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/registry/resources/common/resource_container.yaml

@@ -31,6 +31,7 @@ hplc_plate:
   init_param_schema: {}
   model:
     mesh: hplc_plate/meshes/hplc_plate.stl
+    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/hplc_plate/modal.xacro
     mesh_tf:
     - 0
     - 0
@@ -102,6 +103,7 @@ plate_96_high:
   init_param_schema: {}
   model:
     mesh: plate_96_high/meshes/plate_96_high.stl
+    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96_high/modal.xacro
     mesh_tf:
     - 0
     - 0.086
@@ -152,6 +154,7 @@ tiprack_96_high:
   init_param_schema: {}
   model:
     children_mesh: generic_labware_tube_10_75/meshes/0_base.stl
+    children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/generic_labware_tube_10_75/modal.xacro
     children_mesh_tf:
     - 0.0018
     - 0.0018
@@ -160,6 +163,7 @@ tiprack_96_high:
     - 0
     - 0
     mesh: tiprack_96_high/meshes/tiprack_96_high.stl
+    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_96_high/modal.xacro
     mesh_tf:
     - 0
     - 0.086
@@ -170,3 +174,60 @@ tiprack_96_high:
     type: resource
   registry_type: resource
   version: 1.0.0
+
+tiprack_box:
+  category:
+  - resource_container
+  class:
+    module: unilabos.devices.resource_container.container:TipRackContainer
+    type: python
+  description: 96针头盒
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  model:
+    children_mesh: tip/meshes/tip.stl
+    children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tip/modal.xacro
+    children_mesh_tf:
+    - 0.0045
+    - 0.0045
+    - 0
+    - 0
+    - 0
+    - 0
+    mesh: tiprack_box/meshes/tiprack_box.stl
+    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_box/modal.xacro
+    mesh_tf:
+    - 0
+    - 0
+    - 0
+    - 0
+    - 0
+    - 0
+    type: resource
+  registry_type: resource
+  version: 1.0.0
+
+plate_96:
+  category:
+  - resource_container
+  class:
+    module: unilabos.devices.resource_container.container:PlateContainer
+    type: python
+  description: 96孔板
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  model:
+    mesh: plate_96/meshes/plate_96.stl
+    path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96/modal.xacro
+    mesh_tf:
+    - 0
+    - 0
+    - 0
+    - 0
+    - 0
+    - 0
+    type: resource
+  registry_type: resource
+  version: 1.0.0