HiveCoreRD/hivecore_robot_brain
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update sch & params

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david
2025-10-31 14:01:17 +08:00
parent 4e66e89501
commit a851ecb53b
4 changed files with 21 additions and 21 deletions
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16
src/brain/config/bt_carry_boxes_sch1.params.yaml
View File

@@ -74,8 +74,8 @@
move_angle: 0.0
'
- name: s7_waist_turn_around_and_bend_down
params: 'move_pitch_degree: 25.0
- name: s7_waist_turn_around
params: 'move_pitch_degree: 0.0
move_yaw_degree: 90.0
@@ -97,7 +97,7 @@
frame_time_stamp: 0
data_array: [-105, -62, -36, 1, -80, -170, -75, 62, 36, -1, 80, -10]
data_array: [-85, -70, -25, 1, -80, -150, -95, 70, 25, -1, 80, -30]
'
- name: s10_arm_raise_up_after_release
@@ -111,7 +111,7 @@
frame_time_stamp: 0
data_array: [-115, -62, -36, 1, -80, -170, -65, 62, 36, -1, 80, -10]
data_array: [-115, -60, -36, 1, -80, -170, -65, 60, 36, -1, 80, -10]
'
- name: s11_waist_bend_up_and_turn_around
@@ -194,8 +194,8 @@
move_angle: 0.0
'
- name: s19_waist_turn_around_and_bend_down
params: 'move_pitch_degree: 25.0
- name: s19_waist_turn_around
params: 'move_pitch_degree: 0.0
move_yaw_degree: 90.0
@@ -217,7 +217,7 @@
frame_time_stamp: 0
data_array: [-105, -62, -36, 1, -80, -170, -75, 62, 36, -1, 80, -10]
data_array: [-85, -70, -25, 1, -80, -150, -95, 70, 25, -1, 80, -30]
'
- name: s22_arm_raise_up_after_release
@@ -231,7 +231,7 @@
frame_time_stamp: 0
data_array: [-115, -62, -36, 1, -80, -170, -65, 62, 36, -1, 80, -10]
data_array: [-115, -60, -36, 1, -80, -170, -65, 60, 36, -1, 80, -10]
'
- name: s23_waist_bend_up_and_turn_around

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

@@ -10,8 +10,8 @@
<Arm_H name="s4_arm_grasp_box" />
<Arm_H name="s5_arm_pickup_box" />
<MoveWheel_H name="s6_wheel_move_back_to_origin" />
<MoveWaist_H name="s7_waist_turn_around_and_bend_down" />
<!-- <MoveWaist_H name="s8_waist_bend_down" /> -->
<MoveWaist_H name="s7_waist_turn_around" />
<MoveWaist_H name="s8_waist_bend_down" />
<Arm_H name="s9_arm_release_box" />
<Arm_H name="s10_arm_raise_up_after_release" />
<MoveWaist_H name="s11_waist_bend_up_and_turn_around" />
@@ -22,8 +22,8 @@
<Arm_H name="s16_arm_grasp_box" />
<Arm_H name="s17_arm_pickup_box" />
<MoveWheel_H name="s18_wheel_move_back_to_second_position" />
<MoveWaist_H name="s19_waist_turn_around_and_bend_down" />
<!-- <MoveWaist_H name="s20_waist_bend_down" /> -->
<MoveWaist_H name="s19_waist_turn_around" />
<MoveWaist_H name="s20_waist_bend_down" />
<Arm_H name="s21_arm_release_box" />
<Arm_H name="s22_arm_raise_up_after_release" />
<MoveWaist_H name="s23_waist_bend_up_and_turn_around" />
@@ -31,7 +31,7 @@
<Arm_H name="s25_arm_move_origin_position" />
<MoveWheel_H name="s26_wheel_move_back_to_origin" />
</Sequence>
</RetryUntilSuccessful>
</RetryUntilSuccessful>
</Sequence>
</BehaviorTree>
</root>

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

@@ -26,8 +26,8 @@
move_angle: 0.0
'
- name: s3_waist_turn_around_and_bend_down
params: 'move_pitch_degree: 25.0
- name: s3_waist_turn_around
params: 'move_pitch_degree: 0.0
move_yaw_degree: 90.0
@@ -132,8 +132,8 @@
move_angle: 0.0
'
- name: s14_waist_turn_around_and_bend_down
params: 'move_pitch_degree: 25.0
- name: s14_waist_turn_around
params: 'move_pitch_degree: 0.0
move_yaw_degree: 90.0

8
src/brain/config/bt_carry_boxes_sch2.xml
View File

@@ -6,8 +6,8 @@
<Sequence>
<Arm_H name="s1_arm_move_origin_position" />
<MoveWheel_H name="s2_wheel_move_to_origin_pickup_position" />
<MoveWaist_H name="s3_waist_turn_around_and_bend_down" />
<!-- <MoveWaist_H name="s4_waist_bend_down" /> -->
<MoveWaist_H name="s3_waist_turn_around" />
<MoveWaist_H name="s4_waist_bend_down" />
<Arm_H name="s5_arm_prepare_to_grasp" />
<Arm_H name="s6_arm_grasp_box" />
<Arm_H name="s7_arm_pickup_box" />
@@ -17,8 +17,8 @@
<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" />
<MoveWaist_H name="s14_waist_turn_around_and_bend_down" />
<!-- <MoveWaist_H name="s15_waist_bend_down" /> -->
<MoveWaist_H name="s14_waist_turn_around" />
<MoveWaist_H name="s15_waist_bend_down" />
<Arm_H name="s16_arm_prepare_to_grasp" />
<Arm_H name="s17_arm_grasp_box" />
<Arm_H name="s18_arm_pickup_box" />