demo show 1110 params

src/brain/config/bt_carry_boxes_sch1.params.yaml

@@ -39,7 +39,7 @@
 
     '
 - name: s3_wheel_move_to_pickup_position
-  params: 'move_distance: 0.5
+  params: 'move_distance: 1.0
 
     move_angle: 0.0
 
@@ -257,7 +257,7 @@
 
     '
 - name: s15_wheel_move_to_pickup_position
-  params: 'move_distance: 0.5
+  params: 'move_distance: 1.0
 
     move_angle: 0.0
 

src/brain/config/bt_carry_boxes_sch2.params.yaml

@@ -177,7 +177,7 @@
 
     '
 - name: s10_wheel_move_to_putdown_position
-  params: 'move_distance: 0.5
+  params: 'move_distance: 1.0
 
     move_angle: 0.0
 
@@ -387,7 +387,7 @@
 
     '
 - name: s21_wheel_move_to_putdown_position
-  params: 'move_distance: 0.5
+  params: 'move_distance: 1.0
 
     move_angle: 0.0
 

src/brain/config/bt_carry_boxes_sch2.xml

@@ -33,8 +33,8 @@
           <Parallel name="parallel_action_5">
             <Arm_H name="s12_arm_raise_up" />
             <MoveWheel_H name="s15_wheel_move_to_second_pickup_position" />
-            <MoveWaist_H name="s14_waist_turn_around" />
           </Parallel>
+          <MoveWaist_H name="s14_waist_turn_around" />
           <!-- <MoveWheel_H name="s15_wheel_move_to_second_pickup_position" /> -->
           <Parallel name="parallel_action_6">
             <MoveWaist_H name="s15_waist_bend_down" />

src/brain/src/cerebrum_node.cpp

@@ -75,7 +75,7 @@ struct UpdatingFlagGuard
 // Simple, file-local cooldown between successive BT leaf actions.
 // We use steady_clock to avoid ROS time/clock-type complications.
 static std::chrono::steady_clock::time_point g_bt_resume_time_steady{};
-static constexpr std::chrono::milliseconds kInterActionDelayMs{0};
+static constexpr std::chrono::milliseconds kInterActionDelayMs{200};
 
 }  // namespace