HiveCoreRD/hivecore_robot_brain
6
0
Fork 0
Code Issues Pull Requests 1 Actions Packages Projects Releases Wiki Activity

new params

Browse Source
This commit is contained in:
NuoDaJia02
2025-11-11 15:39:45 +08:00
parent 0b915a0dee
commit 0ba8bf79e6
4 changed files with 66 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files

32
src/brain/config/bt_carry_boxes_sch1.params.yaml
View File

@@ -35,7 +35,7 @@
frame_time_stamp: 0
data_array: [-85, -30, -40, 1, -70, -170, -95, 30, 40, -1, 70, -10]
data_array: [-90, -30, -45, 0, 0, -180, -90, 30, 45, 0, 0, 0]
'
- name: s3_wheel_move_to_pickup_position
@@ -253,7 +253,21 @@
frame_time_stamp: 0
data_array: [-85, -30, -40, 1, -70, -170, -95, 30, 40, -1, 70, -10]
data_array: [-90, -30, -45, 0, 0, -180, -90, 30, 45, 0, 0, 0]
'
- name: s14_arm_move_pre_origin_position
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-30, -55, -30, 0, -100, -65, -150, 55, 30, 0, 100, -115]
'
- name: s14_arm_move_origin_position
@@ -479,6 +493,20 @@
move_angle: 0.0
'
- name: s26_arm_move_pre_origin_position
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-30, -55, -30, 0, -100, -65, -150, 55, 30, 0, 100, -115]
'
- name: s26_arm_move_origin_position
params: 'body_id: 0

2
src/brain/config/bt_carry_boxes_sch1.xml
View File

@@ -26,6 +26,7 @@
<Arm_H name="s10_arm_raise_up" />
<MoveWaist_H name="s11_waist_bend_up" />
</Parallel>
<Arm_H name="s14_arm_move_pre_origin_position" />
<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" />
@@ -47,6 +48,7 @@
<Arm_H name="s22_arm_raise_up" />
<MoveWaist_H name="s23_waist_bend_up" />
</Parallel>
<Arm_H name="s26_arm_move_pre_origin_position" />
<Arm_H name="s26_arm_move_origin_position" />
<MoveWheel_H name="s26_wheel_move_back_to_origin" />
</Sequence>

32
src/brain/config/bt_carry_boxes_sch2.params.yaml
View File

@@ -37,6 +37,20 @@
move_yaw_degree: 0.0
'
- name: s4_arm_move_pre_origin_position
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-30, -55, -30, 0, -100, -65, -150, 55, 30, 0, 100, -115]
'
- name: s4_arm_move_to_snapshot_pose
params: 'body_id: 0
@@ -235,7 +249,7 @@
frame_time_stamp: 0
data_array: [-85, -40, -40, 1, -70, -170, -95, 40, 40, -1, 70, -10]
data_array: [-90, -30, -45, 0, 0, -180, -90, 30, 45, 0, 0, 0]
'
- name: s13_arm_move_origin_position
@@ -275,6 +289,20 @@
move_yaw_degree: 0.0
'
- name: s15_arm_move_pre_origin_position
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-30, -55, -30, 0, -100, -65, -150, 55, 30, 0, 100, -115]
'
- name: s15_arm_move_to_snapshot_pose
params: 'body_id: 0
@@ -473,7 +501,7 @@
frame_time_stamp: 0
data_array: [-85, -40, -40, 1, -70, -170, -95, 40, 40, -1, 70, -10]
data_array: [-90, -30, -45, 0, 0, -180, -90, 30, 45, 0, 0, 0]
'
- name: s23_arm_move_origin_position

8
src/brain/config/bt_carry_boxes_sch2.xml
View File

@@ -6,6 +6,7 @@
<Sequence>
<Arm_H name="s1_arm_move_origin_position" />
<MoveWheel_H name="s2_wheel_move_to_origin_pickup_position" />
<Arm_H name="s4_arm_move_pre_origin_position" />
<Arm_H name="s4_arm_move_to_snapshot_pose" />
<MoveWaist_H name="s4_waist_bend_down" />
<Arm_H name="s4_snapshot_action1" />
@@ -26,10 +27,9 @@
<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" />
</Parallel>
<Arm_H name="s15_arm_move_pre_origin_position" />
<Arm_H name="s15_arm_move_to_snapshot_pose" />
<MoveWaist_H name="s15_waist_bend_down" />
<Arm_H name="s15_snapshot_action1" />
<Arm_H name="s15_snapshot_action2" />
<Arm_H name="s15_snapshot_top_action1" />