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使用json启动plr与3D模型仿真

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zhangshixiang
2025-04-29 10:08:34 +08:00
parent ff8b75bf1f
commit bdf97be256
8 changed files with 150 additions and 620 deletions
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6
unilabos/app/main.py
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@@ -122,6 +122,7 @@ def main():
args_dict["resources_config"] = initialize_resources(list(deepcopy(devices_and_resources).values()))
args_dict["devices_config"] = dict_to_nested_dict(deepcopy(devices_and_resources), devices_only=False)
# args_dict["resources_config"] = dict_to_tree(devices_and_resources, devices_only=False)
args_dict["graph"] = graph_res.physical_setup_graph
else:
if args_dict["devices"] is None or args_dict["resources"] is None:
@@ -159,9 +160,10 @@ def main():
if args_dict["visual"] != "None":
if args_dict["visual"] == "rviz":
resource_visualization = ResourceVisualization(args_dict["devices_config"], args_dict["resources_config"],registry_dict)
enable_rviz=True
elif args_dict["visual"] == "web":
resource_visualization = ResourceVisualization(args_dict["devices_config"], args_dict["resources_config"],registry_dict,enable_rviz=False )
enable_rviz=False
resource_visualization = ResourceVisualization(devices_and_resources, args_dict["resources_config"],registry_dict,enable_rviz=enable_rviz)
devices_config_add = add_resource_mesh_manager_node(resource_visualization.resource_model, args_dict["resources_config"])
args_dict["devices_config"] = {**args_dict["devices_config"], **devices_config_add}