HiveCoreRD/hivecore_robot_brain
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NuoDaJia02
2025-12-30 08:55:45 +08:00
parent acffa0e6db
commit 56ec283a44
3 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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@@ -53,7 +53,7 @@
frame_time_stamp: 0
data_array: [110.38, 24.02, 89.51, -175.36, -65.38, -70.06, 60.27, -20.97, -87.36, 5.58, -68.56, 58.21]
data_array: [85, 24, 88, -175, -68, -90, 60.27, -20.97, -87.36, 5.58, -68.56, 58.21]
'
- name: s2_top_camera_vision_recg
@@ -181,7 +181,7 @@
frame_time_stamp: 0
data_array: [85, 24, 88, -175, -68, -90, 83.78, -88.95, 13.97, 22.88, -16.29, 67.99]
data_array: [85, 24, 88, -175, -68, -90, 85.78, -88.95, 13.97, 22.88, -16.29, 67.99]
'
- name: s8_gripper_open

6
src/brain/config/bt_vision_grasp.xml
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@@ -8,14 +8,14 @@
<MoveWheel_H name="s1_wheel_move_to_origin_pickup_position" />
<!-- <MoveWaist_H name="s1_move_waist_turn_right_90" /> -->
<GripperCmd_H name="s1_gripper_open" />
<Arm_H name="s2_right_arm_pre_cam_take_photo" />
</Parallel>
<Arm_H name="s2_right_arm_pre_cam_take_photo" />
<RetryUntilSuccessful name="retry_camera_vision_recg_1" num_attempts="3">
<RetryUntilSuccessful name="retry_camera_vision_recg_1" num_attempts="10">
<VisionObjectRecognition_H name="s2_top_camera_vision_recg" />
</RetryUntilSuccessful>
<Arm_H name="s2_right_arm_cam_take_photo" />
<RetryUntilSuccessful name="retry_camera_vision_recg_2" num_attempts="3">
<RetryUntilSuccessful name="retry_camera_vision_recg_2" num_attempts="10">
<VisionObjectRecognition_H name="s3_right_camera_vision_recg" />
</RetryUntilSuccessful>

2
src/brain/src/cerebellum_hooks.cpp
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@@ -85,7 +85,7 @@ void CerebellumHooks::ConfigureArmHooks(CerebellumNode * node)
pose = node->right_hand_take_photo_poses_[0];
}
if (!node->right_hand_take_photo_angles_.empty()) {
angle = node->right_hand_take_photo_angles_[0];
angle = node->right_hand_take_photo_angles_[node->right_hand_take_photo_angles_.size()-1];
}
} else if (goal.data_type == 101) { // pre-grasp
if (!node->pre_grasp_poses_.empty()) {