HiveCoreRD/hivecore_robot_brain
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更新任务参数

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This commit is contained in:
NuoDaJia02
2025-11-06 12:56:46 +08:00
parent 2e1fc55e47
commit 4ae6b84595
3 changed files with 97 additions and 37 deletions
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94
src/brain/config/bt_carry_boxes_sch1.params.yaml
View File

@@ -21,7 +21,7 @@
frame_time_stamp: 0
data_array: [-5, -60, -30, 0, 0, -180, -175, 60, 30, 0, 0, 0]
data_array: [-110, -75, 0, 0, -100, -65, -70, 75, 0, 0, 100, -115]
'
- name: s2_arm_move_to_snapshot_pose
@@ -35,7 +35,7 @@
frame_time_stamp: 0
data_array: [-85, -35, -40, 1, -70, -180, -95, 35, 40, -1, 70, -10]
data_array: [-85, -40, -40, 1, -70, -180, -95, 40, 40, -1, 70, -10]
'
- name: s3_wheel_move_to_pickup_position
@@ -43,6 +43,34 @@
move_angle: 0.0
'
- name: s3_snapshot_action1
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-85, -40, -40, 1, -70, -180, -95, 40, 40, -1, 100, -10]
'
- name: s3_snapshot_action2
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-85, -40, -40, 1, -70, -180, -95, 40, 40, -1, 70, -10]
'
- name: s4_arm_grasp_box
params: 'body_id: 0
@@ -55,7 +83,7 @@
frame_time_stamp: 0
data_array: [-80, -70, -25, 1, -85, -170, -100, 70, 25, -1, 85, -10]
data_array: [-80, -82, 0, 0, -100, -80, -100, 82, 0, 0, 100, -100]
'
- name: s5_arm_pickup_box
@@ -69,7 +97,7 @@
frame_time_stamp: 0
data_array: [-110, -70, -25, 1, -85, -170, -70, 70, 25, -1, 85, -10]
data_array: [-110, -82, 0, 0, -100, -80, -70, 82, 0, 0, 100, -100]
'
- name: s6_wheel_move_back_to_second_position
@@ -85,7 +113,7 @@
'
- name: s8_waist_bend_down
params: 'move_pitch_degree: 25.0
params: 'move_pitch_degree: 38.0
move_yaw_degree: 0
@@ -101,7 +129,7 @@
frame_time_stamp: 0
data_array: [-90, -70, -25, 1, -85, -150, -90, 70, 25, -1, 85, -30]
data_array: [-110, -82, 0, 0, -100, -65, -70, 82, 0, 0, 100, -115]
'
- name: s10_arm_release
@@ -115,7 +143,7 @@
frame_time_stamp: 0
data_array: [-85, -60, -25, 1, -85, -150, -95, 60, 25, -1, 85, -30]
data_array: [-110, -78, 0, 0, -100, -65, -70, 78, 0, 0, 100, -115]
'
- name: s10_arm_raise_up
@@ -129,11 +157,11 @@
frame_time_stamp: 0
data_array: [-110, -60, -25, 1, -85, -170, -70, 60, 25, -1, 85, -10]
data_array: [-110, -78, 0, 0, -100, -65, -70, 78, 0, 0, 100, -115]
'
- name: s11_waist_bend_up
params: 'move_pitch_degree: -25.0
params: 'move_pitch_degree: -38.0
move_yaw_degree: 0.0
@@ -155,7 +183,7 @@
frame_time_stamp: 0
data_array: [-5, -60, -30, 0, 0, -180, -175, 60, 30, 0, 0, 0]
data_array: [-110, -75, 0, 0, -100, -65, -70, 75, 0, 0, 100, -115]
'
- name: s14_arm_move_to_snapshot_pose
@@ -169,7 +197,7 @@
frame_time_stamp: 0
data_array: [-85, -35, -40, 1, -70, -180, -95, 35, 40, -1, 70, -10]
data_array: [-85, -40, -40, 1, -70, -180, -95, 40, 40, -1, 70, -10]
'
- name: s15_wheel_move_to_pickup_position
@@ -177,6 +205,34 @@
move_angle: 0.0
'
- name: s15_snapshot_action1
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-85, -40, -40, 1, -70, -180, -95, 40, 40, -1, 100, -10]
'
- name: s15_snapshot_action2
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-85, -40, -40, 1, -70, -180, -95, 40, 40, -1, 70, -10]
'
- name: s16_arm_grasp_box
params: 'body_id: 0
@@ -189,7 +245,7 @@
frame_time_stamp: 0
data_array: [-80, -70, -25, 1, -85, -170, -100, 70, 25, -1, 85, -10]
data_array: [-80, -82, 0, 0, -100, -80, -100, 82, 0, 0, 100, -100]
'
- name: s17_arm_pickup_box
@@ -203,7 +259,7 @@
frame_time_stamp: 0
data_array: [-110, -70, -25, 1, -85, -170, -70, 70, 25, -1, 85, -10]
data_array: [-110, -82, 0, 0, -100, -80, -70, 82, 0, 0, 100, -100]
'
- name: s18_wheel_move_back_to_origin
@@ -219,7 +275,7 @@
'
- name: s20_waist_bend_down
params: 'move_pitch_degree: 25.0
params: 'move_pitch_degree: 38.0
move_yaw_degree: 0
@@ -235,7 +291,7 @@
frame_time_stamp: 0
data_array: [-90, -70, -25, 1, -85, -150, -90, 70, 25, -1, 85, -30]
data_array: [-110, -82, 0, 0, -100, -65, -70, 82, 0, 0, 100, -115]
'
- name: s22_arm_release
@@ -249,7 +305,7 @@
frame_time_stamp: 0
data_array: [-85, -60, -25, 1, -85, -150, -95, 60, 25, -1, 85, -30]
data_array: [-110, -78, 0, 0, -100, -65, -70, 78, 0, 0, 100, -115]
'
- name: s22_arm_raise_up
@@ -263,11 +319,11 @@
frame_time_stamp: 0
data_array: [-110, -60, -25, 1, -85, -170, -70, 60, 25, -1, 85, -10]
data_array: [-110, -78, 0, 0, -100, -65, -70, 78, 0, 0, 100, -115]
'
- name: s23_waist_bend_up
params: 'move_pitch_degree: -25.0
params: 'move_pitch_degree: -38.0
move_yaw_degree: 0.0
@@ -289,7 +345,7 @@
frame_time_stamp: 0
data_array: [-5, -60, -30, 0, 0, -180, -175, 60, 30, 0, 0, 0]
data_array: [-110, -75, 0, 0, -100, -65, -70, 75, 0, 0, 100, -115]
'
- name: s26_wheel_move_back_to_origin

4
src/brain/config/bt_carry_boxes_sch1.xml
View File

@@ -10,6 +10,8 @@
<Arm_H name="s2_arm_move_to_snapshot_pose" />
<MoveWheel_H name="s3_wheel_move_to_pickup_position" />
</Parallel>
<Arm_H name="s3_snapshot_action1" />
<Arm_H name="s3_snapshot_action2" />
<Arm_H name="s4_arm_grasp_box" />
<Arm_H name="s5_arm_pickup_box" />
<Parallel name="parallel_action_2">
@@ -31,6 +33,8 @@
<Arm_H name="s14_arm_move_to_snapshot_pose" />
<MoveWheel_H name="s15_wheel_move_to_pickup_position" />
</Parallel>
<Arm_H name="s15_snapshot_action1" />
<Arm_H name="s15_snapshot_action2" />
<Arm_H name="s16_arm_grasp_box" />
<Arm_H name="s17_arm_pickup_box" />
<Parallel name="parallel_action_6">

36
src/brain/config/bt_carry_boxes_sch2.params.yaml
View File

@@ -17,7 +17,7 @@
frame_time_stamp: 0
data_array: [-110, -60, -25, 1, -85, -170, -70, 60, 25, -1, 85, -10]
data_array: [-110, -75, 0, 0, -100, -65, -70, 75, 0, 0, 100, -115]
'
- name: s2_wheel_move_to_origin_pickup_position
@@ -33,7 +33,7 @@
'
- name: s4_waist_bend_down
params: 'move_pitch_degree: 25.0
params: 'move_pitch_degree: 38.0
move_yaw_degree: 0.0
@@ -49,7 +49,7 @@
frame_time_stamp: 0
data_array: [-86, -60, -25, 1, -85, -150, -94, 60, 25, -1, 85, -30]
data_array: [-110, -75, 0, 0, -100, -65, -70, 75, 0, 0, 100, -115]
'
- name: s6_arm_grasp_box
@@ -63,7 +63,7 @@
frame_time_stamp: 0
data_array: [-86, -70, -25, 1, -85, -150, -94, 70, 25, -1, 85, -30]
data_array: [-110, -82, 0, 0, -100, -65, -70, 82, 0, 0, 100, -115]
'
- name: s7_arm_pickup_box
@@ -77,11 +77,11 @@
frame_time_stamp: 0
data_array: [-110, -70, -25, 1, -85, -150, -70, 70, 25, -1, 85, -30]
data_array: [-110, -82, 0, 0, -100, -65, -70, 82, 0, 0, 100, -115]
'
- name: s8_waist_bend_up
params: 'move_pitch_degree: -25.0
params: 'move_pitch_degree: -38.0
move_yaw_degree: 0.0
@@ -109,7 +109,7 @@
frame_time_stamp: 0
data_array: [-80, -70, -25, 1, -85, -170, -100, 70, 25, -1, 85, -10]
data_array: [-80, -82, 0, 0, -100, -80, -100, 82, 0, 0, 100, -100]
'
- name: s12_arm_release_box
@@ -123,7 +123,7 @@
frame_time_stamp: 0
data_array: [-80, -60, -25, 1, -85, -170, -100, 60, 25, -1, 85, -10]
data_array: [-80, -75, 0, 0, -100, -80, -100, 75, 0, 0, 100, -100]
'
- name: s12_arm_raise_up
@@ -137,7 +137,7 @@
frame_time_stamp: 0
data_array: [-110, -60, -25, 1, -85, -170, -70, 60, 25, -1, 85, -10]
data_array: [-110, -75, 0, 0, -100, -80, -70, 75, 0, 0, 100, -100]
'
- name: s13_wheel_move_to_origin_pickup_position
@@ -159,7 +159,7 @@
'
- name: s15_waist_bend_down
params: 'move_pitch_degree: 25.0
params: 'move_pitch_degree: 38.0
move_yaw_degree: 0.0
@@ -175,7 +175,7 @@
frame_time_stamp: 0
data_array: [-86, -60, -25, 1, -85, -150, -94, 60, 25, -1, 85, -30]
data_array: [-110, -75, 0, 0, -100, -65, -70, 75, 0, 0, 100, -115]
'
- name: s17_arm_grasp_box
@@ -189,7 +189,7 @@
frame_time_stamp: 0
data_array: [-86, -70, -25, 1, -85, -150, -94, 70, 25, -1, 85, -30]
data_array: [-110, -82, 0, 0, -100, -65, -70, 82, 0, 0, 100, -115]
'
- name: s18_arm_pickup_box
@@ -203,11 +203,11 @@
frame_time_stamp: 0
data_array: [-110, -70, -25, 1, -85, -150, -70, 70, 25, -1, 85, -30]
data_array: [-110, -82, 0, 0, -100, -65, -70, 82, 0, 0, 100, -115]
'
- name: s19_waist_bend_up
params: 'move_pitch_degree: -25.0
params: 'move_pitch_degree: -38.0
move_yaw_degree: 0.0
@@ -235,7 +235,7 @@
frame_time_stamp: 0
data_array: [-80, -70, -25, 1, -85, -170, -100, 70, 25, -1, 85, -10]
data_array: [-80, -82, 0, 0, -100, -80, -100, 82, 0, 0, 100, -100]
'
- name: s23_arm_release_box
@@ -249,7 +249,7 @@
frame_time_stamp: 0
data_array: [-80, -60, -25, 1, -85, -170, -100, 60, 25, -1, 85, -10]
data_array: [-80, -75, 0, 0, -100, -80, -100, 75, 0, 0, 100, -100]
'
- name: s23_arm_raise_up
@@ -263,7 +263,7 @@
frame_time_stamp: 0
data_array: [-110, -60, -25, 1, -85, -170, -70, 60, 25, -1, 85, -10]
data_array: [-110, -75, 0, 0, -100, -80, -70, 75, 0, 0, 100, -100]
'
- name: s24_wheel_move_to_origin_pickup_position
@@ -283,6 +283,6 @@
frame_time_stamp: 0
data_array: [-5, -60, -30, 0, 0, -180, -175, 60, 30, 0, 0, 0]
data_array: [-110, -75, 0, 0, -100, -65, -70, 75, 0, 0, 100, -115]
'