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zhangshixiang
2025-06-09 08:46:17 +08:00
parent 07b9ac9acd
commit 4fb9d9ce8b
2 changed files with 3 additions and 1 deletions
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1
unilabos/devices/ros_dev/liquid_handler_joint_publisher.py
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@@ -243,6 +243,7 @@ class LiquidHandlerJointPublisher(BaseROS2DeviceNode):
self.move_to(joint_positions_target_zero, speed, parent_id) self.move_to(joint_positions_target_zero, speed, parent_id)
self.move_to(joint_positions_target, speed, parent_id) self.move_to(joint_positions_target, speed, parent_id)
time.sleep(1)
if option == "pick": if option == "pick":
link_name = self.lh_devices[parent_id]['joint_config']['link_names'][z_index] link_name = self.lh_devices[parent_id]['joint_config']['link_names'][z_index]
link_name = f'{parent_id}_{link_name}' link_name = f'{parent_id}_{link_name}'

3
unilabos/ros/nodes/presets/resource_mesh_manager.py
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@@ -391,7 +391,8 @@ class ResourceMeshManager(BaseROS2DeviceNode):
planning_scene = PlanningScene() planning_scene = PlanningScene()
planning_scene.is_diff = True planning_scene.is_diff = True
planning_scene.robot_state.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 count = 0
for resource_id, target_parent in cmd_dict.items(): for resource_id, target_parent in cmd_dict.items():