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修改根据新的物料格式，修改可视化

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zhangshixiang
2025-12-10 15:10:53 +08:00
parent 896f287d92
commit 8ba911bb55
2 changed files with 16 additions and 9 deletions
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15
unilabos/device_mesh/resource_visalization.py
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@@ -128,14 +128,21 @@ class ResourceVisualization:
new_dev.set("device_name", node["id"]+"_")
# if node["parent"] is not None:
# new_dev.set("station_name", node["parent"]+'_')
new_dev.set("x",str(float(node["position"]["position"]["x"])/1000))
new_dev.set("y",str(float(node["position"]["position"]["y"])/1000))
new_dev.set("z",str(float(node["position"]["position"]["z"])/1000))
if "position" in node:
new_dev.set("x",str(float(node["position"]["position"]["x"])/1000))
new_dev.set("y",str(float(node["position"]["position"]["y"])/1000))
new_dev.set("z",str(float(node["position"]["position"]["z"])/1000))
if "rotation" in node["config"]:
new_dev.set("rx",str(float(node["config"]["rotation"]["x"])))
new_dev.set("ry",str(float(node["config"]["rotation"]["y"])))
new_dev.set("r",str(float(node["config"]["rotation"]["z"])))
if "pose" in node:
new_dev.set("x",str(float(node["pose"]["position"]["x"])/1000))
new_dev.set("y",str(float(node["pose"]["position"]["y"])/1000))
new_dev.set("z",str(float(node["pose"]["position"]["z"])/1000))
new_dev.set("rx",str(float(node["pose"]["rotation"]["x"])))
new_dev.set("ry",str(float(node["pose"]["rotation"]["y"])))
new_dev.set("r",str(float(node["pose"]["rotation"]["z"])))
if "device_config" in node["config"]:
for key, value in node["config"]["device_config"].items():
new_dev.set(key, str(value))

10
unilabos/ros/nodes/presets/resource_mesh_manager.py
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@@ -203,9 +203,9 @@ class ResourceMeshManager(BaseROS2DeviceNode):
continue
# 提取位置信息并转换单位
position = {
"x": float(resource_config['position']['position']['x'])/1000,
"y": float(resource_config['position']['position']['y'])/1000,
"z": float(resource_config['position']['position']['z'])/1000
"x": float(resource_config['pose']['position']['x'])/1000,
"y": float(resource_config['pose']['position']['y'])/1000,
"z": float(resource_config['pose']['position']['z'])/1000
}
rotation_dict = {
@@ -214,8 +214,8 @@ class ResourceMeshManager(BaseROS2DeviceNode):
"z": 0
}
if 'rotation' in resource_config['position']:
rotation_dict = resource_config['position']['rotation']
if 'rotation' in resource_config['pose']:
rotation_dict = resource_config['pose']['rotation']
# 从欧拉角转换为四元数
q = quaternion_from_euler(