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添加缺少物料："plate_well_G12",

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zhangshixiang
2025-06-08 00:45:25 +08:00
parent 4c1c8b1924
commit 07b7835a83
2 changed files with 18 additions and 10 deletions
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3
test/experiments/plr_test_converted.json
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@@ -5756,7 +5756,8 @@
"plate_well_D12",
"plate_well_E12",
"plate_well_F12",
"plate_well_G12"
"plate_well_G12",
"plate_well_H12"
],
"parent": "deck",
"type": "plate",

25
unilabos/ros/nodes/presets/resource_mesh_manager.py
View File

@@ -392,6 +392,8 @@ class ResourceMeshManager(BaseROS2DeviceNode):
planning_scene.is_diff = True
planning_scene.robot_state.is_diff = True
time_start = self.get_clock().now()
count = 0
for resource_id, target_parent in cmd_dict.items():
parent_id = target_parent
if target_parent == '__trash':
@@ -453,15 +455,20 @@ class ResourceMeshManager(BaseROS2DeviceNode):
collision_object.link_name = target_parent
planning_scene.robot_state.attached_collision_objects.append(collision_object)
# collision_object = AttachedCollisionObject(
# link_name=target_parent,
# object=CollisionObject(
# id=resource_id,
# operation=CollisionObject.ADD
# )
# )
# self.__planning_scene.robot_state.attached_collision_objects.append(collision_object)
count += 1
if count > 30:
req = ApplyPlanningScene.Request()
req.scene = planning_scene
self.publish_resource_tf()
self._apply_planning_scene_service.call(req)
self.__planning_scene_publisher.publish(planning_scene)
count = 0
planning_scene = PlanningScene()
planning_scene.is_diff = True
planning_scene.robot_state.is_diff = True
req = ApplyPlanningScene.Request()
req.scene = planning_scene
self.publish_resource_tf()