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fix container volume

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update materials

更新prcxi deck & 新增 unilabos_resource_slot

new workflow & prcxi slot removal

fix size change
This commit is contained in:
Xuwznln
2026-03-02 15:52:28 +08:00
parent 06b6f0d804
commit a79c0a88bf
10 changed files with 593 additions and 830 deletions
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32
unilabos/ros/nodes/base_device_node.py
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@@ -915,8 +915,24 @@ class BaseROS2DeviceNode(Node, Generic[T]):
else []
)
if target_site is not None and sites is not None and site_names is not None:
site_index = sites.index(original_instance)
site_name = site_names[site_index]
site_index = None
try:
# sites 可能是 Resource 列表或 dict 列表 (如 PRCXI9300Deck)
# 只有itemized_carrier在使用，准备弃用
site_index = sites.index(original_instance)
except ValueError:
# dict 类型的 sites: 通过name匹配
for idx, site in enumerate(sites):
if original_instance.name == site["occupied_by"]:
site_index = idx
break
elif (original_instance.location.x == site["position"]["x"] and original_instance.location.y == site["position"]["y"] and original_instance.location.z == site["position"]["z"]):
site_index = idx
break
if site_index is None:
site_name = None
else:
site_name = site_names[site_index]
if site_name != target_site:
parent = self.transfer_to_new_resource(original_instance, tree, additional_add_params)
if parent is not None:
@@ -924,6 +940,14 @@ class BaseROS2DeviceNode(Node, Generic[T]):
parent_appended = True
# 加载状态
# noinspection PyProtectedMember
original_instance._size_x = plr_resource._size_x
# noinspection PyProtectedMember
original_instance._size_y = plr_resource._size_y
# noinspection PyProtectedMember
original_instance._size_z = plr_resource._size_z
# noinspection PyProtectedMember
original_instance._local_size_z = plr_resource._local_size_z
original_instance.location = plr_resource.location
original_instance.rotation = plr_resource.rotation
original_instance.barcode = plr_resource.barcode
@@ -984,7 +1008,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
].call_async(
r
) # type: ignore
self.lab_logger().info(f"确认资源云端 Add 结果: {response.response}")
self.lab_logger().trace(f"确认资源云端 Add 结果: {response.response}")
results.append(result)
elif action == "update":
if tree_set is None:
@@ -1010,7 +1034,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
].call_async(
r
) # type: ignore
self.lab_logger().info(f"确认资源云端 Update 结果: {response.response}")
self.lab_logger().trace(f"确认资源云端 Update 结果: {response.response}")
results.append(result)
elif action == "remove":
result = _handle_remove(resources_uuid)