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

modify sch & params

Browse Source
This commit is contained in:
NuoDaJia02
2025-10-30 20:05:16 +08:00
parent 6e97b64416
commit 4958ba69f8
4 changed files with 266 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files

120
src/brain/config/bt_carry_boxes_sch1.params.yaml
View File

@@ -140,3 +140,123 @@
data_array: [-5, -55, -30, 0, 0, -180, -175, 55, 30, 0, 0, 0]
'
- name: s14_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, -35, -40, 1, -70, -180, -95, 35, 40, -1, 70, -10]
'
- name: s15_wheel_move_to_pickup_position
params: 'move_distance: 0.5
move_angle: 0.0
'
- name: s16_arm_grasp_box
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-80, -65, -36, 1, -80, -170, -100, 65, 36, -1, 80, -10]
'
- name: s17_arm_pickup_box
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-105, -65, -36, 1, -80, -170, -75, 65, 36, -1, 80, -10]
'
- name: s18_wheel_move_back_to_origin
params: 'move_distance: -0.5
move_angle: 0.0
'
- name: s19_waist_turn_around
params: 'move_pitch_degree: 0
move_yaw_degree: 90.0
'
- name: s20_waist_bend_down
params: 'move_pitch_degree: 25.0
move_yaw_degree: 0
'
- name: s21_arm_put_down_box
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-80, -65, -36, 1, -80, -170, -100, 65, 36, -1, 80, -10]
'
- name: s22_arm_release_box
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-105, -60, -1, 1, -80, -170, -75, 60, 1, -1, 80, -10]
'
- name: s23_waist_bend_up
params: 'move_pitch_degree: -25.0
move_yaw_degree: 0
'
- name: s24_waist_turn_around
params: 'move_pitch_degree: 0
move_yaw_degree: -90.0
'
- name: s25_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]
'

14
src/brain/config/bt_carry_boxes_sch1.xml
View File

@@ -16,7 +16,19 @@
<Arm_H name="s10_arm_release_box" />
<MoveWaist_H name="s11_waist_bend_up" />
<MoveWaist_H name="s12_waist_turn_around" />
<Arm_H name="s13_arm_move_origin_position" />
<!-- <Arm_H name="s13_arm_move_origin_position" /> -->
<Arm_H name="s14_arm_move_to_snapshot_pose" />
<MoveWheel_H name="s15_wheel_move_to_pickup_position" />
<Arm_H name="s16_arm_grasp_box" />
<Arm_H name="s17_arm_pickup_box" />
<MoveWheel_H name="s18_wheel_move_back_to_origin" />
<MoveWaist_H name="s19_waist_turn_around" />
<MoveWaist_H name="s20_waist_bend_down" />
<!-- <Arm_H name="s21_arm_put_down_box" /> -->
<Arm_H name="s22_arm_release_box" />
<MoveWaist_H name="s23_waist_bend_up" />
<MoveWaist_H name="s24_waist_turn_around" />
<Arm_H name="s25_arm_move_origin_position" />
</Sequence>
</RetryUntilSuccessful>
</Sequence>

120
src/brain/config/bt_carry_boxes_sch2.params.yaml
View File

@@ -140,3 +140,123 @@
data_array: [-5, -55, -30, 0, 0, -180, -175, 55, 30, 0, 0, 0]
'
- name: s14_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, -35, -40, 1, -70, -180, -95, 35, 40, -1, 70, -10]
'
- name: s15_wheel_move_to_pickup_position
params: 'move_distance: 0.5
move_angle: 0.0
'
- name: s16_arm_grasp_box
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-80, -65, -36, 1, -80, -170, -100, 65, 36, -1, 80, -10]
'
- name: s17_arm_pickup_box
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-105, -65, -36, 1, -80, -170, -75, 65, 36, -1, 80, -10]
'
- name: s18_wheel_move_back_to_origin
params: 'move_distance: -0.5
move_angle: 0.0
'
- name: s19_waist_turn_around
params: 'move_pitch_degree: 0
move_yaw_degree: 90.0
'
- name: s20_waist_bend_down
params: 'move_pitch_degree: 25.0
move_yaw_degree: 0
'
- name: s21_arm_put_down_box
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-80, -65, -36, 1, -80, -170, -100, 65, 36, -1, 80, -10]
'
- name: s22_arm_release_box
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-105, -60, -1, 1, -80, -170, -75, 60, 1, -1, 80, -10]
'
- name: s23_waist_bend_up
params: 'move_pitch_degree: -25.0
move_yaw_degree: 0
'
- name: s24_waist_turn_around
params: 'move_pitch_degree: 0
move_yaw_degree: -90.0
'
- name: s25_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]
'

14
src/brain/config/bt_carry_boxes_sch2.xml
View File

@@ -16,7 +16,19 @@
<Arm_H name="s10_arm_release_box" />
<MoveWaist_H name="s11_waist_bend_up" />
<MoveWaist_H name="s12_waist_turn_around" />
<Arm_H name="s13_arm_move_origin_position" />
<!-- <Arm_H name="s13_arm_move_origin_position" /> -->
<Arm_H name="s14_arm_move_to_snapshot_pose" />
<MoveWheel_H name="s15_wheel_move_to_pickup_position" />
<Arm_H name="s16_arm_grasp_box" />
<Arm_H name="s17_arm_pickup_box" />
<MoveWheel_H name="s18_wheel_move_back_to_origin" />
<MoveWaist_H name="s19_waist_turn_around" />
<MoveWaist_H name="s20_waist_bend_down" />
<!-- <Arm_H name="s21_arm_put_down_box" /> -->
<Arm_H name="s22_arm_release_box" />
<MoveWaist_H name="s23_waist_bend_up" />
<MoveWaist_H name="s24_waist_turn_around" />
<Arm_H name="s25_arm_move_origin_position" />
</Sequence>
</RetryUntilSuccessful>
</Sequence>