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fix tip resource data

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This commit is contained in:
zhangshixiang
2025-06-08 21:50:43 +08:00
parent e6f927a23c
commit d2782943b4
2 changed files with 230 additions and 229 deletions
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455
test/experiments/plr_test_converted.json
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@@ -210,14 +210,14 @@
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@@ -229,19 +229,19 @@
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@@ -250,10 +250,10 @@
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@@ -285,19 +285,19 @@
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@@ -306,10 +306,10 @@
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@@ -341,19 +341,19 @@
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@@ -397,19 +397,19 @@
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@@ -474,10 +474,10 @@
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"total_tip_length": 39.2,
"total_tip_length": 88,
"has_filter": true,
"maximal_volume": 20.0,
"fitting_depth": 3.29
"maximal_volume": 1000.0,
"fitting_depth": 7.95
},
"tip_state": {
"liquids": [],
@@ -1090,15 +1090,13 @@
},
"pending_tip": {
"type": "Tip",
"total_tip_length": 39.2,
"total_tip_length": 88,
"has_filter": true,
"maximal_volume": 20.0,
"fitting_depth": 3.29
"maximal_volume": 1000.0,
"fitting_depth": 7.95
}
}
},
{
"id": "plate_well",
"name": "plate_well",
@@ -1555,8 +1553,6 @@
"liquid_history": []
}
},
{
"id": "plate_well_A11",
"name": "plate_well_A11",
@@ -1869,12 +1865,10 @@
"liquid_history": []
}
},
{
"id": "benyao",
"name": "benyao",
"children": [
],
"children": [],
"parent": null,
"type": "device",
"class": "moveit.benyao_arm",
@@ -1887,8 +1881,20 @@
"moveit_type": "benyao_arm",
"joint_poses": {
"arm": {
"hotel_1": [1.05, 0.568, -1.0821, 0.0, 1.0821],
"home": [0.865, 0.09, 0.8727, 0.0, -0.8727]
"hotel_1": [
1.05,
0.568,
-1.0821,
0.0,
1.0821
],
"home": [
0.865,
0.09,
0.8727,
0.0,
-0.8727
]
}
},
"rotation": {
@@ -1897,17 +1903,14 @@
"z": -1.5708,
"type": "Rotation"
},
"device_config": {
}
"device_config": {}
},
"data": {
}
"data": {}
},
{
"id": "hotel",
"name": "hotel",
"children": [
],
"children": [],
"parent": null,
"type": "device",
"class": "hotel.thermo_orbitor_rs2_hotel",
@@ -1923,11 +1926,9 @@
"z": 0,
"type": "Rotation"
},
"device_config": {
}
"device_config": {}
},
"data": {
}
"data": {}
}
],
"links": []

4
unilabos/ros/main_slave_run.py
View File

@@ -80,11 +80,11 @@ def main(
'joint_republisher',
host_node.resource_tracker
)
lh_joint_pub = LiquidHandlerJointPublisher(resources_config=resources_config, resource_tracker=host_node.resource_tracker)
executor.add_node(lh_joint_pub)
executor.add_node(resource_mesh_manager)
executor.add_node(joint_republisher)
lh_joint_pub = LiquidHandlerJointPublisher(resources_config=resources_config, resource_tracker=host_node.resource_tracker)
executor.add_node(lh_joint_pub)
thread = threading.Thread(target=executor.spin, daemon=True, name="host_executor_thread")
thread.start()