HiveCoreRD/hivecore_robot_brain
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disable wheel and waist action

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This commit is contained in:
NuoDaJia02
2025-12-30 14:23:11 +08:00
parent b063044249
commit 40b38dfd00
2 changed files with 6 additions and 6 deletions
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4
src/brain/config/bt_vision_grasp.params.yaml
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@@ -15,7 +15,7 @@
- name: s1_gripper_open
params: 'loc: 0
speed: 20
speed: 150
torque: 20
@@ -187,7 +187,7 @@
- name: s8_gripper_open
params: 'loc: 0
speed: 20
speed: 150
torque: 20

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

@@ -5,7 +5,7 @@
<Sequence>
<Arm_H name="s1_right_arm_pre_cam_take_photo" />
<Parallel name="parallel_action_1">
<MoveWheel_H name="s1_wheel_move_to_origin_pickup_position" />
<!-- <MoveWheel_H name="s1_wheel_move_to_origin_pickup_position" /> -->
<GripperCmd_H name="s1_gripper_open" />
<Arm_H name="s2_right_arm_pre_cam_take_photo" />
</Parallel>
@@ -24,17 +24,17 @@
<Arm_H name="s4_right_arm_take_box" />
<Arm_H name="s5_right_arm_grasp_box" />
<Parallel name="parallel_action_2">
<!-- <Parallel name="parallel_action_2">
<MoveWheel_H name="s6_wheel_move_to_putdown_position" />
<MoveWaist_H name="s6_move_waist_turn_left_90" />
</Parallel>
</Parallel> -->
<Arm_H name="s7_right_arm_grasp_box" />
<Arm_H name="s7_right_arm_put_down_box" />
<GripperCmd_H name="s8_gripper_open" />
<Arm_H name="s9_right_arm_grasp_box" />
<Parallel name="parallel_action_3">
<MoveWaist_H name="s10_move_waist_turn_right_90" />
<!-- <MoveWaist_H name="s10_move_waist_turn_right_90" /> -->
<Arm_H name="s11_right_arm_pre_cam_take_photo" />
</Parallel>