From 4e66e895012df61c2b0774564c3a57c2ce270417 Mon Sep 17 00:00:00 2001 From: david Date: Fri, 31 Oct 2025 11:55:00 +0800 Subject: [PATCH] modify sch1 & sch2 --- .../config/bt_carry_boxes_sch1.params.yaml | 38 +-- src/brain/config/bt_carry_boxes_sch1.xml | 24 +- .../config/bt_carry_boxes_sch2.params.yaml | 216 ++++++++---------- src/brain/config/bt_carry_boxes_sch2.xml | 47 ++-- 4 files changed, 155 insertions(+), 170 deletions(-) diff --git a/src/brain/config/bt_carry_boxes_sch1.params.yaml b/src/brain/config/bt_carry_boxes_sch1.params.yaml index 6338a5b..411c87b 100644 --- a/src/brain/config/bt_carry_boxes_sch1.params.yaml +++ b/src/brain/config/bt_carry_boxes_sch1.params.yaml @@ -17,7 +17,7 @@ frame_time_stamp: 0 - data_array: [-5, -55, -30, 0, 0, -180, -175, 55, 30, 0, 0, 0] + data_array: [-5, -60, -30, 0, 0, -180, -175, 60, 30, 0, 0, 0] ' - name: s2_arm_move_to_snapshot_pose @@ -74,8 +74,8 @@ move_angle: 0.0 ' -- name: s7_waist_turn_around - params: 'move_pitch_degree: 0 +- name: s7_waist_turn_around_and_bend_down + params: 'move_pitch_degree: 25.0 move_yaw_degree: 90.0 @@ -86,7 +86,7 @@ move_yaw_degree: 0 ' -- name: s9_arm_put_down_box +- name: s9_arm_release_box params: 'body_id: 0 data_type: 2 @@ -97,10 +97,10 @@ frame_time_stamp: 0 - data_array: [-80, -65, -36, 1, -80, -170, -100, 65, 36, -1, 80, -10] + data_array: [-105, -62, -36, 1, -80, -170, -75, 62, 36, -1, 80, -10] ' -- name: s10_arm_release_box +- name: s10_arm_raise_up_after_release params: 'body_id: 0 data_type: 2 @@ -111,13 +111,13 @@ frame_time_stamp: 0 - data_array: [-115, -62.5, -36, 1, -80, -170, -65, 62.5, 36, -1, 80, -10] + data_array: [-115, -62, -36, 1, -80, -170, -65, 62, 36, -1, 80, -10] ' -- name: s11_waist_bend_up +- name: s11_waist_bend_up_and_turn_around params: 'move_pitch_degree: -25.0 - move_yaw_degree: 0 + move_yaw_degree: -90.0 ' - name: s12_waist_turn_around @@ -137,7 +137,7 @@ frame_time_stamp: 0 - data_array: [-5, -55, -30, 0, 0, -180, -175, 55, 30, 0, 0, 0] + data_array: [-5, -60, -30, 0, 0, -180, -175, 60, 30, 0, 0, 0] ' - name: s14_arm_move_to_snapshot_pose @@ -194,8 +194,8 @@ move_angle: 0.0 ' -- name: s19_waist_turn_around - params: 'move_pitch_degree: 0 +- name: s19_waist_turn_around_and_bend_down + params: 'move_pitch_degree: 25.0 move_yaw_degree: 90.0 @@ -206,7 +206,7 @@ move_yaw_degree: 0 ' -- name: s21_arm_put_down_box +- name: s21_arm_release_box params: 'body_id: 0 data_type: 2 @@ -217,10 +217,10 @@ frame_time_stamp: 0 - data_array: [-80, -65, -36, 1, -80, -170, -100, 65, 36, -1, 80, -10] + data_array: [-105, -62, -36, 1, -80, -170, -75, 62, 36, -1, 80, -10] ' -- name: s22_arm_release_box +- name: s22_arm_raise_up_after_release params: 'body_id: 0 data_type: 2 @@ -231,13 +231,13 @@ frame_time_stamp: 0 - data_array: [-115, -62.5, -36, 1, -80, -170, -65, 62.5, 36, -1, 80, -10] + data_array: [-115, -62, -36, 1, -80, -170, -65, 62, 36, -1, 80, -10] ' -- name: s23_waist_bend_up +- name: s23_waist_bend_up_and_turn_around params: 'move_pitch_degree: -25.0 - move_yaw_degree: 0 + move_yaw_degree: -90.0 ' - name: s24_waist_turn_around @@ -257,7 +257,7 @@ frame_time_stamp: 0 - data_array: [-5, -55, -30, 0, 0, -180, -175, 55, 30, 0, 0, 0] + data_array: [-5, -60, -30, 0, 0, -180, -175, 60, 30, 0, 0, 0] ' - name: s26_wheel_move_back_to_origin diff --git a/src/brain/config/bt_carry_boxes_sch1.xml b/src/brain/config/bt_carry_boxes_sch1.xml index 039479d..bcda74d 100644 --- a/src/brain/config/bt_carry_boxes_sch1.xml +++ b/src/brain/config/bt_carry_boxes_sch1.xml @@ -10,24 +10,24 @@ - - - - - - + + + + + + - - - - - - + + + + + + diff --git a/src/brain/config/bt_carry_boxes_sch2.params.yaml b/src/brain/config/bt_carry_boxes_sch2.params.yaml index 6d5895f..2e13dcc 100644 --- a/src/brain/config/bt_carry_boxes_sch2.params.yaml +++ b/src/brain/config/bt_carry_boxes_sch2.params.yaml @@ -17,76 +17,28 @@ frame_time_stamp: 0 - data_array: [-5, -55, -30, 0, 0, -180, -175, 55, 30, 0, 0, 0] + data_array: [-5, -60, -30, 0, 0, -180, -175, 60, 30, 0, 0, 0] ' -- name: s2_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: s3_wheel_move_to_pickup_position - params: 'move_distance: 0.5 - - move_angle: 0.0 - - ' -- name: s4_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: s5_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: s6_wheel_move_back_to_origin +- name: s2_wheel_move_to_origin_pickup_position params: 'move_distance: 0.0 move_angle: 0.0 ' -- name: s7_waist_turn_around - params: 'move_pitch_degree: 0 +- name: s3_waist_turn_around_and_bend_down + params: 'move_pitch_degree: 25.0 move_yaw_degree: 90.0 ' -- name: s8_waist_bend_down +- name: s4_waist_bend_down params: 'move_pitch_degree: 25.0 - move_yaw_degree: 0 + move_yaw_degree: 0.0 ' -- name: s9_arm_put_down_box +- name: s5_arm_prepare_to_grasp params: 'body_id: 0 data_type: 2 @@ -97,10 +49,10 @@ frame_time_stamp: 0 - data_array: [-80, -65, -36, 1, -80, -170, -100, 65, 36, -1, 80, -10] + data_array: [-85, -65, -25, 1, -80, -150, -95, 65, 25, -1, 80, -30] ' -- name: s10_arm_release_box +- name: s6_arm_grasp_box params: 'body_id: 0 data_type: 2 @@ -111,56 +63,42 @@ frame_time_stamp: 0 - data_array: [-105, -60, -1, 1, -80, -170, -75, 60, 1, -1, 80, -10] + data_array: [-85, -70, -25, 1, -80, -150, -95, 70, 25, -1, 80, -30] ' -- name: s11_waist_bend_up +- name: s7_arm_pickup_box + params: 'body_id: 0 + + data_type: 2 + + data_length: 12 + + command_id: 0 + + frame_time_stamp: 0 + + data_array: [-105, -70, -25, 1, -80, -150, -75, 70, 25, -1, 80, -30] + + ' +- name: s8_waist_bend_up_and_turn_around params: 'move_pitch_degree: -25.0 - move_yaw_degree: 0 - - ' -- name: s12_waist_turn_around - params: 'move_pitch_degree: 0 - move_yaw_degree: -90.0 ' -- name: s13_arm_move_origin_position - params: 'body_id: 0 +- name: s9_waist_turn_around + params: 'move_pitch_degree: 0.0 - 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] + move_yaw_degree: -90.0 ' -- 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 +- name: s10_wheel_move_to_putdown_position params: 'move_distance: 0.5 move_angle: 0.0 ' -- name: s16_arm_grasp_box +- name: s11_arm_putdown_box params: 'body_id: 0 data_type: 2 @@ -171,10 +109,10 @@ frame_time_stamp: 0 - data_array: [-80, -65, -36, 1, -80, -170, -100, 65, 36, -1, 80, -10] + data_array: [-80, -70, -25, 1, -80, -170, -100, 70, 25, -1, 80, -10] ' -- name: s17_arm_pickup_box +- name: s12_arm_release_box_and_raise_up params: 'body_id: 0 data_type: 2 @@ -185,28 +123,28 @@ frame_time_stamp: 0 - data_array: [-105, -65, -36, 1, -80, -170, -75, 65, 36, -1, 80, -10] + data_array: [-85, -65, -25, 1, -80, -170, -95, 65, 25, -1, 80, -10] ' -- name: s18_wheel_move_back_to_second_position +- name: s13_wheel_move_to_second_pickup_position params: 'move_distance: -0.5 move_angle: 0.0 ' -- name: s19_waist_turn_around - params: 'move_pitch_degree: 0 +- name: s14_waist_turn_around_and_bend_down + params: 'move_pitch_degree: 25.0 move_yaw_degree: 90.0 ' -- name: s20_waist_bend_down +- name: s15_waist_bend_down params: 'move_pitch_degree: 25.0 - move_yaw_degree: 0 + move_yaw_degree: 0.0 ' -- name: s21_arm_put_down_box +- name: s16_arm_prepare_to_grasp params: 'body_id: 0 data_type: 2 @@ -217,10 +155,10 @@ frame_time_stamp: 0 - data_array: [-80, -65, -36, 1, -80, -170, -100, 65, 36, -1, 80, -10] + data_array: [-85, -65, -25, 1, -80, -150, -95, 65, 25, -1, 80, -30] ' -- name: s22_arm_release_box +- name: s17_arm_grasp_box params: 'body_id: 0 data_type: 2 @@ -231,20 +169,74 @@ frame_time_stamp: 0 - data_array: [-105, -60, -1, 1, -80, -170, -75, 60, 1, -1, 80, -10] + data_array: [-85, -70, -25, 1, -80, -150, -95, 70, 25, -1, 80, -30] ' -- name: s23_waist_bend_up +- name: s18_arm_pickup_box + params: 'body_id: 0 + + data_type: 2 + + data_length: 12 + + command_id: 0 + + frame_time_stamp: 0 + + data_array: [-105, -70, -25, 1, -80, -150, -75, 70, 25, -1, 80, -30] + + ' +- name: s19_waist_bend_up_and_turn_around params: 'move_pitch_degree: -25.0 - move_yaw_degree: 0 + move_yaw_degree: -90.0 ' -- name: s24_waist_turn_around - params: 'move_pitch_degree: 0 +- name: s20_waist_turn_around + params: 'move_pitch_degree: 0.0 move_yaw_degree: -90.0 + ' +- name: s21_wheel_move_to_putdown_position + params: 'move_distance: 0.5 + + move_angle: 0.0 + + ' +- name: s22_arm_putdown_box + params: 'body_id: 0 + + data_type: 2 + + data_length: 12 + + command_id: 0 + + frame_time_stamp: 0 + + data_array: [-80, -70, -25, 1, -80, -170, -100, 70, 25, -1, 80, -10] + + ' +- name: s23_arm_release_box_and_raise_up + params: 'body_id: 0 + + data_type: 2 + + data_length: 12 + + command_id: 0 + + frame_time_stamp: 0 + + data_array: [-85, -65, -25, 1, -80, -170, -95, 65, 25, -1, 80, -10] + + ' +- name: s24_wheel_move_to_origin_pickup_position + params: 'move_distance: 0.0 + + move_angle: 0.0 + ' - name: s25_arm_move_origin_position params: 'body_id: 0 @@ -257,12 +249,6 @@ frame_time_stamp: 0 - data_array: [-5, -55, -30, 0, 0, -180, -175, 55, 30, 0, 0, 0] - - ' -- name: s26_wheel_move_back_to_origin - params: 'move_distance: 0.0 - - move_angle: 0.0 + data_array: [-5, -60, -30, 0, 0, -180, -175, 60, 30, 0, 0, 0] ' \ No newline at end of file diff --git a/src/brain/config/bt_carry_boxes_sch2.xml b/src/brain/config/bt_carry_boxes_sch2.xml index 039479d..086d1b0 100644 --- a/src/brain/config/bt_carry_boxes_sch2.xml +++ b/src/brain/config/bt_carry_boxes_sch2.xml @@ -5,31 +5,30 @@ - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + -