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Workshop bj (#99)
* Add LaiYu Liquid device integration and tests Introduce LaiYu Liquid device implementation, including backend, controllers, drivers, configuration, and resource files. Add hardware connection, tip pickup, and simplified test scripts, as well as experiment and registry configuration for LaiYu Liquid. Documentation and .gitignore for the device are also included. * feat(LaiYu_Liquid): 重构设备模块结构并添加硬件文档 refactor: 重新组织LaiYu_Liquid模块目录结构 docs: 添加SOPA移液器和步进电机控制指令文档 fix: 修正设备配置中的最大体积默认值 test: 新增工作台配置测试用例 chore: 删除过时的测试脚本和配置文件 * add * 重构: 将 LaiYu_Liquid.py 重命名为 laiyu_liquid_main.py 并更新所有导入引用 - 使用 git mv 将 LaiYu_Liquid.py 重命名为 laiyu_liquid_main.py - 更新所有相关文件中的导入引用 - 保持代码功能不变，仅改善命名一致性 - 测试确认所有导入正常工作 * 修复: 在 core/__init__.py 中添加 LaiYuLiquidBackend 导出 - 添加 LaiYuLiquidBackend 到导入列表 - 添加 LaiYuLiquidBackend 到 __all__ 导出列表 - 确保所有主要类都可以正确导入 * 修复大小写文件夹名字
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ZiWei
GitHub
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<?xml version="1.0" ?>
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<robot name="liquid_transform_xyz" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:macro name="liquid_transform_xyz" params="mesh_path:='' parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 rx:=0 ry:=0 r:=0">
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<joint name="${station_name}${device_name}base_link_joint" type="fixed">
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<origin xyz="${x} ${y} ${z}" rpy="${rx} ${ry} ${r}" />
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<parent link="${parent_link}"/>
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<child link="${station_name}${device_name}device_link"/>
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<axis xyz="0 0 0"/>
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</joint>
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<link name="${station_name}${device_name}device_link"/>
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<joint name="${station_name}${device_name}device_link_joint" type="fixed">
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<origin xyz="0 0 0" rpy="0 0 0" />
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<parent link="${station_name}${device_name}device_link"/>
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<child link="${station_name}${device_name}base_link"/>
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<axis xyz="0 0 0"/>
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</joint>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from xyz.urdf | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
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Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
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For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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<link name="${station_name}${device_name}base_link">
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<inertial>
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<origin rpy="0 0 0" xyz="0.15478184748283 0.171048654921622 0.119246989054835"/>
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<mass value="10.6178517218032"/>
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<inertia ixx="0.178863713357329" ixy="1.50019641847353E-05" ixz="1.35368730492005E-05" iyy="0.174395775755846" iyz="-9.90771939078091E-06" izz="0.34100152139765"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="file://${mesh_path}/devices/liquid_transform_xyz/meshes/base_link.STL"/>
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</geometry>
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<material name="">
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<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="file://${mesh_path}/devices/liquid_transform_xyz/meshes/base_link.STL"/>
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</geometry>
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</collision>
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</link>
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<link name="${station_name}${device_name}x_link">
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<inertial>
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<origin rpy="0 0 0" xyz="0.325214039540178 0.00943452607370124 0.0482611114301988"/>
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<mass value="2.10887387421016"/>
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<inertia ixx="0.0012305846984949" ixy="5.54649260270946E-07" ixz="3.84099347741331E-07" iyy="0.0349382006090243" iyz="-0.000103697818531446" izz="0.0354178972785773"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="file://${mesh_path}/devices/liquid_transform_xyz/meshes/x_link.STL"/>
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</geometry>
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<material name="">
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<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="file://${mesh_path}/devices/liquid_transform_xyz/meshes/x_link.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="${station_name}${device_name}x_joint" type="prismatic">
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<origin rpy="0 0 0" xyz="-0.141499999999982 0.334850000000045 0.357700036886815"/>
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<parent link="${station_name}${device_name}base_link"/>
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<child link="${station_name}${device_name}x_link"/>
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<axis xyz="0 1 0"/>
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<limit effort="50" lower="-0.3" upper="0" velocity="1"/>
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</joint>
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<link name="${station_name}${device_name}y_link">
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<inertial>
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<origin rpy="0 0 0" xyz="-1.50235389641123E-05 -0.00104302241099613 -0.0439486470514941"/>
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<mass value="0.57605998885478"/>
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<inertia ixx="0.00193021581150653" ixy="3.53777102560584E-08" ixz="2.57202248177777E-07" iyy="0.00224712797067005" iyz="-3.96170906880708E-07" izz="0.000419338880142789"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="file://${mesh_path}/devices/liquid_transform_xyz/meshes/y_link.STL"/>
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</geometry>
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<material name="">
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<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="file://${mesh_path}/devices/liquid_transform_xyz/meshes/y_link.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="${station_name}${device_name}y_joint" type="prismatic">
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<origin rpy="0 0 0" xyz="0.2855 -0.0330000368868711 0.0578"/>
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<parent link="${station_name}${device_name}x_link"/>
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<child link="${station_name}${device_name}y_link"/>
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<axis xyz="-1 0 0"/>
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<limit effort="50" lower="-0.25" upper="0.25" velocity="1"/>
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</joint>
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<link name="${station_name}${device_name}z_link">
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<inertial>
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<origin rpy="0 0 0" xyz="-1.07272060046598E-06 -0.00954902784618396 0.017834416924223"/>
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<mass value="0.199932032754258"/>
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<inertia ixx="0.000219989530768707" ixy="-7.50956522121896E-10" ixz="-1.265045524863E-07" iyy="0.000245054780375167" iyz="-3.76753893185657E-06" izz="4.29092763044732E-05"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="file://${mesh_path}/devices/liquid_transform_xyz/meshes/z_link.STL"/>
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</geometry>
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<material name="">
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<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="file://${mesh_path}/devices/liquid_transform_xyz/meshes/z_link.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="${station_name}${device_name}z_joint" type="prismatic">
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<origin rpy="0 0 0" xyz="0.000950000000001387 -0.0737000000000002 0"/>
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<parent link="${station_name}${device_name}y_link"/>
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<child link="${station_name}${device_name}z_link"/>
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<axis xyz="0 0 1"/>
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<limit effort="50" lower="-0.2" upper="0" velocity="1"/>
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</joint>
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<link name="${station_name}${device_name}p_link">
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</link>
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<joint name="${station_name}${device_name}p_joint" type="fixed">
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<origin rpy="0 0 0" xyz="0 -0.0139999999999999 -0.10575"/>
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<parent link="${station_name}${device_name}z_link"/>
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<child link="${station_name}${device_name}p_link"/>
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<axis xyz="0 0 0"/>
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</joint>
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</xacro:macro>
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</robot>
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