remove parent's parent link

unilabos/device_mesh/resource_visalization.py

@@ -125,8 +125,13 @@ class ResourceVisualization:
                         new_dev.set("parent_link", "world")
                         new_dev.set("mesh_path", str(self.mesh_path))
                         new_dev.set("device_name", node["id"]+"_")
-                        if node["parent"] is not None:
-                            new_dev.set("station_name", node["parent"]+'_')
+                        # if node["parent"] is not None:
+                        #     new_dev.set("station_name", node["parent"]+'_')
+
+                        print('o'*20)
+                        node["parent"]
+                        node["id"]
+                        print('o'*20)
                         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))

unilabos/devices/ros_dev/lh_joint_config.json

@@ -15,7 +15,7 @@
         "y":{
             "first_joint":{
             "factor":-0.001,
-            "offset":0.163
+            "offset":0.166
             }
         },
         "x":{

unilabos/devices/ros_dev/liquid_handler_joint_publisher.py

@@ -57,7 +57,8 @@ class LiquidHandlerJointPublisher(BaseROS2DeviceNode):
             if resource['class'] == 'liquid_handler':
                 deck_id = resource['config']['data']['children'][0]['_resource_child_name']
                 deck_class = resource['config']['data']['children'][0]['_resource_type'].split(':')[-1]
-                key = f'{resource["id"]}_{deck_id}'
+                key = f'{deck_id}'
+                # key = f'{resource["id"]}_{deck_id}'
                 self.lh_devices[key] = {
                     'joint_msg':JointState(
                         name=[f'{key}_{x}' for x in joint_config[deck_class]['joint_names']],
@@ -67,7 +68,9 @@ class LiquidHandlerJointPublisher(BaseROS2DeviceNode):
                 }
                 self.deck_list.append(deck_id)
 
-
+        print('='*20)
+        print(self.lh_devices)
+        print('='*20)
         self.j_action       = ActionServer(
             self,
             SendCmd,
@@ -103,7 +106,7 @@ class LiquidHandlerJointPublisher(BaseROS2DeviceNode):
         try:
             if parent_id in self.deck_list:
                 p_ = self.resources_config[parent_id]['parent']
-                str_ = f'{p_}_{parent_id}'
+                str_ = f'{parent_id}'
                 return str(str_)
             else:
                 return self.find_resource_parent(parent_id)
@@ -215,6 +218,10 @@ class LiquidHandlerJointPublisher(BaseROS2DeviceNode):
         
         parent_id = self.find_resource_parent(resource_name_)
 
+
+        print('!'*20)
+        print(parent_id)
+        print('!'*20)
         if x_joint is None:
             xa,xb = next(iter(self.lh_devices[parent_id]['joint_config']['x'].items()))
             x_joint_config = {xa:xb}

unilabos/ros/nodes/presets/resource_mesh_manager.py

@@ -190,7 +190,8 @@ class ResourceMeshManager(BaseROS2DeviceNode):
 
                 pass
             elif parent is not None and resource_id in self.resource_model:
-                parent_link = f"{self.resource_config_dict[parent]['parent']}_{parent}_device_link".replace("None_","")
+                # parent_link = f"{self.resource_config_dict[parent]['parent']}_{parent}_device_link".replace("None_","")
+                parent_link = f"{parent}_device_link".replace("None_","")
 
             else: