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调整stock out动作，增加扫码动作

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This commit is contained in:
NuoDaJia02
2025-11-07 18:43:15 +08:00
parent 897597ae6d
commit f0b847af96
3 changed files with 142 additions and 4 deletions
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4
src/brain/config/bt_carry_boxes_sch1.params.yaml
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@@ -55,7 +55,7 @@
frame_time_stamp: 0
data_array: [-85, -40, -40, 1, -100, -170, -95, 40, 40, -1, 100, -10]
data_array: [-85, -35, -60, 1, -90, -175, -95, 35, 60, -1, 90, -5]
'
- name: s3_snapshot_action2
@@ -231,7 +231,7 @@
frame_time_stamp: 0
data_array: [-85, -40, -40, 1, -100, -170, -95, 40, 40, -1, 100, -10]
data_array: [-85, -35, -60, 1, -90, -175, -95, 35, 60, -1, 90, -5]
'
- name: s15_snapshot_action2

126
src/brain/config/bt_carry_boxes_sch2.params.yaml
View File

@@ -37,6 +37,48 @@
move_yaw_degree: 0.0
'
- name: s4_arm_move_to_snapshot_pose
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-112, -70, 0, 0, -80, -160, -68, 70, 0, 0, 80, -20]
'
- name: s4_snapshot_action1
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-105, -55, -35, 0, -100, -160, -75, 55, 35, 0, 100, -20]
'
- name: s4_snapshot_action2
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-112, -70, 0, 0, -80, -160, -68, 70, 0, 0, 80, -20]
'
- name: s5_arm_prepare_to_grasp
params: 'body_id: 0
@@ -163,6 +205,90 @@
move_yaw_degree: 0.0
'
- name: s15_arm_move_to_snapshot_pose
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-112, -70, 0, 0, -80, -160, -68, 70, 0, 0, 80, -20]
'
- name: s15_snapshot_action1
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-105, -55, -35, 0, -100, -160, -75, 55, 35, 0, 100, -20]
'
- name: s15_snapshot_action2
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-112, -70, 0, 0, -80, -160, -68, 70, 0, 0, 80, -20]
'
- name: s15_snapshot_top_action1
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-112, -70, 0, 0, -80, -160, -30, 60, 35, -40, 85, -60]
'
- name: s15_snapshot_top_action2
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-112, -70, 0, 0, -80, -160, -30, 80, 35, -40, 65, -55]
'
- name: s15_snapshot_top_action3
params: 'body_id: 0
data_type: 2
data_length: 12
command_id: 0
frame_time_stamp: 0
data_array: [-112, -70, 0, 0, -80, -160, -30, 60, 35, -40, 85, -60]
'
- name: s16_arm_prepare_to_grasp
params: 'body_id: 0

16
src/brain/config/bt_carry_boxes_sch2.xml
View File

@@ -11,8 +11,14 @@
<MoveWaist_H name="s3_waist_turn_around" />
<Parallel name="parallel_action_2">
<MoveWaist_H name="s4_waist_bend_down" />
<Arm_H name="s5_arm_prepare_to_grasp" />
<Arm_H name="s4_arm_move_to_snapshot_pose" />
</Parallel>
<Arm_H name="s4_snapshot_action1" />
<Arm_H name="s4_snapshot_action2" />
<!-- <Arm_H name="s4_snapshot_top_action1" />
<Arm_H name="s4_snapshot_top_action2" />
<Arm_H name="s4_snapshot_top_action3" /> -->
<Arm_H name="s5_arm_prepare_to_grasp" />
<Arm_H name="s6_arm_grasp_box" />
<Parallel name="parallel_action_3">
<Arm_H name="s7_arm_pickup_box" />
@@ -32,8 +38,14 @@
<!-- <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" />
<Arm_H name="s15_arm_move_to_snapshot_pose" />
</Parallel>
<Arm_H name="s15_snapshot_action1" />
<Arm_H name="s15_snapshot_action2" />
<Arm_H name="s15_snapshot_top_action1" />
<Arm_H name="s15_snapshot_top_action2" />
<Arm_H name="s15_snapshot_top_action3" />
<Arm_H name="s16_arm_prepare_to_grasp" />
<Arm_H name="s17_arm_grasp_box" />
<Parallel name="parallel_action_7">
<Arm_H name="s18_arm_pickup_box" />