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修复transfer_resource_to_another生成

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This commit is contained in:
Xuwznln
2025-10-11 01:12:56 +08:00
parent 1f49924966
commit df33e1a214
4 changed files with 46 additions and 46 deletions
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8
unilabos/devices/workstation/bioyond_studio/station.py
View File

@@ -155,11 +155,11 @@ class BioyondWorkstation(WorkstationBase):
"resources": [self.deck]
})
def transfer_resource_to_another(self, resource_a: ResourceSlot, device_id: DeviceSlot, resource_b: ResourceSlot):
def transfer_resource_to_another(self, resource: ResourceSlot, mount_device_id: DeviceSlot, mount_resource: ResourceSlot):
ROS2DeviceNode.run_async_func(self._ros_node.transfer_resource_to_another, True, **{
"plr_resources": [resource_a],
"target_device_id": device_id,
"target_resource_uuid": getattr(resource_b, "unilabos_uuid", None),
"plr_resources": [resource],
"target_device_id": mount_device_id,
"target_resource_uuid": getattr(mount_resource, "unilabos_uuid", None),
})
def _configure_station_type(self, station_config: Optional[Dict[str, Any]] = None) -> None:

28
unilabos/registry/devices/dispensing_station_bioyond.yaml
View File

@@ -886,14 +886,14 @@ dispensing_station.bioyond:
feedback: {}
goal: {}
goal_default:
device_id: null
resource_a: null
resource_b: null
mount_device_id: null
mount_resource: null
resource: null
handles: {}
placeholder_keys:
device_id: unilabos_devices
resource_a: unilabos_resources
resource_b: unilabos_resources
mount_device_id: unilabos_devices
mount_resource: unilabos_resources
resource: unilabos_resources
result: {}
schema:
description: ''
@@ -901,9 +901,9 @@ dispensing_station.bioyond:
feedback: {}
goal:
properties:
device_id:
mount_device_id:
type: object
resource_a:
mount_resource:
properties:
category:
type: string
@@ -974,9 +974,9 @@ dispensing_station.bioyond:
- pose
- config
- data
title: resource_a
title: mount_resource
type: object
resource_b:
resource:
properties:
category:
type: string
@@ -1047,12 +1047,12 @@ dispensing_station.bioyond:
- pose
- config
- data
title: resource_b
title: resource
type: object
required:
- resource_a
- device_id
- resource_b
- resource
- mount_device_id
- mount_resource
type: object
result: {}
required:

28
unilabos/registry/devices/reaction_station_bioyond.yaml
View File

@@ -880,14 +880,14 @@ reaction_station.bioyond:
feedback: {}
goal: {}
goal_default:
device_id: null
resource_a: null
resource_b: null
mount_device_id: null
mount_resource: null
resource: null
handles: {}
placeholder_keys:
device_id: unilabos_devices
resource_a: unilabos_resources
resource_b: unilabos_resources
mount_device_id: unilabos_devices
mount_resource: unilabos_resources
resource: unilabos_resources
result: {}
schema:
description: ''
@@ -895,9 +895,9 @@ reaction_station.bioyond:
feedback: {}
goal:
properties:
device_id:
mount_device_id:
type: object
resource_a:
mount_resource:
properties:
category:
type: string
@@ -968,9 +968,9 @@ reaction_station.bioyond:
- pose
- config
- data
title: resource_a
title: mount_resource
type: object
resource_b:
resource:
properties:
category:
type: string
@@ -1041,12 +1041,12 @@ reaction_station.bioyond:
- pose
- config
- data
title: resource_b
title: resource
type: object
required:
- resource_a
- device_id
- resource_b
- resource
- mount_device_id
- mount_resource
type: object
result: {}
required:

28
unilabos/registry/devices/work_station.yaml
View File

@@ -7131,14 +7131,14 @@ workstation.bioyond:
feedback: {}
goal: {}
goal_default:
device_id: null
resource_a: null
resource_b: null
mount_device_id: null
mount_resource: null
resource: null
handles: {}
placeholder_keys:
device_id: unilabos_devices
resource_a: unilabos_resources
resource_b: unilabos_resources
mount_device_id: unilabos_devices
mount_resource: unilabos_resources
resource: unilabos_resources
result: {}
schema:
description: ''
@@ -7146,9 +7146,9 @@ workstation.bioyond:
feedback: {}
goal:
properties:
device_id:
mount_device_id:
type: object
resource_a:
mount_resource:
properties:
category:
type: string
@@ -7219,9 +7219,9 @@ workstation.bioyond:
- pose
- config
- data
title: resource_a
title: mount_resource
type: object
resource_b:
resource:
properties:
category:
type: string
@@ -7292,12 +7292,12 @@ workstation.bioyond:
- pose
- config
- data
title: resource_b
title: resource
type: object
required:
- resource_a
- device_id
- resource_b
- resource
- mount_device_id
- mount_resource
type: object
result: {}
required: