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Support root node change pos

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This commit is contained in:
Xuwznln
2026-02-02 12:03:19 +08:00
parent dadfdf3d8d
commit ccec6b9d77
2 changed files with 7 additions and 0 deletions
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4
unilabos/resources/resource_tracker.py
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@@ -520,6 +520,10 @@ class ResourceTreeSet(object):
if "category" not in spec.parameters: if "category" not in spec.parameters:
plr_dict.pop("category", None) plr_dict.pop("category", None)
plr_resource = sub_cls.deserialize(plr_dict, allow_marshal=True) plr_resource = sub_cls.deserialize(plr_dict, allow_marshal=True)
from pylabrobot.resources import Coordinate
from pylabrobot.serializer import deserialize
location = cast(Coordinate, deserialize(plr_dict["location"]))
plr_resource.location = location
plr_resource.load_all_state(all_states) plr_resource.load_all_state(all_states)
# 使用 DeviceNodeResourceTracker 设置 UUID 和 Extra # 使用 DeviceNodeResourceTracker 设置 UUID 和 Extra
tracker.loop_set_uuid(plr_resource, name_to_uuid) tracker.loop_set_uuid(plr_resource, name_to_uuid)

3
unilabos/ros/nodes/base_device_node.py
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@@ -884,6 +884,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
parent_appended = True parent_appended = True
# 加载状态 # 加载状态
original_instance.location = plr_resource.location
original_instance.rotation = plr_resource.rotation
original_instance.barcode = plr_resource.barcode
original_instance.load_all_state(states) original_instance.load_all_state(states)
child_count = len(original_instance.get_all_children()) child_count = len(original_instance.get_all_children())
self.lab_logger().info( self.lab_logger().info(