
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version: 1.0.0
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plate_96:
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category:
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- resource_container
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class:
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module: unilabos.devices.resource_container.container:PlateContainer
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type: python
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description: 96孔板
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handles: []
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icon: ''
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init_param_schema: {}
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model:
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mesh: plate_96/meshes/plate_96.stl
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path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96/modal.xacro
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mesh_tf:
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- 0
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- 0
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- 0
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- 0
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- 0
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- 0
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type: resource
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registry_type: resource
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version: 1.0.0
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65
unilabos/registry/resources/laiyu/container.yaml
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65
unilabos/registry/resources/laiyu/container.yaml
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@@ -0,0 +1,65 @@
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tube_container:
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category:
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- resource_container
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class:
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module: unilabos.devices.resource_container.container:TubeRackContainer
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type: python
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description: 96孔板
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handles: []
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icon: ''
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init_param_schema: {}
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model:
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children_mesh: tube/meshes/tube.stl
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children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tube/modal.xacro
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children_mesh_tf:
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- 0.017
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- 0.017
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- 0
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- 0
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- 0
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- 0
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mesh: tube_container/meshes/tube_container.stl
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path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tube_container/modal.xacro
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mesh_tf:
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- 0
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- 0
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- 0
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- 0
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- 0
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- 0
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type: resource
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registry_type: resource
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version: 1.0.0
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bottle_container:
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category:
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- resource_container
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class:
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module: unilabos.devices.resource_container.container:BottleRackContainer
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type: python
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description: 96孔板
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handles: []
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icon: ''
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init_param_schema: {}
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model:
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children_mesh: bottle/meshes/bottle.stl
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children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/bottle/modal.xacro
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children_mesh_tf:
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- 0.04
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- 0.04
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- 0
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- 0
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- 0
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- 0
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mesh: bottle_container/meshes/bottle_container.stl
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path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/bottle_container/modal.xacro
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mesh_tf:
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- 0
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- 0
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- 0
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- 0
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- 0
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- 0
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type: resource
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registry_type: resource
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version: 1.0.0
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17
unilabos/registry/resources/laiyu/deck.yaml
Normal file
17
unilabos/registry/resources/laiyu/deck.yaml
Normal file
@@ -0,0 +1,17 @@
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TransformXYZDeck:
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category:
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- deck
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class:
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module: unilabos.devices.liquid_handling.laiyu.laiyu:TransformXYZDeck
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type: pylabrobot
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description: Laiyu deck
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handles: []
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icon: ''
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init_param_schema: {}
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model:
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mesh: liquid_transform_xyz
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path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/liquid_transform_xyz/macro_device.xacro
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type: device
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registry_type: resource
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version: 1.0.0
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@@ -10,6 +10,7 @@ OTDeck:
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init_param_schema: {}
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model:
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mesh: opentrons_liquid_handler
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path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/opentrons_liquid_handler/macro_device.xacro
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type: device
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registry_type: resource
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version: 1.0.0
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@@ -25,6 +26,7 @@ hplc_station:
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init_param_schema: {}
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model:
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mesh: hplc_station
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path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/hplc_station/macro_device.xacro
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type: device
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registry_type: resource
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version: 1.0.0
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@@ -118,6 +118,7 @@ nest_96_wellplate_100ul_pcr_full_skirt:
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init_param_schema: {}
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model:
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children_mesh: generic_labware_tube_10_75/meshes/0_base.stl
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children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/generic_labware_tube_10_75/modal.xacro
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children_mesh_tf:
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- 0.0018
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- 0.0018
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@@ -126,6 +127,7 @@ nest_96_wellplate_100ul_pcr_full_skirt:
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- 0
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- 0
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mesh: tecan_nested_tip_rack/meshes/plate.stl
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path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
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mesh_tf:
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- 0.064
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- 0.043
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@@ -160,6 +162,7 @@ nest_96_wellplate_2ml_deep:
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init_param_schema: {}
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model:
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mesh: tecan_nested_tip_rack/meshes/plate.stl
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path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
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mesh_tf:
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- 0.064
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- 0.043
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@@ -66,6 +66,7 @@ opentrons_96_filtertiprack_1000ul:
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- 0
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- 0
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mesh: tecan_nested_tip_rack/meshes/plate.stl
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path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
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mesh_tf:
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- 0.064
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- 0.043
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