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Resource dict fully change to "pose" key

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Xuwznln
2025-12-02 03:45:16 +08:00
parent e13b250632
commit 5551fbf360
9 changed files with 71 additions and 68 deletions
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8
unilabos/ros/nodes/resource_tracker.py
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@@ -62,7 +62,6 @@ class ResourceDict(BaseModel):
parent: Optional["ResourceDict"] = Field(description="Parent resource object", default=None, exclude=True)
type: Union[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")
@@ -146,15 +145,16 @@ class ResourceDictInstance(object):
if not content.get("extra"): # MagicCode
content["extra"] = {}
if "pose" not in content:
content["pose"] = content.get("position", {})
content["pose"] = content.pop("position", {})
return ResourceDictInstance(ResourceDict.model_validate(content))
def get_nested_dict(self) -> Dict[str, Any]:
def get_plr_nested_dict(self) -> Dict[str, Any]:
"""获取资源实例的嵌套字典表示"""
res_dict = self.res_content.model_dump(by_alias=True)
res_dict["children"] = {child.res_content.id: child.get_nested_dict() for child in self.children}
res_dict["children"] = {child.res_content.id: child.get_plr_nested_dict() for child in self.children}
res_dict["parent"] = self.res_content.parent_instance_name
res_dict["position"] = self.res_content.position.position.model_dump()
del res_dict["pose"]
return res_dict