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tune vision grasp offsets and pre-grasp blend radius

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david
2026-03-04 11:44:09 +08:00
parent ce03b2c6c5
commit 6709fd510c
3 changed files with 5 additions and 5 deletions
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4
src/brain/config/brain_node_params.yaml
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@@ -82,9 +82,9 @@ cerebellum_node:
top_cam_left_arm_x_offset: 0.10 #左臂相机视觉识别时的x坐标偏移
top_cam_left_arm_y: -0.33 #左臂相机视觉识别时的y坐标
top_cam_left_arm_orientation: [0.7071, 0.0, 0.0, 0.7071] #左臂相机视觉识别时的四元数
side_cam_right_arm_y_offset: 0.0 # 补偿右臂y轴方向的抓取偏差（前后）
side_cam_right_arm_y_offset: 0.02 # 补偿右臂y轴方向的抓取偏差（前后）
side_cam_right_arm_z_offset: 0.02 # 补偿右臂z轴方向的抓取偏差（左右）
side_cam_left_arm_y_offset: 0.02 # 补偿左臂y轴方向的抓取偏差（前后）
side_cam_left_arm_y_offset: -0.02 # 补偿左臂y轴方向的抓取偏差（前后）
side_cam_left_arm_z_offset: 0.01 # 补偿左臂z轴方向的抓取偏差（左右）
take_object_arm_x: -0.05 # 抓取物体时x坐标
left_camera_frame: "LeftLink6" # 左臂相机坐标系

4
src/brain/config/bt_vision_grasp_dual_arm_demo1.params.yaml
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@@ -66,12 +66,12 @@
params: &pre_grasp_right "arm_motion_params:\n- arm_id: 1\n motion_type: 101\n target_pose:\n \
\ position:\n x: 0.0\n y: 0.0\n z: 0.0\n orientation:\n \
\ x: 0.0\n y: 0.0\n z: 0.0\n w: 1.0\n target_joints: [360, 360, 360, 360, 360, 360]\n blend_radius:\
\ 0\nvelocity_scaling: 40\n"
\ 50\nvelocity_scaling: 40\n"
- name: s3_left_arm_vision_pre_grasp
params: &pre_grasp_left "arm_motion_params:\n- arm_id: 0\n motion_type: 101\n target_pose:\n \
\ position:\n x: 0.0\n y: 0.0\n z: 0.0\n orientation:\n \
\ x: 0.0\n y: 0.0\n z: 0.0\n w: 1.0\n target_joints: [360, 360, 360, 360, 360, 360]\n blend_radius:\
\ 0\nvelocity_scaling: 40\n"
\ 50\nvelocity_scaling: 40\n"
- name: s4_right_arm_vision_grasp
params: "arm_motion_params:\n- arm_id: 1\n motion_type: 102\n target_pose:\n \
\ position:\n x: 0.0\n y: 0.0\n z: 0.0\n orientation:\n \

2
src/brain/include/brain/cerebellum_node.hpp
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@@ -113,7 +113,7 @@ private:
std::vector<double> top_cam_left_arm_orientation_{0.7071, 0.0, 0.0, 0.7071};
double side_cam_right_arm_y_offset_{0.02};
double side_cam_right_arm_z_offset_{0.02};
double side_cam_left_arm_y_offset_{0.03};
double side_cam_left_arm_y_offset_{-0.02};
double side_cam_left_arm_z_offset_{0.01};
double take_object_arm_x_{-0.05};
double vision_object_recognition_wait_timeout_sec_{2.0};