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fix: missing ot

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wznln
2025-05-01 17:53:47 +08:00
parent fa5db06347
commit 78239ab1a3
1 changed files with 14 additions and 22 deletions
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36
unilabos/device_mesh/resource_visalization.py
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@@ -50,7 +50,6 @@ class ResourceVisualization:
for node in device.values(): for node in device.values():
if node['type'] == 'device' and node['class'] != '': if node['type'] == 'device' and node['class'] != '':
device_class = node['class'] device_class = node['class']
# 检查设备类型是否在注册表中 # 检查设备类型是否在注册表中
if device_class not in registry.device_type_registry.keys(): if device_class not in registry.device_type_registry.keys():
print("="*20) print("="*20)
@@ -58,27 +57,8 @@ class ResourceVisualization:
print(registry.device_type_registry.keys()) print(registry.device_type_registry.keys())
print("="*20) print("="*20)
raise ValueError(f"设备类型 {device_class} 未在注册表中注册") raise ValueError(f"设备类型 {device_class} 未在注册表中注册")
elif "model" in registry.device_type_registry[device_class].keys():
model_config = registry.device_type_registry[device_class]['model']
if model_config['type'] == 'device':
new_include = etree.SubElement(self.root, f"{{{xacro_uri}}}include")
new_include.set("filename", f"{str(self.mesh_path)}/devices/{model_config['mesh']}/macro_device.xacro")
new_dev = etree.SubElement(self.root, f"{{{xacro_uri}}}{model_config['mesh']}")
new_dev.set("parent_link", "world")
new_dev.set("mesh_path", str(self.mesh_path))
new_dev.set("device_name", node["id"]+"_")
new_dev.set("x",str(float(node["position"]["x"])/1000))
new_dev.set("y",str(float(node["position"]["y"])/1000))
new_dev.set("z",str(float(node["position"]["z"])/1000))
if "rotation" in node["config"]:
new_dev.set("r",str(float(node["config"]["rotation"]["z"])/1000))
elif node['type'] in self.resource_type: elif node['type'] in self.resource_type:
# print(registry.resource_type_registry) # print(registry.resource_type_registry)
resource_class = node['class'] resource_class = node['class']
if resource_class not in registry.resource_type_registry.keys(): if resource_class not in registry.resource_type_registry.keys():
raise ValueError(f"资源类型 {resource_class} 未在注册表中注册") raise ValueError(f"资源类型 {resource_class} 未在注册表中注册")
@@ -93,8 +73,20 @@ class ResourceVisualization:
'mesh': f"{str(self.mesh_path)}/resources/{model_config['children_mesh']}", 'mesh': f"{str(self.mesh_path)}/resources/{model_config['children_mesh']}",
'mesh_tf': model_config['children_mesh_tf'] 'mesh_tf': model_config['children_mesh_tf']
} }
elif model_config['type'] == 'device':
new_include = etree.SubElement(self.root, f"{{{xacro_uri}}}include")
new_include.set("filename", f"{str(self.mesh_path)}/devices/{model_config['mesh']}/macro_device.xacro")
new_dev = etree.SubElement(self.root, f"{{{xacro_uri}}}{model_config['mesh']}")
new_dev.set("parent_link", "world")
new_dev.set("mesh_path", str(self.mesh_path))
new_dev.set("device_name", node["id"]+"_")
new_dev.set("x",str(float(node["position"]["x"])/1000))
new_dev.set("y",str(float(node["position"]["y"])/1000))
new_dev.set("z",str(float(node["position"]["z"])/1000))
if "rotation" in node["config"]:
new_dev.set("r",str(float(node["config"]["rotation"]["z"])/1000))
else:
print("错误的注册表类型！")
re = etree.tostring(self.root, encoding="unicode") re = etree.tostring(self.root, encoding="unicode")
doc = xacro.parse(re) doc = xacro.parse(re)
xacro.process_doc(doc) xacro.process_doc(doc)