Merge branch 'dev' into pr/169 and fix conflicts

unilabos/resources/graphio.py

@@ -13,7 +13,7 @@ from unilabos.config.config import BasicConfig
 from unilabos.resources.container import RegularContainer
 from unilabos.resources.itemized_carrier import ItemizedCarrier, BottleCarrier
 from unilabos.ros.msgs.message_converter import convert_to_ros_msg
-from unilabos.ros.nodes.resource_tracker import (
+from unilabos.resources.resource_tracker import (
     ResourceDictInstance,
     ResourceTreeSet,
 )
@@ -134,7 +134,7 @@ def canonicalize_nodes_data(
             parent_instance.children.append(current_instance)
 
     # 第五步：创建 ResourceTreeSet
-    resource_tree_set = ResourceTreeSet.from_nested_list(standardized_instances)
+    resource_tree_set = ResourceTreeSet.from_nested_instance_list(standardized_instances)
     return resource_tree_set
 
 

unilabos/resources/itemized_carrier.py

@@ -149,6 +149,7 @@ class ItemizedCarrier(ResourcePLR):
 
     if not reassign and self.sites[idx] is not None:
       raise ValueError(f"a site with index {idx} already exists")
+    location = list(self.child_locations.values())[idx]
     super().assign_child_resource(resource, location=location, reassign=reassign)
     self.sites[idx] = resource