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update sch & params

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This commit is contained in:
david
2025-11-01 13:02:29 +08:00
parent 74c6ee0046
commit 967b7bdf9b
4 changed files with 81 additions and 46 deletions
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8
src/brain/config/bt_carry_boxes_sch1.params.yaml
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@@ -132,10 +132,10 @@
data_array: [-110, -60, -25, 1, -85, -170, -70, 60, 25, -1, 85, -10]
'
- name: s11_waist_bend_up_and_turn_around
- name: s11_waist_bend_up
params: 'move_pitch_degree: -25.0
move_yaw_degree: -90.0
move_yaw_degree: 0.0
'
- name: s12_waist_turn_around
@@ -266,10 +266,10 @@
data_array: [-110, -60, -25, 1, -85, -170, -70, 60, 25, -1, 85, -10]
'
- name: s23_waist_bend_up_and_turn_around
- name: s23_waist_bend_up
params: 'move_pitch_degree: -25.0
move_yaw_degree: -90.0
move_yaw_degree: 0.0
'
- name: s24_waist_turn_around

53
src/brain/config/bt_carry_boxes_sch1.xml
View File

@@ -6,35 +6,52 @@
<Sequence>
<!-- <MoveHome_H name="s0_motion_move_home" /> -->
<!-- <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" />
<Parallel name="parallel_action_1">
<Arm_H name="s2_arm_move_to_snapshot_pose" />
<MoveWheel_H name="s3_wheel_move_to_pickup_position" />
</Parallel>
<Arm_H name="s4_arm_grasp_box" />
<Arm_H name="s5_arm_pickup_box" />
<MoveWheel_H name="s6_wheel_move_back_to_second_position" />
<MoveWaist_H name="s7_waist_turn_around" />
<Parallel name="move_waist">
<Parallel name="parallel_action_2">
<MoveWheel_H name="s6_wheel_move_back_to_second_position" />
<MoveWaist_H name="s7_waist_turn_around" />
</Parallel>
<Parallel name="parallel_action_3">
<MoveWaist_H name="s8_waist_bend_down" />
<Arm_H name="s9_arm_put_down_box" />
</Parallel>
<Arm_H name="s10_arm_release" />
<Arm_H name="s10_arm_raise_up" />
<MoveWaist_H name="s11_waist_bend_up_and_turn_around" />
<Parallel name="parallel_action_4">
<Arm_H name="s10_arm_raise_up" />
<MoveWaist_H name="s11_waist_bend_up" />
</Parallel>
<!-- <MoveWaist_H name="s12_waist_turn_around" /> -->
<!-- <Arm_H name="s13_arm_move_origin_position" /> -->
<Arm_H name="s14_arm_move_to_snapshot_pose" />
<MoveWheel_H name="s15_wheel_move_to_pickup_position" />
<Parallel name="parallel_action_5">
<MoveWaist_H name="s12_waist_turn_around" />
<Arm_H name="s14_arm_move_to_snapshot_pose" />
<MoveWheel_H name="s15_wheel_move_to_pickup_position" />
</Parallel>
<Arm_H name="s16_arm_grasp_box" />
<Arm_H name="s17_arm_pickup_box" />
<MoveWheel_H name="s18_wheel_move_back_to_origin" />
<MoveWaist_H name="s19_waist_turn_around" />
<MoveWaist_H name="s20_waist_bend_down" />
<Arm_H name="s21_arm_put_down_box" />
<Parallel name="parallel_action_6">
<MoveWheel_H name="s18_wheel_move_back_to_origin" />
<MoveWaist_H name="s19_waist_turn_around" />
</Parallel>
<Parallel name="parallel_action_7">
<MoveWaist_H name="s20_waist_bend_down" />
<Arm_H name="s21_arm_put_down_box" />
</Parallel>
<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" /> -->
<MoveWheel_H name="s26_wheel_move_back_to_origin" />
<Parallel name="parallel_action_8">
<Arm_H name="s22_arm_raise_up" />
<MoveWaist_H name="s23_waist_bend_up" />
</Parallel>
<Parallel name="parallel_action_9">
<MoveWaist_H name="s24_waist_turn_around" />
<!-- <Arm_H name="s25_arm_move_origin_position" /> -->
<MoveWheel_H name="s26_wheel_move_back_to_origin" />
</Parallel>
</Sequence>
</RetryUntilSuccessful>
</Sequence>

8
src/brain/config/bt_carry_boxes_sch2.params.yaml
View File

@@ -80,10 +80,10 @@
data_array: [-110, -70, -25, 1, -85, -150, -70, 70, 25, -1, 85, -30]
'
- name: s8_waist_bend_up_and_turn_around
- name: s8_waist_bend_up
params: 'move_pitch_degree: -25.0
move_yaw_degree: -90.0
move_yaw_degree: 0.0
'
- name: s9_waist_turn_around
@@ -206,10 +206,10 @@
data_array: [-110, -70, -25, 1, -85, -150, -70, 70, 25, -1, 85, -30]
'
- name: s19_waist_bend_up_and_turn_around
- name: s19_waist_bend_up
params: 'move_pitch_degree: -25.0
move_yaw_degree: -90.0
move_yaw_degree: 0.0
'
- name: s20_waist_turn_around

58
src/brain/config/bt_carry_boxes_sch2.xml
View File

@@ -4,33 +4,51 @@
<!-- Retry waist + arm + hand until HandControl_H succeeds -->
<RetryUntilSuccessful name="retry_all_action" num_attempts="3">
<Sequence>
<Arm_H name="s1_arm_move_origin_position" />
<MoveWheel_H name="s2_wheel_move_to_origin_pickup_position" />
<Parallel name="parallel_action_1">
<Arm_H name="s1_arm_move_origin_position" />
<MoveWheel_H name="s2_wheel_move_to_origin_pickup_position" />
</Parallel>
<MoveWaist_H name="s3_waist_turn_around" />
<MoveWaist_H name="s4_waist_bend_down" />
<Arm_H name="s5_arm_prepare_to_grasp" />
<Parallel name="parallel_action_2">
<MoveWaist_H name="s4_waist_bend_down" />
<Arm_H name="s5_arm_prepare_to_grasp" />
</Parallel>
<Arm_H name="s6_arm_grasp_box" />
<Arm_H name="s7_arm_pickup_box" />
<MoveWaist_H name="s8_waist_bend_up_and_turn_around" />
<!-- <MoveWaist_H name="s9_waist_turn_around" /> -->
<MoveWheel_H name="s10_wheel_move_to_putdown_position" />
<Parallel name="parallel_action_3">
<Arm_H name="s7_arm_pickup_box" />
<MoveWaist_H name="s8_waist_bend_up" />
</Parallel>
<Parallel name="parallel_action_4">
<MoveWaist_H name="s9_waist_turn_around" />
<MoveWheel_H name="s10_wheel_move_to_putdown_position" />
</Parallel>
<Arm_H name="s11_arm_putdown_box" />
<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" />
<Parallel name="parallel_action_5">
<Arm_H name="s12_arm_raise_up" />
<MoveWheel_H name="s15_wheel_move_to_second_pickup_position" />
<MoveWaist_H name="s14_waist_turn_around" />
</Parallel>
<!-- <MoveWheel_H name="s15_wheel_move_to_second_pickup_position" /> -->
<Parallel name="parallel_action_6">
<MoveWaist_H name="s15_waist_bend_down" />
<Arm_H name="s16_arm_prepare_to_grasp" />
</Parallel>
<Arm_H name="s17_arm_grasp_box" />
<Arm_H name="s18_arm_pickup_box" />
<MoveWaist_H name="s19_waist_bend_up_and_turn_around" />
<!-- <MoveWaist_H name="s20_waist_turn_around" /> -->
<MoveWheel_H name="s21_wheel_move_to_putdown_position" />
<Parallel name="parallel_action_7">
<Arm_H name="s18_arm_pickup_box" />
<MoveWaist_H name="s19_waist_bend_up" />
</Parallel>
<Parallel name="parallel_action_8">
<MoveWaist_H name="s20_waist_turn_around" />
<MoveWheel_H name="s21_wheel_move_to_putdown_position" />
</Parallel>
<Arm_H name="s22_arm_putdown_box" />
<Arm_H name="s23_arm_release_box" />
<Arm_H name="s23_arm_raise_up" />
<MoveWheel_H name="s24_wheel_move_to_origin_pickup_position" />
<Parallel name="parallel_action_9">
<Arm_H name="s23_arm_raise_up" />
<MoveWheel_H name="s24_wheel_move_to_origin_pickup_position" />
</Parallel>
<!-- <Arm_H name="s25_arm_move_origin_position" /> -->
</Sequence>
</RetryUntilSuccessful>