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feat: add outer resource

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This commit is contained in:
wznln
2025-05-06 21:57:34 +08:00
parent de28c50d8b
commit ed2858a610
4 changed files with 35 additions and 67 deletions
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5
test/commands/resource_add.md Normal file
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@@ -0,0 +1,5 @@
使用plr_test.json启动，将Well加入Plate中
```bash
ros2 action send_goal /devices/host_node/add_resource_from_outer unilabos_msgs/action/_resource_create_from_outer/ResourceCreateFromOuter "{ resources: [ { 'category': '', 'children': [], 'config': { 'type': 'Well', 'size_x': 6.86, 'size_y': 6.86, 'size_z': 10.67, 'rotation': { 'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation' }, 'category': 'well', 'model': null, 'max_volume': 360, 'material_z_thickness': 0.5, 'compute_volume_from_height': null, 'compute_height_from_volume': null, 'bottom_type': 'flat', 'cross_section_type': 'circle' }, 'data': { 'liquids': [], 'pending_liquids': [], 'liquid_history': [] }, 'id': 'plate_well_11_7', 'name': 'plate_well_11_7', 'pose': { 'orientation': { 'w': 1.0, 'x': 0.0, 'y': 0.0, 'z': 0.0 }, 'position': { 'x': 0.0, 'y': 0.0, 'z': 0.0 } }, 'sample_id': '', 'parent': 'plate', 'type': 'device' } ], device_ids: [ 'PLR_STATION' ], bind_parent_ids: [ 'plate' ], bind_locations: [ { 'x': 0.0, 'y': 0.0, 'z': 0.0 } ], other_calling_params: [ '{}' ] }"
```

42
test/experiments/plr_test.json
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@@ -6679,8 +6679,7 @@
"plate_well_11_3",
"plate_well_11_4",
"plate_well_11_5",
"plate_well_11_6",
"plate_well_11_7"
"plate_well_11_6"
],
"parent": "deck",
"type": "device",
@@ -10508,45 +10507,6 @@
"pending_liquids": [],
"liquid_history": []
}
},
{
"id": "plate_well_11_7",
"name": "plate_well_11_7",
"sample_id": null,
"children": [],
"parent": "plate",
"type": "device",
"class": "",
"position": {
"x": 109.87,
"y": 7.77,
"z": 3.03
},
"config": {
"type": "Well",
"size_x": 6.86,
"size_y": 6.86,
"size_z": 10.67,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "well",
"model": null,
"max_volume": 360,
"material_z_thickness": 0.5,
"compute_volume_from_height": null,
"compute_height_from_volume": null,
"bottom_type": "flat",
"cross_section_type": "circle"
},
"data": {
"liquids": [],
"pending_liquids": [],
"liquid_history": []
}
}
],
"links": []