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fix tip resource data

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zhangshixiang
2025-06-09 02:20:09 +08:00
parent 18feea13dc
commit bbd873085c
3 changed files with 263 additions and 7980 deletions
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8238
test/experiments/plr_test_converted.json
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1
unilabos/ros/main_slave_run.py
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@@ -125,6 +125,7 @@ def slave(
executor.add_node(n) executor.add_node(n)
if visual != "disable": if visual != "disable":
from unilabos.ros.nodes.presets.joint_republisher import JointRepublisher
resource_mesh_manager = ResourceMeshManager( resource_mesh_manager = ResourceMeshManager(
resources_mesh_config, resources_mesh_config,
resources_config, resources_config,

4
unilabos/ros/msgs/message_converter.py
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@@ -131,7 +131,7 @@ _msg_converter: Dict[Type, Any] = {
Bool: lambda x: Bool(data=bool(x)), Bool: lambda x: Bool(data=bool(x)),
str: str, str: str,
String: lambda x: String(data=str(x)), String: lambda x: String(data=str(x)),
Point: lambda x: Point(x=x.x, y=x.y, z=x.z) if not isinstance(x, dict) else Point(x=x.get("x", 0), y=x.get("y", 0), z=x.get("z", 0)), Point: lambda x: Point(x=x.x, y=x.y, z=x.z) if not isinstance(x, dict) else Point(x=x.get("x", 0.0), y=x.get("y", 0.0), z=x.get("z", 0.0)),
Resource: lambda x: Resource( Resource: lambda x: Resource(
id=x.get("id", ""), id=x.get("id", ""),
name=x.get("name", ""), name=x.get("name", ""),
@@ -141,7 +141,7 @@ _msg_converter: Dict[Type, Any] = {
type=x.get("type", ""), type=x.get("type", ""),
category=x.get("class", "") or x.get("type", ""), category=x.get("class", "") or x.get("type", ""),
pose=( pose=(
Pose(position=Point(x=float(x.get("position", {}).get("x", 0)), y=float(x.get("position", {}).get("y", 0)), z=float(x.get("position", {}).get("z", 0)))) Pose(position=Point(x=float(x.get("position", {}).get("x", 0.0)), y=float(x.get("position", {}).get("y", 0.0)), z=float(x.get("position", {}).get("z", 0.0))))
if x.get("position", None) is not None if x.get("position", None) is not None
else Pose() else Pose()
), ),