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Merge branch 'main' into 24-high-level-liquidhandler

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Xuwznln
2025-05-16 19:44:53 +08:00
committed by GitHub
parent c04202c6e0 133dbf77bb
commit 1ca7d4912b
6 changed files with 46 additions and 6 deletions
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9
unilabos/registry/registry.py
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@@ -188,8 +188,13 @@ class Registry:
action_config["type"] = self._replace_type_with_class(
action_config["type"], device_id, f"动作 {action_name}"
)
action_config["goal_default"] = yaml.safe_load(io.StringIO(get_yaml_from_goal_type(action_config["type"].Goal)))
action_config["schema"] = ros_action_to_json_schema(action_config["type"])
if action_config["type"] is not None:
action_config["goal_default"] = yaml.safe_load(io.StringIO(get_yaml_from_goal_type(action_config["type"].Goal)))
action_config["schema"] = ros_action_to_json_schema(action_config["type"])
else:
logger.warning(
f"[UniLab Registry] 设备 {device_id} 的动作 {action_name} 类型为空，跳过替换"
)
self.device_type_registry.update(data)