From 4fb9d9ce8bcf54fc6d42c350a5839312b2f25670 Mon Sep 17 00:00:00 2001
From: zhangshixiang <@zhangshixiang>
Date: Mon, 9 Jun 2025 08:46:17 +0800
Subject: [PATCH] add

---
 unilabos/devices/ros_dev/liquid_handler_joint_publisher.py | 1 +
 unilabos/ros/nodes/presets/resource_mesh_manager.py        | 3 ++-
 2 files changed, 3 insertions(+), 1 deletion(-)

diff --git a/unilabos/devices/ros_dev/liquid_handler_joint_publisher.py b/unilabos/devices/ros_dev/liquid_handler_joint_publisher.py
index c265675..5075e15 100644
--- a/unilabos/devices/ros_dev/liquid_handler_joint_publisher.py
+++ b/unilabos/devices/ros_dev/liquid_handler_joint_publisher.py
@@ -243,6 +243,7 @@ class LiquidHandlerJointPublisher(BaseROS2DeviceNode):
 
         self.move_to(joint_positions_target_zero, speed, parent_id)
         self.move_to(joint_positions_target, speed, parent_id)
+        time.sleep(1)
         if option == "pick":
             link_name =  self.lh_devices[parent_id]['joint_config']['link_names'][z_index]
             link_name =  f'{parent_id}_{link_name}'
diff --git a/unilabos/ros/nodes/presets/resource_mesh_manager.py b/unilabos/ros/nodes/presets/resource_mesh_manager.py
index c797534..f453fe1 100644
--- a/unilabos/ros/nodes/presets/resource_mesh_manager.py
+++ b/unilabos/ros/nodes/presets/resource_mesh_manager.py
@@ -391,7 +391,8 @@ class ResourceMeshManager(BaseROS2DeviceNode):
             planning_scene = PlanningScene()
             planning_scene.is_diff = True
             planning_scene.robot_state.is_diff = True
-            time_start = self.get_clock().now()
+            # time_start = self.get_clock().now()
+            time_start = rclpy.time.Time(seconds=0)
             count = 0
 
             for resource_id, target_parent in cmd_dict.items():