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modofy sch & params

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david
2025-10-31 17:43:36 +08:00
parent 4ac58dbd8a
commit 788948dd56
4 changed files with 100 additions and 33 deletions
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48
src/brain/config/bt_carry_boxes_sch1.params.yaml
View File

@@ -51,7 +51,7 @@
frame_time_stamp: 0
data_array: [-80, -65, -36, 1, -80, -170, -100, 65, 36, -1, 80, -10]
data_array: [-80, -70, -25, 1, -85, -170, -100, 70, 25, -1, 85, -10]
'
- name: s5_arm_pickup_box
@@ -65,7 +65,7 @@
frame_time_stamp: 0
data_array: [-105, -65, -36, 1, -80, -170, -75, 65, 36, -1, 80, -10]
data_array: [-105, -70, -25, 1, -85, -170, -75, 70, 25, -1, 85, -10]
'
- name: s6_wheel_move_back_to_origin
@@ -97,10 +97,10 @@
frame_time_stamp: 0
data_array: [-85, -70, -25, 1, -80, -150, -95, 70, 25, -1, 80, -30]
data_array: [-85, -70, -25, 1, -85, -150, -95, 70, 25, -1, 85, -30]
'
- name: s10_arm_release_and_raise_up
- name: s10_arm_release
params: 'body_id: 0
data_type: 2
@@ -111,7 +111,21 @@
frame_time_stamp: 0
data_array: [-105, -65, -25, 1, -80, -170, -75, 65, 25, -1, 80, -10]
data_array: [-85, -60, -25, 1, -85, -150, -95, 60, 25, -1, 85, -30]
'
- name: s10_arm_raise_up
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-105, -60, -25, 1, -85, -170, -75, 60, 25, -1, 85, -10]
'
- name: s11_waist_bend_up_and_turn_around
@@ -171,7 +185,7 @@
frame_time_stamp: 0
data_array: [-80, -65, -36, 1, -80, -170, -100, 65, 36, -1, 80, -10]
data_array: [-80, -70, -25, 1, -85, -170, -100, 70, 25, -1, 85, -10]
'
- name: s17_arm_pickup_box
@@ -185,7 +199,7 @@
frame_time_stamp: 0
data_array: [-105, -65, -36, 1, -80, -170, -75, 65, 36, -1, 80, -10]
data_array: [-105, -70, -25, 1, -85, -170, -75, 70, 25, -1, 85, -10]
'
- name: s18_wheel_move_back_to_second_position
@@ -217,10 +231,10 @@
frame_time_stamp: 0
data_array: [-85, -70, -25, 1, -80, -150, -95, 70, 25, -1, 80, -30]
data_array: [-85, -70, -25, 1, -85, -150, -95, 70, 25, -1, 85, -30]
'
- name: s22_arm_release_and_raise_up
- name: s22_arm_release
params: 'body_id: 0
data_type: 2
@@ -231,7 +245,21 @@
frame_time_stamp: 0
data_array: [-105, -65, -25, 1, -80, -170, -75, 65, 25, -1, 80, -10]
data_array: [-85, -60, -25, 1, -85, -150, -95, 60, 25, -1, 85, -30]
'
- name: s22_arm_raise_up
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-105, -60, -25, 1, -85, -170, -75, 60, 25, -1, 85, -10]
'
- name: s23_waist_bend_up_and_turn_around

10
src/brain/config/bt_carry_boxes_sch1.xml
View File

@@ -4,7 +4,7 @@
<!-- Retry waist + arm + hand until HandControl_H succeeds -->
<RetryUntilSuccessful name="retry_all_action" num_attempts="5">
<Sequence>
<Arm_H name="s1_arm_move_origin_position" />
<!-- <Arm_H name="s1_arm_move_origin_position" /> -->
<Arm_H name="s2_arm_move_to_snapshot_pose" />
<MoveWheel_H name="s3_wheel_move_to_pickup_position" />
<Arm_H name="s4_arm_grasp_box" />
@@ -13,7 +13,8 @@
<MoveWaist_H name="s7_waist_turn_around" />
<MoveWaist_H name="s8_waist_bend_down" />
<Arm_H name="s9_arm_put_down_box" />
<Arm_H name="s10_arm_release_and_raise_up" />
<Arm_H name="s10_arm_release" />
<Arm_H name="s10_arm_raise_up" />
<MoveWaist_H name="s11_waist_bend_up_and_turn_around" />
<!-- <MoveWaist_H name="s12_waist_turn_around" /> -->
<!-- <Arm_H name="s13_arm_move_origin_position" /> -->
@@ -25,10 +26,11 @@
<MoveWaist_H name="s19_waist_turn_around" />
<MoveWaist_H name="s20_waist_bend_down" />
<Arm_H name="s21_arm_put_down_box" />
<Arm_H name="s22_arm_release_and_raise_up" />
<Arm_H name="s22_arm_release" />
<Arm_H name="s22_arm_raise_up" />
<MoveWaist_H name="s23_waist_bend_up_and_turn_around" />
<!-- <MoveWaist_H name="s24_waist_turn_around" /> -->
<Arm_H name="s25_arm_move_origin_position" />
<!-- <Arm_H name="s25_arm_move_origin_position" /> -->
<MoveWheel_H name="s26_wheel_move_back_to_origin" />
</Sequence>
</RetryUntilSuccessful>

64
src/brain/config/bt_carry_boxes_sch2.params.yaml
View File

@@ -17,7 +17,7 @@
frame_time_stamp: 0
data_array: [-5, -60, -30, 0, 0, -180, -175, 60, 30, 0, 0, 0]
data_array: [-105, -60, -25, 1, -85, -170, -75, 60, 25, -1, 85, -10]
'
- name: s2_wheel_move_to_origin_pickup_position
@@ -49,7 +49,7 @@
frame_time_stamp: 0
data_array: [-85, -65, -25, 1, -80, -150, -95, 65, 25, -1, 80, -30]
data_array: [-85, -60, -25, 1, -85, -150, -95, 60, 25, -1, 85, -30]
'
- name: s6_arm_grasp_box
@@ -63,7 +63,7 @@
frame_time_stamp: 0
data_array: [-85, -70, -25, 1, -80, -150, -95, 70, 25, -1, 80, -30]
data_array: [-85, -70, -25, 1, -85, -150, -95, 70, 25, -1, 85, -30]
'
- name: s7_arm_pickup_box
@@ -77,7 +77,7 @@
frame_time_stamp: 0
data_array: [-105, -70, -25, 1, -80, -150, -75, 70, 25, -1, 80, -30]
data_array: [-105, -70, -25, 1, -85, -150, -75, 70, 25, -1, 85, -30]
'
- name: s8_waist_bend_up_and_turn_around
@@ -109,10 +109,10 @@
frame_time_stamp: 0
data_array: [-80, -70, -25, 1, -80, -170, -100, 70, 25, -1, 80, -10]
data_array: [-80, -70, -25, 1, -85, -170, -100, 70, 25, -1, 85, -10]
'
- name: s12_arm_release_box_and_raise_up
- name: s12_arm_release_box
params: 'body_id: 0
data_type: 2
@@ -123,11 +123,25 @@
frame_time_stamp: 0
data_array: [-105, -65, -25, 1, -80, -170, -75, 65, 25, -1, 80, -10]
data_array: [-80, -60, -25, 1, -85, -170, -100, 60, 25, -1, 85, -10]
'
- name: s13_wheel_move_to_second_pickup_position
params: 'move_distance: -0.5
- name: s12_arm_raise_up
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-105, -60, -25, 1, -85, -170, -75, 60, 25, -1, 85, -10]
'
- name: s13_wheel_move_to_origin_pickup_position
params: 'move_distance: 0.0
move_angle: 0.0
@@ -137,6 +151,12 @@
move_yaw_degree: 90.0
'
- name: s15_wheel_move_to_second_pickup_position
params: 'move_distance: -0.5
move_angle: 0.0
'
- name: s15_waist_bend_down
params: 'move_pitch_degree: 25.0
@@ -155,7 +175,7 @@
frame_time_stamp: 0
data_array: [-85, -65, -25, 1, -80, -150, -95, 65, 25, -1, 80, -30]
data_array: [-85, -60, -25, 1, -85, -150, -95, 60, 25, -1, 85, -30]
'
- name: s17_arm_grasp_box
@@ -169,7 +189,7 @@
frame_time_stamp: 0
data_array: [-85, -70, -25, 1, -80, -150, -95, 70, 25, -1, 80, -30]
data_array: [-85, -70, -25, 1, -85, -150, -95, 70, 25, -1, 85, -30]
'
- name: s18_arm_pickup_box
@@ -183,7 +203,7 @@
frame_time_stamp: 0
data_array: [-105, -70, -25, 1, -80, -150, -75, 70, 25, -1, 80, -30]
data_array: [-105, -70, -25, 1, -85, -150, -75, 70, 25, -1, 85, -30]
'
- name: s19_waist_bend_up_and_turn_around
@@ -215,10 +235,10 @@
frame_time_stamp: 0
data_array: [-80, -70, -25, 1, -80, -170, -100, 70, 25, -1, 80, -10]
data_array: [-80, -70, -25, 1, -85, -170, -100, 70, 25, -1, 85, -10]
'
- name: s23_arm_release_box_and_raise_up
- name: s23_arm_release_box
params: 'body_id: 0
data_type: 2
@@ -229,7 +249,21 @@
frame_time_stamp: 0
data_array: [-105, -65, -25, 1, -80, -170, -75, 65, 25, -1, 80, -10]
data_array: [-80, -60, -25, 1, -85, -170, -100, 60, 25, -1, 85, -10]
'
- name: s23_arm_raise_up
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-105, -60, -25, 1, -85, -170, -75, 60, 25, -1, 85, -10]
'
- name: s24_wheel_move_to_origin_pickup_position

11
src/brain/config/bt_carry_boxes_sch2.xml
View File

@@ -15,9 +15,11 @@
<!-- <MoveWaist_H name="s9_waist_turn_around" /> -->
<MoveWheel_H name="s10_wheel_move_to_putdown_position" />
<Arm_H name="s11_arm_putdown_box" />
<Arm_H name="s12_arm_release_box_and_raise_up" />
<MoveWheel_H name="s13_wheel_move_to_second_pickup_position" />
<Arm_H name="s12_arm_release_box" />
<Arm_H name="s12_arm_raise_up" />
<MoveWheel_H name="s13_wheel_move_to_origin_pickup_position" />
<MoveWaist_H name="s14_waist_turn_around" />
<MoveWheel_H name="s15_wheel_move_to_second_pickup_position" />
<MoveWaist_H name="s15_waist_bend_down" />
<Arm_H name="s16_arm_prepare_to_grasp" />
<Arm_H name="s17_arm_grasp_box" />
@@ -26,9 +28,10 @@
<!-- <MoveWaist_H name="s20_waist_turn_around" /> -->
<MoveWheel_H name="s21_wheel_move_to_putdown_position" />
<Arm_H name="s22_arm_putdown_box" />
<Arm_H name="s23_arm_release_box_and_raise_up" />
<Arm_H name="s23_arm_release_box" />
<Arm_H name="s23_arm_raise_up" />
<MoveWheel_H name="s24_wheel_move_to_origin_pickup_position" />
<Arm_H name="s25_arm_move_origin_position" />
<!-- <Arm_H name="s25_arm_move_origin_position" /> -->
</Sequence>
</RetryUntilSuccessful>
</Sequence>