HiveCoreRD/hivecore_robot_brain
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new sch and params

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This commit is contained in:
NuoDaJia02
2025-11-11 13:21:18 +08:00
parent e2227cce31
commit 0b915a0dee
4 changed files with 116 additions and 59 deletions
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38
src/brain/config/bt_carry_boxes_sch1.params.yaml
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@@ -21,7 +21,7 @@
frame_time_stamp: 0
data_array: [-110, -75, 0, 0, -100, -65, -70, 75, 0, 0, 100, -115]
data_array: [-5, -55, -30, 0, 0, -180, -175, 55, 30, 0, 0, 0]
'
- name: s2_arm_move_to_snapshot_pose
@@ -35,7 +35,7 @@
frame_time_stamp: 0
data_array: [-85, -40, -40, 1, -70, -170, -95, 40, 40, -1, 70, -10]
data_array: [-85, -30, -40, 1, -70, -170, -95, 30, 40, -1, 70, -10]
'
- name: s3_wheel_move_to_pickup_position
@@ -239,7 +239,7 @@
frame_time_stamp: 0
data_array: [-110, -75, 0, 0, -100, -65, -70, 75, 0, 0, 100, -115]
data_array: [-5, -55, -30, 0, 0, -180, -175, 55, 30, 0, 0, 0]
'
- name: s14_arm_move_to_snapshot_pose
@@ -253,7 +253,21 @@
frame_time_stamp: 0
data_array: [-85, -40, -40, 1, -70, -170, -95, 40, 40, -1, 70, -10]
data_array: [-85, -30, -40, 1, -70, -170, -95, 30, 40, -1, 70, -10]
'
- name: s14_arm_move_origin_position
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-5, -55, -30, 0, 0, -180, -175, 55, 30, 0, 0, 0]
'
- name: s15_wheel_move_to_pickup_position
@@ -457,7 +471,7 @@
frame_time_stamp: 0
data_array: [-110, -75, 0, 0, -100, -65, -70, 75, 0, 0, 100, -115]
data_array: [-5, -55, -30, 0, 0, -180, -175, 55, 30, 0, 0, 0]
'
- name: s26_wheel_move_back_to_origin
@@ -465,4 +479,18 @@
move_angle: 0.0
'
- name: s26_arm_move_origin_position
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-5, -55, -30, 0, 0, -180, -175, 55, 30, 0, 0, 0]
'

34
src/brain/config/bt_carry_boxes_sch1.xml
View File

@@ -5,11 +5,9 @@
<RetryUntilSuccessful name="retry_all_action" num_attempts="3">
<Sequence>
<!-- <MoveHome_H name="s0_motion_move_home" /> -->
<!-- <Arm_H name="s1_arm_move_origin_position" /> -->
<Parallel name="parallel_action_1">
<Arm_H name="s2_arm_move_to_snapshot_pose" />
<MoveWheel_H name="s3_wheel_move_to_pickup_position" />
</Parallel>
<Arm_H name="s1_arm_move_origin_position" />
<MoveWheel_H name="s3_wheel_move_to_pickup_position" />
<Arm_H name="s2_arm_move_to_snapshot_pose" />
<Arm_H name="s3_snapshot_action1" />
<Arm_H name="s3_snapshot_action2" />
<Arm_H name="s3_snapshot_top_action1" />
@@ -18,10 +16,7 @@
<Arm_H name="s4_arm_prepare_grasp_box" />
<Arm_H name="s4_arm_grasp_box" />
<Arm_H name="s5_arm_pickup_box" />
<Parallel name="parallel_action_2">
<MoveWheel_H name="s6_wheel_move_back_to_second_position" />
<MoveWaist_H name="s7_waist_turn_around" />
</Parallel>
<MoveWheel_H name="s6_wheel_move_back_to_second_position" />
<Parallel name="parallel_action_3">
<MoveWaist_H name="s8_waist_bend_down" />
<Arm_H name="s9_arm_put_down_box" />
@@ -31,12 +26,9 @@
<Arm_H name="s10_arm_raise_up" />
<MoveWaist_H name="s11_waist_bend_up" />
</Parallel>
<MoveWaist_H name="s12_waist_turn_around" />
<!-- <Arm_H name="s13_arm_move_origin_position" /> -->
<Parallel name="parallel_action_5">
<Arm_H name="s14_arm_move_to_snapshot_pose" />
<MoveWheel_H name="s15_wheel_move_to_pickup_position" />
</Parallel>
<Arm_H name="s14_arm_move_origin_position" />
<MoveWheel_H name="s15_wheel_move_to_pickup_position" />
<Arm_H name="s14_arm_move_to_snapshot_pose" />
<Arm_H name="s15_snapshot_action1" />
<Arm_H name="s15_snapshot_action2" />
<Arm_H name="s15_snapshot_top_action1" />
@@ -45,10 +37,7 @@
<Arm_H name="s16_arm_prepare_grasp_box" />
<Arm_H name="s16_arm_grasp_box" />
<Arm_H name="s17_arm_pickup_box" />
<Parallel name="parallel_action_6">
<MoveWheel_H name="s18_wheel_move_back_to_origin" />
<MoveWaist_H name="s19_waist_turn_around" />
</Parallel>
<MoveWheel_H name="s18_wheel_move_back_to_origin" />
<Parallel name="parallel_action_7">
<MoveWaist_H name="s20_waist_bend_down" />
<Arm_H name="s21_arm_put_down_box" />
@@ -58,11 +47,8 @@
<Arm_H name="s22_arm_raise_up" />
<MoveWaist_H name="s23_waist_bend_up" />
</Parallel>
<Parallel name="parallel_action_9">
<MoveWaist_H name="s24_waist_turn_around" />
<!-- <Arm_H name="s25_arm_move_origin_position" /> -->
<MoveWheel_H name="s26_wheel_move_back_to_origin" />
</Parallel>
<Arm_H name="s26_arm_move_origin_position" />
<MoveWheel_H name="s26_wheel_move_back_to_origin" />
</Sequence>
</RetryUntilSuccessful>
</Sequence>

60
src/brain/config/bt_carry_boxes_sch2.params.yaml
View File

@@ -17,7 +17,7 @@
frame_time_stamp: 0
data_array: [-110, -75, 0, 0, -100, -65, -70, 75, 0, 0, 100, -115]
data_array: [-5, -55, -30, 0, 0, -180, -175, 55, 30, 0, 0, 0]
'
- name: s2_wheel_move_to_origin_pickup_position
@@ -223,6 +223,34 @@
data_array: [-110, -75, 0, 0, -100, -80, -70, 75, 0, 0, 100, -100]
'
- name: s13_arm_move_to_snapshot_pose
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-85, -40, -40, 1, -70, -170, -95, 40, 40, -1, 70, -10]
'
- name: s13_arm_move_origin_position
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-5, -55, -30, 0, 0, -180, -175, 55, 30, 0, 0, 0]
'
- name: s13_wheel_move_to_origin_pickup_position
params: 'move_distance: 0.0
@@ -433,6 +461,34 @@
data_array: [-110, -75, 0, 0, -100, -80, -70, 75, 0, 0, 100, -100]
'
- name: s23_arm_move_to_snapshot_pose
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-85, -40, -40, 1, -70, -170, -95, 40, 40, -1, 70, -10]
'
- name: s23_arm_move_origin_position
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-5, -55, -30, 0, 0, -180, -175, 55, 30, 0, 0, 0]
'
- name: s24_wheel_move_to_origin_pickup_position
params: 'move_distance: 0.0
@@ -451,6 +507,6 @@
frame_time_stamp: 0
data_array: [-110, -75, 0, 0, -100, -65, -70, 75, 0, 0, 100, -115]
data_array: [-5, -55, -30, 0, 0, -180, -175, 55, 30, 0, 0, 0]
'

43
src/brain/config/bt_carry_boxes_sch2.xml
View File

@@ -4,15 +4,10 @@
<!-- Retry waist + arm + hand until HandControl_H succeeds -->
<RetryUntilSuccessful name="retry_all_action" num_attempts="3">
<Sequence>
<Parallel name="parallel_action_1">
<Arm_H name="s1_arm_move_origin_position" />
<MoveWheel_H name="s2_wheel_move_to_origin_pickup_position" />
</Parallel>
<MoveWaist_H name="s3_waist_turn_around" />
<Parallel name="parallel_action_2">
<MoveWaist_H name="s4_waist_bend_down" />
<Arm_H name="s4_arm_move_to_snapshot_pose" />
</Parallel>
<Arm_H name="s1_arm_move_origin_position" />
<MoveWheel_H name="s2_wheel_move_to_origin_pickup_position" />
<Arm_H name="s4_arm_move_to_snapshot_pose" />
<MoveWaist_H name="s4_waist_bend_down" />
<Arm_H name="s4_snapshot_action1" />
<Arm_H name="s4_snapshot_action2" />
<Arm_H name="s4_snapshot_top_action1" />
@@ -24,18 +19,13 @@
<Arm_H name="s7_arm_pickup_box" />
<MoveWaist_H name="s8_waist_bend_up" />
</Parallel>
<Parallel name="parallel_action_4">
<MoveWaist_H name="s9_waist_turn_around" />
<MoveWheel_H name="s10_wheel_move_to_putdown_position" />
</Parallel>
<MoveWheel_H name="s10_wheel_move_to_putdown_position" />
<Arm_H name="s11_arm_putdown_box" />
<Arm_H name="s12_arm_release_box" />
<Parallel name="parallel_action_5">
<Arm_H name="s12_arm_raise_up" />
<MoveWheel_H name="s15_wheel_move_to_second_pickup_position" />
</Parallel>
<MoveWaist_H name="s14_waist_turn_around" />
<!-- <MoveWheel_H name="s15_wheel_move_to_second_pickup_position" /> -->
<Arm_H name="s12_arm_raise_up" />
<Arm_H name="s13_arm_move_to_snapshot_pose" />
<Arm_H name="s13_arm_move_origin_position" />
<MoveWheel_H name="s15_wheel_move_to_second_pickup_position" />
<Parallel name="parallel_action_6">
<MoveWaist_H name="s15_waist_bend_down" />
<Arm_H name="s15_arm_move_to_snapshot_pose" />
@@ -51,17 +41,14 @@
<Arm_H name="s18_arm_pickup_box" />
<MoveWaist_H name="s19_waist_bend_up" />
</Parallel>
<Parallel name="parallel_action_8">
<MoveWaist_H name="s20_waist_turn_around" />
<MoveWheel_H name="s21_wheel_move_to_putdown_position" />
</Parallel>
<MoveWheel_H name="s21_wheel_move_to_putdown_position" />
<Arm_H name="s22_arm_putdown_box" />
<Arm_H name="s23_arm_release_box" />
<Parallel name="parallel_action_9">
<Arm_H name="s23_arm_raise_up" />
<MoveWheel_H name="s24_wheel_move_to_origin_pickup_position" />
</Parallel>
<!-- <Arm_H name="s25_arm_move_origin_position" /> -->
<Arm_H name="s23_arm_raise_up" />
<Arm_H name="s23_arm_move_to_snapshot_pose" />
<Arm_H name="s23_arm_move_origin_position" />
<MoveWheel_H name="s24_wheel_move_to_origin_pickup_position" />
<Arm_H name="s25_arm_move_origin_position" />
</Sequence>
</RetryUntilSuccessful>
</Sequence>