optimzie code

src/brain/include/brain/cerebellum_node.hpp

@@ -56,7 +56,7 @@ private:
 
   // Parameters: abort policy, default action timeout, specific grasp timeout
   bool abort_on_failure_ {true};
-  double default_action_timeout_sec_ {60.0};
+  double default_action_timeout_sec_ {45.0};
   double vision_grasp_object_timeout_sec_ {120.0};
   std::string map_save_url_ {"/tmp/humanoid_map"};
   std::string map_save_image_format_ {"pgm"};
@@ -275,6 +275,27 @@ private:
     const std::shared_ptr<rclcpp_action::ServerGoalHandle<interfaces::action::ExecuteBtAction>> & goal_handle,
     std::string & detail);
 
+  /**
+   * @brief Internal helper: run bilateral arm actions concurrently.
+   * Extracted to reduce cyclomatic complexity of ExecuteActionSkill.
+   * @param skill Skill name.
+   * @param topic Action topic.
+   * @param timeout Action timeout.
+   * @param index Skill index.
+   * @param total_skills Total skills count.
+   * @param goal_handle Goal handle for feedback publishing.
+   * @param detail [out] Detailed status text.
+   * @return true if both arm actions report success.
+   */
+  bool ExecuteBilateralArmAction(
+    const std::string & skill,
+    const std::string & topic,
+    std::chrono::nanoseconds timeout,
+    int index,
+    int total_skills,
+    const std::shared_ptr<rclcpp_action::ServerGoalHandle<interfaces::action::ExecuteBtAction>> & goal_handle,
+    std::string & detail);
+
   /**
    * @brief Execute a service-based skill using SkillManager-configured hooks.
    * @param skill Skill name.

src/brain/include/brain/cerebrum_node.hpp

@@ -240,7 +240,7 @@ private:
   // Set of already registered action client names (prevents duplicate registration & duplicate feedback).
   std::unordered_set<std::string> registered_actions_;
   // Per-BT-node execution timeout (seconds).
-  double node_timeout_sec_ {30.0};
+  double node_timeout_sec_ {90.0};
   // Warning threshold: END(SUCCESS) 与最终 result 回调之间超过该秒数则输出警告日志。
   double result_wait_warn_sec_ {2.0};
   // Allow rebuilding the BT while it is still running (default false to avoid preemption).

src/brain/src/cerebellum_node.cpp

@@ -126,22 +126,22 @@ void CerebellumNode::ConfigureArmHooks()
         RCLCPP_INFO(this->get_logger(), "%.6f", static_cast<double>(val));
       }
 
-      goal.body_id = (tls_arm_body_id == arm::LEFT_ARM || 
-        tls_arm_body_id == arm::RIGHT_ARM) ? tls_arm_body_id : arm::LEFT_ARM;
+      goal.body_id = (tls_arm_body_id == LEFT_ARM || 
+        tls_arm_body_id == RIGHT_ARM) ? tls_arm_body_id : LEFT_ARM;
 
-      goal.data_type = arm::ARM_COMMAND_TYPE_POSE_DIRECT_MOVE;
+      goal.data_type = ARM_COMMAND_TYPE_POSE_DIRECT_MOVE;
       goal.command_id = ++command_id_;
 
       if (goal.data_length == 14 && goal.data_array.size() == 14) {
-        if (goal.body_id == arm::LEFT_ARM) {
+        if (goal.body_id == LEFT_ARM) {
           goal.data_array = {goal.data_array[0], goal.data_array[1], goal.data_array[2],
               goal.data_array[3], goal.data_array[4], goal.data_array[5], goal.data_array[6]};
-        } else if (goal.body_id == arm::RIGHT_ARM) {
+        } else if (goal.body_id == RIGHT_ARM) {
           goal.data_array = {goal.data_array[7], goal.data_array[8], goal.data_array[9],
               goal.data_array[10], goal.data_array[11], goal.data_array[12], goal.data_array[13]};
         }
       }
-      goal.data_length = arm::POSE_DIMENSION;
+      goal.data_length = POSE_DIMENSION;
       goal.frame_time_stamp = this->get_clock()->now().nanoseconds();
 
       RCLCPP_INFO(this->get_logger(), "[%s] Control params: body_id=%d, data_type=%d, data_length=%d, command_id=%ld, frame_time_stamp=%ld, data_array=[%.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f]",
@@ -155,31 +155,31 @@ void CerebellumNode::ConfigureArmHooks()
       ActionClientRegistry::GoalHandle<interfaces::action::Arm>::SharedPtr,
       const std::shared_ptr<const interfaces::action::Arm::Feedback> & feedback) {
       if (!feedback) {
-        RCLCPP_WARN(this->get_logger(), "[%s] feedback 为空", skill_name.c_str());
+        RCLCPP_WARN(this->get_logger(), "[%s] feedback is empty", skill_name.c_str());
         return;
       }
       (void)feedback;
       //TODO :
-      RCLCPP_INFO(this->get_logger(), "[%s] command_id: %ld, current progress: %d", 
+      RCLCPP_INFO(this->get_logger(), "[%s] command_id: %ld, current progress: %d",
         skill_name.c_str(), feedback->command_id, feedback->int_lenth);
 
     };
   hooks.on_result = [this](
       const std::string & skill_name,
       const ActionClientRegistry::GoalHandle<interfaces::action::Arm>::WrappedResult & res) {
-      const bool success = (res.code == rclcpp_action::ResultCode::SUCCEEDED && res.result && res.result->result == arm::OK);
-      const std::string message = res.result ? std::string("action end") : std::string("无返回信息");
+      const bool success = (res.code == rclcpp_action::ResultCode::SUCCEEDED && res.result && res.result->result == OK);
+      const std::string message = res.result ? std::string("action end") : std::string("No return information");
 
       geometry_msgs::msg::Pose pose = res.result->pose;
-      RCLCPP_WARN(this->get_logger(), "[%s] 最终位置: %.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f",
+      RCLCPP_WARN(this->get_logger(), "[%s] Final position: %.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f",
         skill_name.c_str(), pose.position.x, pose.position.y, pose.position.z, pose.orientation.x, pose.orientation.y, pose.orientation.z, pose.orientation.w);
 
       if (success) {
-        RCLCPP_INFO(this->get_logger(), "[%s] command_id %ld 完成: %s", skill_name.c_str(), res.result->command_id, message.c_str());
+        RCLCPP_INFO(this->get_logger(), "[%s] command_id %ld completed: %s", skill_name.c_str(), res.result->command_id, message.c_str());
       } else if (res.code == rclcpp_action::ResultCode::CANCELED) {
-        RCLCPP_WARN(this->get_logger(), "[%s] 被取消", skill_name.c_str());
+        RCLCPP_WARN(this->get_logger(), "[%s] was cancelled", skill_name.c_str());
       } else {
-        RCLCPP_ERROR(this->get_logger(), "[%s] 失败 (code=%d): %s",
+        RCLCPP_ERROR(this->get_logger(), "[%s] failed (code=%d): %s",
           skill_name.c_str(), static_cast<int>(res.code), message.c_str());
       }
     };
@@ -187,9 +187,9 @@ void CerebellumNode::ConfigureArmHooks()
       const std::string & skill_name,
       const std::shared_ptr<ActionClientRegistry::GoalHandle<interfaces::action::Arm>> & handle) {
       if (static_cast<bool>(handle)) {
-        RCLCPP_INFO(this->get_logger(), "[%s] goal 已被服务器接收", skill_name.c_str());
+        RCLCPP_INFO(this->get_logger(), "[%s] goal has been accepted by server", skill_name.c_str());
       } else {
-        RCLCPP_WARN(this->get_logger(), "[%s] goal 被服务器拒绝", skill_name.c_str());
+        RCLCPP_WARN(this->get_logger(), "[%s] goal was rejected by server", skill_name.c_str());
       }
     };
   skill_manager_->configure_action_hooks<interfaces::action::Arm>("Arm", std::move(hooks));
@@ -212,7 +212,7 @@ void CerebellumNode::ConfigureHandControlHooks()
         this->declare_parameter<std::vector<double>>(param, {0.0, 0.0, 0.0});
       }
       const auto values = this->get_parameter(param).as_double_array();
-      RCLCPP_INFO(this->get_logger(), "[%s] 目标参数 size=%zu", skill_name.c_str(), values.size());
+      RCLCPP_INFO(this->get_logger(), "[%s] Target parameters size=%zu", skill_name.c_str(), values.size());
       (void)values;
       goal.mode = 1;
       return goal;
@@ -230,13 +230,13 @@ void CerebellumNode::ConfigureHandControlHooks()
       const std::string & skill_name,
       const ActionClientRegistry::GoalHandle<interfaces::action::HandControl>::WrappedResult & res) {
       const bool success = res.code == rclcpp_action::ResultCode::SUCCEEDED && res.result && res.result->success;
-      const std::string message = res.result ? res.result->message : std::string("无返回信息");
+      const std::string message = res.result ? res.result->message : std::string("No return information");
       if (success) {
-        RCLCPP_INFO(this->get_logger(), "[%s] 成功: %s", skill_name.c_str(), message.c_str());
+        RCLCPP_INFO(this->get_logger(), "[%s] Success: %s", skill_name.c_str(), message.c_str());
       } else if (res.code == rclcpp_action::ResultCode::CANCELED) {
-        RCLCPP_WARN(this->get_logger(), "[%s] 被取消", skill_name.c_str());
+        RCLCPP_WARN(this->get_logger(), "[%s] was cancelled", skill_name.c_str());
       } else {
-        RCLCPP_ERROR(this->get_logger(), "[%s] 失败 (code=%d): %s",
+        RCLCPP_ERROR(this->get_logger(), "[%s] failed (code=%d): %s",
           skill_name.c_str(), static_cast<int>(res.code), message.c_str());
       }
     };
@@ -244,9 +244,9 @@ void CerebellumNode::ConfigureHandControlHooks()
       const std::string & skill_name,
       const std::shared_ptr<ActionClientRegistry::GoalHandle<interfaces::action::HandControl>> & handle) {
       if (static_cast<bool>(handle)) {
-        RCLCPP_INFO(this->get_logger(), "[%s] goal 已被服务器接收", skill_name.c_str());
+        RCLCPP_INFO(this->get_logger(), "[%s] goal has been accepted by server", skill_name.c_str());
       } else {
-        RCLCPP_WARN(this->get_logger(), "[%s] goal 被服务器拒绝", skill_name.c_str());
+        RCLCPP_WARN(this->get_logger(), "[%s] goal was rejected by server", skill_name.c_str());
       }
     };
   skill_manager_->configure_action_hooks<interfaces::action::HandControl>("HandControl", std::move(hooks));
@@ -265,7 +265,8 @@ void CerebellumNode::ConfigureMoveWaistHooks()
       // Plan A: load per-call YAML payload into goal if present
       (void)TryParseCallPayload<interfaces::action::MoveWaist::Goal>(skill_name, goal);
 
-      RCLCPP_INFO(this->get_logger(), "[%s] move_pitch_degree: %f, move_yaw_degree: %f", skill_name.c_str(), goal.move_pitch_degree, goal.move_yaw_degree);
+      RCLCPP_INFO(this->get_logger(), "[%s] move_pitch_degree: %f, move_yaw_degree: %f", 
+        skill_name.c_str(), goal.move_pitch_degree, goal.move_yaw_degree);
       
       return goal;
     };
@@ -281,13 +282,13 @@ void CerebellumNode::ConfigureMoveWaistHooks()
       const std::string & skill_name,
       const ActionClientRegistry::GoalHandle<interfaces::action::MoveWaist>::WrappedResult & res) {
       const bool success = res.code == rclcpp_action::ResultCode::SUCCEEDED && res.result && res.result->success;
-      const std::string message = res.result ? res.result->message : std::string("无返回信息");
+      const std::string message = res.result ? res.result->message : std::string("No return information");
       if (success) {
-        RCLCPP_INFO(this->get_logger(), "[%s] 成功: %s", skill_name.c_str(), message.c_str());
+        RCLCPP_INFO(this->get_logger(), "[%s] Success: %s", skill_name.c_str(), message.c_str());
       } else if (res.code == rclcpp_action::ResultCode::CANCELED) {
-        RCLCPP_WARN(this->get_logger(), "[%s] 被取消", skill_name.c_str());
+        RCLCPP_WARN(this->get_logger(), "[%s] was cancelled", skill_name.c_str());
       } else {
-        RCLCPP_ERROR(this->get_logger(), "[%s] 失败 (code=%d): %s",
+        RCLCPP_ERROR(this->get_logger(), "[%s] failed (code=%d): %s",
           skill_name.c_str(), static_cast<int>(res.code), message.c_str());
       }
     };
@@ -295,9 +296,9 @@ void CerebellumNode::ConfigureMoveWaistHooks()
       const std::string & skill_name,
       const std::shared_ptr<ActionClientRegistry::GoalHandle<interfaces::action::MoveWaist>> & handle) {
       if (static_cast<bool>(handle)) {
-        RCLCPP_INFO(this->get_logger(), "[%s] goal 已被服务器接收", skill_name.c_str());
+        RCLCPP_INFO(this->get_logger(), "[%s] goal has been accepted by server", skill_name.c_str());
       } else {
-        RCLCPP_WARN(this->get_logger(), "[%s] goal 被服务器拒绝", skill_name.c_str());
+        RCLCPP_WARN(this->get_logger(), "[%s] goal was rejected by server", skill_name.c_str());
       }
     };
   skill_manager_->configure_action_hooks<interfaces::action::MoveWaist>("MoveWaist", std::move(hooks));
@@ -328,13 +329,13 @@ void CerebellumNode::ConfigureMoveLegHooks()
       const std::string & skill_name,
       const ActionClientRegistry::GoalHandle<interfaces::action::MoveLeg>::WrappedResult & res) {
       const bool success = res.code == rclcpp_action::ResultCode::SUCCEEDED && res.result && res.result->success;
-      const std::string message = res.result ? res.result->message : std::string("无返回信息");
+      const std::string message = res.result ? res.result->message : std::string("No return information");
       if (success) {
-        RCLCPP_INFO(this->get_logger(), "[%s] 成功: %s", skill_name.c_str(), message.c_str());
+        RCLCPP_INFO(this->get_logger(), "[%s] Success: %s", skill_name.c_str(), message.c_str());
       } else if (res.code == rclcpp_action::ResultCode::CANCELED) {
-        RCLCPP_WARN(this->get_logger(), "[%s] 被取消", skill_name.c_str());
+        RCLCPP_WARN(this->get_logger(), "[%s] was cancelled", skill_name.c_str());
       } else {
-        RCLCPP_ERROR(this->get_logger(), "[%s] 失败 (code=%d): %s",
+        RCLCPP_ERROR(this->get_logger(), "[%s] failed (code=%d): %s",
           skill_name.c_str(), static_cast<int>(res.code), message.c_str());
       }
     };
@@ -342,9 +343,9 @@ void CerebellumNode::ConfigureMoveLegHooks()
       const std::string & skill_name,
       const std::shared_ptr<ActionClientRegistry::GoalHandle<interfaces::action::MoveLeg>> & handle) {
       if (static_cast<bool>(handle)) {
-        RCLCPP_INFO(this->get_logger(), "[%s] goal 已被服务器接收", skill_name.c_str());
+        RCLCPP_INFO(this->get_logger(), "[%s] goal has been accepted by server", skill_name.c_str());
       } else {
-        RCLCPP_WARN(this->get_logger(), "[%s] goal 被服务器拒绝", skill_name.c_str());
+        RCLCPP_WARN(this->get_logger(), "[%s] goal was rejected by server", skill_name.c_str());
       }
     };
   skill_manager_->configure_action_hooks<interfaces::action::MoveLeg>("MoveLeg", std::move(hooks));
@@ -377,13 +378,13 @@ void CerebellumNode::ConfigureMoveWheelHooks()
       const std::string & skill_name,
       const ActionClientRegistry::GoalHandle<interfaces::action::MoveWheel>::WrappedResult & res) {
       const bool success = res.code == rclcpp_action::ResultCode::SUCCEEDED && res.result && res.result->success;
-      const std::string message = res.result ? res.result->message : std::string("无返回信息");
+      const std::string message = res.result ? res.result->message : std::string("No return information");
       if (success) {
-        RCLCPP_INFO(this->get_logger(), "[%s] 成功: %s", skill_name.c_str(), message.c_str());
+        RCLCPP_INFO(this->get_logger(), "[%s] Success: %s", skill_name.c_str(), message.c_str());
       } else if (res.code == rclcpp_action::ResultCode::CANCELED) {
-        RCLCPP_WARN(this->get_logger(), "[%s] 被取消", skill_name.c_str());
+        RCLCPP_WARN(this->get_logger(), "[%s] was cancelled", skill_name.c_str());
       } else {
-        RCLCPP_ERROR(this->get_logger(), "[%s] 失败 (code=%d): %s",
+        RCLCPP_ERROR(this->get_logger(), "[%s] failed (code=%d): %s",
           skill_name.c_str(), static_cast<int>(res.code), message.c_str());
       }
     };
@@ -391,9 +392,9 @@ void CerebellumNode::ConfigureMoveWheelHooks()
       const std::string & skill_name,
       const std::shared_ptr<ActionClientRegistry::GoalHandle<interfaces::action::MoveWheel>> & handle) {
       if (static_cast<bool>(handle)) {
-        RCLCPP_INFO(this->get_logger(), "[%s] goal 已被服务器接收", skill_name.c_str());
+        RCLCPP_INFO(this->get_logger(), "[%s] goal has been accepted by server", skill_name.c_str());
       } else {
-        RCLCPP_WARN(this->get_logger(), "[%s] goal 被服务器拒绝", skill_name.c_str());
+        RCLCPP_WARN(this->get_logger(), "[%s] goal was rejected by server", skill_name.c_str());
       }
     };
   skill_manager_->configure_action_hooks<interfaces::action::MoveWheel>("MoveWheel", std::move(hooks));
@@ -426,13 +427,13 @@ void CerebellumNode::ConfigureMoveHomeHooks()
       const std::string & skill_name,
       const ActionClientRegistry::GoalHandle<interfaces::action::MoveHome>::WrappedResult & res) {
       const bool success = res.code == rclcpp_action::ResultCode::SUCCEEDED && res.result && res.result->success;
-      const std::string message = res.result ? res.result->message : std::string("无返回信息");
+      const std::string message = res.result ? res.result->message : std::string("No return information");
       if (success) {
-        RCLCPP_INFO(this->get_logger(), "[%s] 成功: %s", skill_name.c_str(), message.c_str());
+        RCLCPP_INFO(this->get_logger(), "[%s] Success: %s", skill_name.c_str(), message.c_str());
       } else if (res.code == rclcpp_action::ResultCode::CANCELED) {
-        RCLCPP_WARN(this->get_logger(), "[%s] 被取消", skill_name.c_str());
+        RCLCPP_WARN(this->get_logger(), "[%s] was cancelled", skill_name.c_str());
       } else {
-        RCLCPP_ERROR(this->get_logger(), "[%s] 失败 (code=%d): %s",
+        RCLCPP_ERROR(this->get_logger(), "[%s] failed (code=%d): %s",
           skill_name.c_str(), static_cast<int>(res.code), message.c_str());
       }
     };
@@ -440,9 +441,9 @@ void CerebellumNode::ConfigureMoveHomeHooks()
       const std::string & skill_name,
       const std::shared_ptr<ActionClientRegistry::GoalHandle<interfaces::action::MoveHome>> & handle) {
       if (static_cast<bool>(handle)) {
-        RCLCPP_INFO(this->get_logger(), "[%s] goal 已被服务器接收", skill_name.c_str());
+        RCLCPP_INFO(this->get_logger(), "[%s] goal has been accepted by server", skill_name.c_str());
       } else {
-        RCLCPP_WARN(this->get_logger(), "[%s] goal 被服务器拒绝", skill_name.c_str());
+        RCLCPP_WARN(this->get_logger(), "[%s] goal was rejected by server", skill_name.c_str());
       }
     };
   skill_manager_->configure_action_hooks<interfaces::action::MoveHome>("MoveHome", std::move(hooks));
@@ -455,7 +456,7 @@ void CerebellumNode::ConfigureMoveHomeHooks()
 void CerebellumNode::ConfigureActionHooks()
 {
   if (!skill_manager_) {
-    RCLCPP_WARN(this->get_logger(), "SkillManager 不可用，跳过动作钩子配置");
+    RCLCPP_WARN(this->get_logger(), "SkillManager unavailable, skipping action hook configuration");
     return;
   }
   ConfigureArmHooks();
@@ -517,7 +518,6 @@ void CerebellumNode::ConfigureVisionObjectRecognitionHooks()
         for (size_t i = 0; i < resp->objects.size(); ++i) {
           const auto & obj = resp->objects[i];
 
-          //判断target_pose_的key是否等于obj.class_name，如果相等，将value存入target_pose_的PostStamped
           if (target_frame_ == obj.class_name) {
             target_pose_[target_frame_].header = resp->header;
             target_pose_[target_frame_].pose = obj.pose_list[0];
@@ -559,13 +559,13 @@ void CerebellumNode::ConfigureCameraTakePhotoHooks()
       const std::string & skill_name,
       const ActionClientRegistry::GoalHandle<interfaces::action::CameraTakePhoto>::WrappedResult & res) {
       const bool success = res.code == rclcpp_action::ResultCode::SUCCEEDED && res.result && res.result->success;
-      const std::string message = res.result ? res.result->message : std::string("无返回信息");
+      const std::string message = res.result ? res.result->message : std::string("No return information");
       if (success) {
-        RCLCPP_INFO(this->get_logger(), "[%s] 成功: %s", skill_name.c_str(), message.c_str());
+        RCLCPP_INFO(this->get_logger(), "[%s] Success: %s", skill_name.c_str(), message.c_str());
       } else if (res.code == rclcpp_action::ResultCode::CANCELED) {
-        RCLCPP_WARN(this->get_logger(), "[%s] 被取消", skill_name.c_str());
+        RCLCPP_WARN(this->get_logger(), "[%s] was cancelled", skill_name.c_str());
       } else {
-        RCLCPP_ERROR(this->get_logger(), "[%s] 失败 (code=%d): %s",
+        RCLCPP_ERROR(this->get_logger(), "[%s] failed (code=%d): %s",
           skill_name.c_str(), static_cast<int>(res.code), message.c_str());
       }
     };
@@ -573,9 +573,9 @@ void CerebellumNode::ConfigureCameraTakePhotoHooks()
       const std::string & skill_name,
       const std::shared_ptr<ActionClientRegistry::GoalHandle<interfaces::action::CameraTakePhoto>> & handle) {
       if (static_cast<bool>(handle)) {
-        RCLCPP_INFO(this->get_logger(), "[%s] goal 已被服务器接收", skill_name.c_str());
+        RCLCPP_INFO(this->get_logger(), "[%s] goal has been accepted by server", skill_name.c_str());
       } else {
-        RCLCPP_WARN(this->get_logger(), "[%s] goal 被服务器拒绝", skill_name.c_str());
+        RCLCPP_WARN(this->get_logger(), "[%s] goal was rejected by server", skill_name.c_str());
       }
     };
   skill_manager_->configure_action_hooks<interfaces::action::CameraTakePhoto>("CameraTakePhoto", std::move(hooks));
@@ -654,7 +654,7 @@ void CerebellumNode::ConfigureMapSaveHooks()
 void CerebellumNode::ConfigureServiceHooks()
 {
   if (!skill_manager_) {
-    RCLCPP_WARN(this->get_logger(), "SkillManager 不可用，跳过服务钩子配置");
+    RCLCPP_WARN(this->get_logger(), "SkillManager unavailable, skipping service hook configuration");
     return;
   }
   ConfigureVisionObjectRecognitionHooks();
@@ -854,15 +854,15 @@ bool CerebellumNode::TransformPoseToArmFrame(
   geometry_msgs::msg::PoseStamped & transformed) const
 {
   if (!tf_buffer_) {
-    RCLCPP_ERROR(this->get_logger(), "TF buffer 未初始化，无法转换目标点位");
+    RCLCPP_ERROR(this->get_logger(), "TF buffer not initialized, unable to transform target pose");
     return false;
   }
   if (source.header.frame_id.empty()) {
-    RCLCPP_WARN(this->get_logger(), "目标姿态缺少来源坐标系，跳过转换");
+    RCLCPP_WARN(this->get_logger(), "Target pose missing source frame, skipping transformation");
     return false;
   }
   if (source.header.frame_id == arm_target_frame_) {
-    RCLCPP_INFO(this->get_logger(), "目标姿态已位于 %s 坐标系，跳过转换", arm_target_frame_.c_str());
+    RCLCPP_INFO(this->get_logger(), "Target pose already in %s frame, skipping transformation", arm_target_frame_.c_str());
     transformed = source;
     return true;
   }
@@ -870,12 +870,12 @@ bool CerebellumNode::TransformPoseToArmFrame(
     transformed = tf_buffer_->transform(
       source, arm_target_frame_, tf2::durationFromSec(arm_transform_timeout_sec_));
     RCLCPP_INFO(
-      this->get_logger(), "目标姿态从 %s 转换至 %s",
+      this->get_logger(), "Target pose transformed from %s to %s",
       source.header.frame_id.c_str(), arm_target_frame_.c_str());
     return true;
   } catch (const tf2::TransformException & ex) {
     RCLCPP_ERROR(
-      this->get_logger(), "转换目标姿态失败: %s -> %s, 原因: %s",
+      this->get_logger(), "Failed to transform target pose: %s -> %s, reason: %s",
       source.header.frame_id.c_str(), arm_target_frame_.c_str(), ex.what());
   }
   return false;
@@ -1115,62 +1115,9 @@ bool CerebellumNode::ExecuteActionSkill(
   }
   auto timeout = std::chrono::duration_cast<std::chrono::nanoseconds>(
     std::chrono::duration<double>(GetTimeoutForSkill(skill)));
-  if (skill == "Arm") {
-    RCLCPP_INFO(this->get_logger(), "[Arm] 并发发送两个 goal: body_id=1 与 body_id=0");
-
-    std::atomic<bool> finished1{false}, finished2{false};
-    bool ok1 = false, ok2 = false;
-    std::string d1, d2;
-
-    auto worker = [this, &ok_out = ok1, &done_flag = finished1, &d_out = d1,
-                   skill, topic, timeout](int body_id) {
-      tls_arm_body_id = body_id;
-      ok_out = brain::dispatch_skill_action<0, brain::SkillActionTypes>(
-        skill, topic, action_clients_.get(), this->get_logger(), timeout, d_out);
-      done_flag.store(true, std::memory_order_release);
-    };
-
-    std::thread t1(worker, 1); // RIGHT_ARM=1
-    auto worker2 = [this, &ok_out = ok2, &done_flag = finished2, &d_out = d2,
-                    skill, topic, timeout](int body_id) {
-      tls_arm_body_id = body_id;
-      ok_out = brain::dispatch_skill_action<0, brain::SkillActionTypes>(
-        skill, topic, action_clients_.get(), this->get_logger(), timeout, d_out);
-      done_flag.store(true, std::memory_order_release);
-    };
-    std::thread t2(worker2, 0); // LEFT_ARM=0
-
-    const auto start_steady = std::chrono::steady_clock::now();
-    const double timeout_sec = timeout.count() / 1e9;
-    while (!(finished1.load(std::memory_order_acquire) && finished2.load(std::memory_order_acquire))) {
-      auto now = std::chrono::steady_clock::now();
-      double elapsed = std::chrono::duration<double>(now - start_steady).count();
-      double phase = timeout_sec > 0.0 ? std::min(elapsed / timeout_sec, 0.99) : 0.0;
-      double sub_done = (finished1.load(std::memory_order_relaxed) ? 1.0 : phase)
-                      + (finished2.load(std::memory_order_relaxed) ? 1.0 : phase);
-      double avg_phase = 0.5 * std::min(sub_done, 2.0);
-      float seq_progress =
-        (total_skills > 0) ? static_cast<float>((index + avg_phase) / total_skills) : 0.f;
-      PublishFeedbackStage(goal_handle, "RUN", skill, seq_progress, "");
-      std::this_thread::sleep_for(std::chrono::milliseconds(200));
-    }
-
-    if (t1.joinable()) t1.join(); //RIGHT ARM
-    if (t2.joinable()) t2.join(); //LEFT ARM
-
-    if (!ok1 || !ok2) {
-      std::ostringstream oss;
-      if (!ok1) { oss << "Arm(body_id=1) 失败"; if (!d1.empty()) oss << ": " << d1; }
-      if (!ok2) { if (!oss.str().empty()) oss << "; "; oss << "Arm(body_id=0) 失败"; if (!d2.empty()) oss << ": " << d2; }
-      detail = oss.str();
-      return false;
-    }
-    detail.clear();
-    return true;
-  }
-  // 其他动作按一次发送
-  return RunActionSkillWithProgress(
-    skill, topic, timeout, index, total_skills, goal_handle, detail);
+  return (skill == "Arm") ? 
+    ExecuteBilateralArmAction(skill, topic, timeout, index, total_skills, goal_handle, detail) : 
+    RunActionSkillWithProgress(skill, topic, timeout, index, total_skills, goal_handle, detail);
 }
 
 /**
@@ -1217,12 +1164,98 @@ bool CerebellumNode::RunActionSkillWithProgress(
     PublishFeedbackStage(goal_handle, "RUN", skill, seq_progress, "");
     std::this_thread::sleep_for(std::chrono::milliseconds(200));
   }
-  if (worker.joinable()) {worker.join();}
+  if (worker.joinable()) {
+    try {
+      worker.join();
+    } catch (const std::exception& e) {
+      RCLCPP_ERROR(this->get_logger(), "Exception in worker thread join: %s", e.what());
+    }
+  }
   detail = local_detail;
   if (!ok && detail.empty()) {detail = "Unsupported action skill";}
   return ok;
 }
 
+/**
+ * @brief Execute bilateral arm actions concurrently.
+ *
+ * Launches two threads executing dispatch_skill_action for each arm while the main thread publishes
+ * RUN stage feedback at fixed intervals until both actions complete.
+ * @param skill Skill name.
+ * @param topic Action topic/client key.
+ * @param timeout Action timeout.
+ * @param index Skill's zero-based index within the sequence.
+ * @param total_skills Total number of skills in the sequence.
+ * @param goal_handle ExecuteBtAction goal handle for feedback publication.
+ * @param detail [out] Detailed status or error information.
+ * @return true if both actions report success; false otherwise.
+ */
+bool CerebellumNode::ExecuteBilateralArmAction(
+  const std::string & skill,
+  const std::string & topic,
+  std::chrono::nanoseconds timeout,
+  int index,
+  int total_skills,
+  const std::shared_ptr<rclcpp_action::ServerGoalHandle<interfaces::action::ExecuteBtAction>> & goal_handle,
+  std::string & detail)
+{
+  RCLCPP_INFO(this->get_logger(), "[Arm] send two goals: body_id=1 and body_id=0");
+
+  std::atomic<bool> finished1{false}, finished2{false};
+  bool ok1 = false, ok2 = false;
+  std::string d1, d2;
+
+  auto worker = [this, &ok_out = ok1, &done_flag = finished1, &d_out = d1,
+                 skill, topic, timeout](int body_id) {
+    tls_arm_body_id = body_id;
+    ok_out = brain::dispatch_skill_action<0, brain::SkillActionTypes>(
+      skill, topic, action_clients_.get(), this->get_logger(), timeout, d_out);
+    done_flag.store(true, std::memory_order_release);
+  };
+
+  std::thread t1(worker, RIGHT_ARM); // RIGHT_ARM=1
+  auto worker2 = [this, &ok_out = ok2, &done_flag = finished2, &d_out = d2,
+                  skill, topic, timeout](int body_id) {
+    tls_arm_body_id = body_id;
+    ok_out = brain::dispatch_skill_action<0, brain::SkillActionTypes>(
+      skill, topic, action_clients_.get(), this->get_logger(), timeout, d_out);
+    done_flag.store(true, std::memory_order_release);
+  };
+  std::thread t2(worker2, LEFT_ARM); // LEFT_ARM=0
+
+  const auto start_steady = std::chrono::steady_clock::now();
+  while (!(finished1.load(std::memory_order_acquire) && finished2.load(std::memory_order_acquire))) {
+    double elapsed_ms = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::steady_clock::now() - start_steady).count();
+    PublishFeedbackStage(goal_handle, "RUN", skill, elapsed_ms, "");
+    std::this_thread::sleep_for(std::chrono::milliseconds(500));
+  }
+
+  if (t1.joinable()) {
+    try {
+      t1.join();
+    } catch (const std::exception& e) {
+      RCLCPP_ERROR(this->get_logger(), "Exception in Arm thread 1 join: %s", e.what());
+    }
+  }
+  if (t2.joinable()) {
+    try {
+      t2.join();
+    } catch (const std::exception& e) {
+      RCLCPP_ERROR(this->get_logger(), "Exception in Arm thread 2 join: %s", e.what());
+    }
+  }
+
+  if (!ok1 || !ok2) {
+    std::ostringstream oss;
+    if (!ok1) { oss << "Arm(body_id=1) failed"; if (!d1.empty()) oss << ": " << d1; }
+    if (!ok2) { if (!oss.str().empty()) oss << "; "; oss << "Arm(body_id=0) failed"; if (!d2.empty()) oss << ": " << d2; }
+    detail = oss.str();
+    return false;
+  }
+  detail.clear();
+  return true;
+}
+
 /**
  * @brief Execute a supported service-based skill (currently VisionObjectRecognition).
  *

src/modules/motion/arm_control/src/arm_control_node.cpp

@@ -1,5 +1,5 @@
 // Copyright (c) 2025
-// 简单的运动模块：提供 ArmSpaceControl 动作(Action)服务端。
+// Simple motion module that exposes an ArmSpaceControl action server.
 // Simple motion module that exposes an ArmSpaceControl action server.
 
 #include <chrono>

src/modules/motion/leg_control/src/leg_control_node.cpp

@@ -1,5 +1,5 @@
 // leg_control_node.cpp
-// 提供 LegControl.action 的简单示例 Action Server
+// Simple example Action Server for LegControl.action
 
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp_action/rclcpp_action.hpp>
@@ -33,7 +33,7 @@ private:
     double ang_norm = std::sqrt(ang.x * ang.x + ang.y * ang.y + ang.z * ang.z);
     RCLCPP_INFO(get_logger(), "Received LegControl goal: frame=%s lin_norm=%.3f ang_norm=%.3f",
                 goal->target.header.frame_id.c_str(), lin_norm, ang_norm);
-    // 简单校验: 线速度和角速度不能同时为 0
+    // Simple validation: linear and angular velocities cannot both be 0
     // if (lin_norm < 1e-6 && ang_norm < 1e-6) {
     //   RCLCPP_WARN(get_logger(), "Reject goal: zero twist");
     //   return rclcpp_action::GoalResponse::REJECT;
@@ -48,7 +48,7 @@ private:
   }
 
   void handle_accepted(const std::shared_ptr<GoalHandleLeg> gh) {
-    // 在新的线程里执行以免阻塞 executor
+    // Execute in a new thread to avoid blocking the executor
     std::thread{std::bind(&LegControlServer::execute, this, gh)}.detach();
   }
 

src/modules/vision/vision_object_recg/src/vision_object_recg_node.cpp

@@ -1,5 +1,5 @@
 // vision_object_recg_node.cpp
-// 提供 VisionObjectRecognition.srv 服务，实现简单的目标识别逻辑
+// Provides VisionObjectRecognition.srv service, implementing simple object recognition logic
 
 // ROS2 core
 #include <rclcpp/rclcpp.hpp>
@@ -38,11 +38,11 @@ private:
 
     res->header.frame_id = "base_link_camera";
 
-    // 简单逻辑: 只要 camera_position 非空且不是 unknown 就认为识别到两个目标
+    // Simple logic: as long as camera_position is not empty and not "unknown", consider two objects recognized
     if (!req->camera_position.empty() && req->camera_position != "unknown") {
       res->success = true;
 
-      // 伪造两类目标 (示例: cup / bottle)，每类给出 1~2 个 Pose
+      // Fake two types of objects (example: cup / bottle), each type gives 1~2 Poses
       interfaces::msg::PoseClassAndID obj1;
       obj1.class_name = "bottlex";
       obj1.class_id = 1;