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Update ResourceTracker

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add more enumeration in POSE

fix converter in resource_tracker
This commit is contained in:
Junhan Chang
2025-10-18 16:22:30 +08:00
committed by Xuwznln
parent bc30f23e34
commit 37ee43d19a
2 changed files with 91 additions and 7 deletions
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30
unilabos/ros/nodes/resource_tracker.py
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@@ -32,7 +32,7 @@ class ResourceDictPositionObject(BaseModel):
class ResourceDictPosition(BaseModel):
size: ResourceDictPositionSize = Field(description="Resource size", default_factory=ResourceDictPositionSize)
scale: ResourceDictPositionScale = Field(description="Resource scale", default_factory=ResourceDictPositionScale)
layout: Literal["2d"] = Field(description="Resource layout", default="2d")
layout: Literal["2d", "x-y", "z-y", "x-z"] = Field(description="Resource layout", default="x-y")
position: ResourceDictPositionObject = Field(
description="Resource position", default_factory=ResourceDictPositionObject
)
@@ -42,6 +42,7 @@ class ResourceDictPosition(BaseModel):
rotation: ResourceDictPositionObject = Field(
description="Resource rotation", default_factory=ResourceDictPositionObject
)
cross_section_type: Literal["rectangle", "circle", "rounded_rectangle"] = Field(description="Cross section type", default="rectangle")
# 统一的资源字典模型，parent 自动序列化为 parent_uuid，children 不序列化
@@ -58,6 +59,7 @@ class ResourceDict(BaseModel):
type: Literal["device"] | str = Field(description="Resource type")
klass: str = Field(alias="class", description="Resource class name")
position: ResourceDictPosition = Field(description="Resource position", default_factory=ResourceDictPosition)
pose: ResourceDictPosition = Field(description="Resource position", default_factory=ResourceDictPosition)
config: Dict[str, Any] = Field(description="Resource configuration")
data: Dict[str, Any] = Field(description="Resource data")
@@ -136,6 +138,8 @@ class ResourceDictInstance(object):
content["config"] = {}
if not content.get("data"):
content["data"] = {}
if "pose" not in content:
content["pose"] = content.get("position", {})
return ResourceDictInstance(ResourceDict.model_validate(content))
def get_nested_dict(self) -> Dict[str, Any]:
@@ -330,6 +334,20 @@ class ResourceTreeSet(object):
) -> ResourceDictInstance:
current_uuid = uuids.pop(0)
raw_pos = (
{"x": d["location"]["x"], "y": d["location"]["y"], "z": d["location"]["z"]}
if d["location"]
else {"x": 0, "y": 0, "z": 0}
)
pos = {
"size": {"width": d["size_x"], "height": d["size_y"], "depth": d["size_z"]},
"scale": {"x": 1.0, "y": 1.0, "z": 1.0},
"position": raw_pos,
"position3d": raw_pos,
"rotation": d["rotation"],
"cross_section_type": d.get("cross_section_type", "rectangle"),
}
# 先构建当前节点的字典（不包含children）
r_dict = {
"id": d["name"],
@@ -338,12 +356,10 @@ class ResourceTreeSet(object):
"parent": parent_resource, # 直接传入 ResourceDict 对象
"type": replace_plr_type(d.get("category", "")),
"class": d.get("class", ""),
"position": (
{"x": d["location"]["x"], "y": d["location"]["y"], "z": d["location"]["z"]}
if d["location"]
else {"x": 0, "y": 0, "z": 0}
),
"config": {k: v for k, v in d.items() if k not in ["name", "children", "parent_name", "location"]},
"position": pos,
"pose": pos,
"config": {k: v for k, v in d.items() if k not in
["name", "children", "parent_name", "location", "rotation", "size_x", "size_y", "size_z", "cross_section_type", "bottom_type"]},
"data": states[d["name"]],
}